CN110006341B - Processing method of extravehicular support based on multi-point measurement feedback - Google Patents
Processing method of extravehicular support based on multi-point measurement feedback Download PDFInfo
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- CN110006341B CN110006341B CN201910271689.4A CN201910271689A CN110006341B CN 110006341 B CN110006341 B CN 110006341B CN 201910271689 A CN201910271689 A CN 201910271689A CN 110006341 B CN110006341 B CN 110006341B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- Length Measuring Devices By Optical Means (AREA)
Abstract
A processing technique method of an extravehicular support based on multi-point measurement feedback relates to the field of positioning and processing of extravehicular supports of large-scale cabin structures; the method comprises the following steps: step one, sticking 4 targets on the surface to be processed of the bracket to be processed; scanning and measuring by a laser tracker to obtain the spatial position of the surface to be processed relative to the measured cabin; obtaining coordinates of the 4 targets relative to a coordinate system oxyz of a surface to be processed; step three, obtaining the processing amount of the surface to be processed; processing the surface to be processed by taking the coordinates of the 4 targets relative to the coordinate system oxyz of the surface to be processed as a reference, and removing the processing amount determined in the fifth step; resetting the processed bracket to the side wall of the tested cabin, and comparing the reset bracket with a standard position by using a laser tracker to perform calibration detection; the invention realizes the correction of the inevitable accumulated errors generated in the welding and assembling process of the external bracket of the large cabin body, and meets the requirement of the mounting precision of the bracket.
Description
Technical Field
The invention relates to the field of positioning and processing of an extra-cabin bracket of a large cabin structure, in particular to a processing method of the extra-cabin bracket based on multi-point measurement feedback.
Background
In order to satisfy the effective control of the space attitude and the normal operation of the load when processing large complex structures including various support assemblies, in particular spacecraft structures, many pieces of equipment propose linear dimensions and form and position dimensional tolerances related to the coordinate system of the whole spacecraft. Because the integral structure inevitably produces accumulation error in the welding assembly process, the equipment installation part is difficult to meet the precision requirement once after the assembly, and the integral structure is required to be placed on a large machine tool for online combined machining after the welding assembly is finished. However, as the required structure size is continuously increased, the on-line combination processing has the following problems:
(1) an ultra-large machining center with enough travel and high price and a plurality of large tools need to be equipped;
(2) the risk factors of the large-scale spacecraft structure in the process of transferring the large-scale spacecraft structure to a machine tool workbench for combined machining are more;
(3) the online combined processing occupies a production development main line and plays a critical role in the production cycle of products.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a processing method of an extravehicular support based on multi-point measurement feedback, so that the inevitable accumulated error generated in the welding and assembling process of the extravehicular support of a large-scale cabin is corrected, and the mounting precision requirement of the support is met.
The above purpose of the invention is realized by the following technical scheme:
a processing method of an extravehicular support based on multipoint measurement feedback comprises the following steps:
step one, a tested cabin is axially and vertically placed on the ground; the outer wall of the tested cabin is provided with a bracket to be processed; the laser tracker is aligned with a bracket to be processed and is placed on the ground outside a tested cabin;
secondly, sticking 4 targets on the surface to be processed of the bracket to be processed;
step three, scanning and measuring the coplanarity of 4 targets by a laser tracker, and entering step four when the coplanarity meets the requirement; when the coplanarity does not meet the requirement, finely adjusting the position of the target until the coplanarity meets the requirement;
scanning and measuring the measured cabin, the surface to be processed and the 4 targets by the laser tracker; obtaining the spatial position of the surface to be processed relative to the tested cabin; establishing a coordinate system oxyz of a surface to be processed to obtain coordinates of 4 targets relative to the coordinate system oxyz of the surface to be processed;
comparing the spatial position of the surface to be processed relative to the tested cabin in the fourth step with the known spatial standard position of the processed bracket processing surface relative to the tested cabin to obtain the processing amount of the surface to be processed;
sixthly, removing the support to be processed from the outer wall of the tested cabin, processing the surface to be processed by taking the coordinates of the 4 targets relative to the coordinate system oxyz of the surface to be processed as a reference, and removing the processing amount determined in the fifth step;
step seven, resetting the processed bracket to the side wall of the tested cabin, and comparing the reset bracket with a standard position by using a laser tracker to perform calibration detection;
step eight, when the detection result meets the requirement, finishing the processing; and when the detection result does not meet the requirement, repeating the fourth step to the seventh step until the requirement is met.
In the above processing method of the extravehicular support based on the multi-point measurement feedback, in the first step, the distance from the axle center of the laser tracker to the extravehicular wall of the measured extravehicular support is L; the axial height of the tested cabin is h; then
h＞0；L＞0。
In the above processing method for the extravehicular support based on the multi-point measurement feedback, in the second step, the surface to be processed of the support to be processed is located on the side surface of the support to be processed, which faces the laser tracker.
In the above processing method for the extravehicular stent based on the multi-point measurement feedback, in the second step, the sticking positions of the 4 targets are as follows: the 4 targets are respectively adhered to the 4 corner edges of the surface to be processed.
In the above processing method for the extravehicular stent based on the multi-point measurement feedback, in the third step, the coplanarity requirement is as follows: the coplanarity of the 4 targets is less than or equal to 0.05 mm.
In the above processing method of the extravehicular stent based on the multi-point measurement feedback, in the fourth step, the method for establishing the coordinate system of the surface to be processed is as follows:
and taking the lower left corner of the surface to be processed as a coordinate origin o, wherein the x axis points to the horizontal side edge, the y axis points to the vertical side edge, and the z axis is determined by the right-hand rule.
In the above processing method for the extravehicular stent based on the multi-point measurement feedback, in the fourth step, the coordinate measurement method for the 4 targets is as follows:
the laser tracker measures the coordinates of each target 5-7 times and calculates the average.
In the above processing method for the extravehicular stent based on the multi-point measurement feedback, in the eighth step, the requirement of the detection result is as follows: the deviation between the bracket and the standard position after resetting is less than or equal to 0.1 mm.
Compared with the prior art, the invention has the following advantages:
(1) the invention successfully solves the problem of online combined machining of the bracket and the large cabin body, and adopts an offline machining process method based on multipoint measurement feedback to ensure the precision requirement of the bracket outside the cabin;
(2) the invention carries out the offline combined machining of multi-point feedback, and can simultaneously carry out the machining of a plurality of supports, thereby improving the assembly efficiency of the whole cabin and reducing the production period;
(3) the invention adopts multi-point measurement for feedback, and can reduce alignment errors caused by offline combined machining, thereby reducing subsequent error accumulation, reducing total deviation and ensuring the assembly precision of the bracket.
Drawings
FIG. 1 is a flow chart of the stent fabrication process of the present invention;
FIG. 2 is a schematic view of the positions of the measured cabin, the bracket to be processed and the laser tracker according to the present invention;
FIG. 3 is a schematic view of the installation positions of 4 targets of the present invention.
Detailed Description
The invention is described in further detail below with reference to the following figures and specific examples:
when a spacecraft cabin section is processed into a large-scale complex structure assembled by various supports, the requirements of linear dimension and form and position dimension tolerance related to a whole device coordinate system are provided for a butt joint external device support arranged on the outer wall of the spacecraft cabin section, and because the integral structure inevitably generates accumulated errors in the welding and assembling process, the precision requirements of equipment installation parts are difficult to achieve once after the equipment installation parts are assembled; the invention provides an extravehicular support processing method based on multipoint measurement feedback, which adopts an off-line combined processing method based on support multipoint accurate measurement, support disassembly and processing-feedback resetting to realize accurate processing and resetting of a to-be-processed surface 21 of a to-be-processed support 2 after welding.
As shown in fig. 1, which is a flowchart of the processing of the bracket, it can be known that a processing method of the extravehicular bracket based on the multi-point measurement feedback includes the following steps:
step one, as shown in fig. 2, a schematic position diagram of a measured cabin, a support to be processed and a laser tracker is shown, and as can be seen from the diagram, the measured cabin 1 is axially and vertically placed on the ground; the outer wall of the tested cabin 1 is provided with a bracket 2 to be processed; the laser tracker 3 is aligned with the support 2 to be processed and is placed on the ground outside the tested cabin 1; the distance between the axle center of the laser tracker 3 and the outer wall of the measured cabin 1 is L; the axial height of the tested cabin 1 is h; then
h＞0；L＞0。
Step two, as shown in fig. 3, the schematic diagram of the installation positions of 4 targets shows that 4 targets 4 are adhered to the surface to be processed 21 of the bracket to be processed 2; wherein, the surface to be processed of the bracket 2 to be processed is positioned on the side surface of the bracket 2 to be processed facing the laser tracker 3. The pasting positions of the 4 targets 4 are as follows: the 4 targets 4 are respectively adhered to the 4 corner edges of the surface to be processed 21. Aiming at the accurate measurement of the bracket, the positions of 4 targets 4 are selected to be positioned on a smooth plane which has the advantages of smoothness, no processing deformation and higher requirement on dimensional accuracy, and are generally directly selected to be positioned on a surface to be processed so as to reduce the error of discrete point conversion. The targets 4 should cover the whole fine measuring surface as far as possible, and the longer the distance between the targets 4 is, the less the measuring error caused by geometric tolerance of the measuring surface is.
Step three, scanning and measuring the coplanarity of 4 targets 4 by the laser tracker 3, and adopting a multipoint measuring method during measurement; the coplanarity requirement is as follows: the coplanarity of the 4 targets 4 is less than or equal to 0.05 mm. Entering a step four when the coplanarity meets the requirement; when the coplanarity does not meet the requirement, finely adjusting the position of the target 4 until the coplanarity meets the requirement;
step four, the laser tracker 3 scans and measures the measured cabin 1, the surface to be processed 21 and the 4 targets 4; obtaining the spatial position of the surface 21 to be processed relative to the tested cabin 1; establishing a coordinate system oxyz of a surface to be processed, wherein the method for establishing the coordinate system of the surface to be processed comprises the following steps:
the lower left corner of the surface to be processed 21 is taken as a coordinate origin o, the x axis points to the horizontal side, the y axis points to the vertical side, and the z axis is determined by the right-hand rule. Scanning and measuring by a laser tracker 3 to obtain coordinates of 4 targets 4 relative to a coordinate system oxyz of a surface to be processed;
the coordinate measuring method of 4 targets 4 is as follows:
the laser tracker 3 measures the coordinates of each target 4 5-7 times and calculates the average.
Comparing the spatial position of the surface to be processed 21 relative to the tested cabin 1 in the fourth step with the known spatial standard position of the processed bracket processing surface relative to the tested cabin 1 to obtain the processing amount of the surface to be processed 21;
sixthly, removing the support 2 to be processed from the outer wall of the tested cabin 1, processing the surface 21 to be processed by taking the coordinates of the 4 targets 4 relative to the coordinate system oxyz of the surface to be processed as a reference, and removing the processing amount determined in the fifth step;
step seven, resetting the processed support to the side wall of the tested cabin 1, and comparing the reset support with a standard position by using a laser tracker 3 for calibration detection;
step eight, when the detection result meets the requirement, finishing the processing; when the detection result does not meet the requirement, repeating the fourth step to the seventh step until the detection result meets the requirement; the requirements of the detection result are as follows: the deviation between the bracket and the standard position after resetting is less than or equal to 0.1 mm.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (6)
1. A processing technique method of an extravehicular support based on multipoint measurement feedback is characterized in that: the method comprises the following steps:
step one, vertically placing a tested cabin (1) on the ground in an axial direction; the outer wall of the tested cabin (1) is provided with a bracket (2) to be processed; the laser tracker (3) is aligned with the support (2) to be processed and placed on the ground outside the tested cabin (1);
secondly, sticking 4 targets (4) on the surface (21) to be processed of the bracket (2) to be processed; in the second step, the pasting positions of the 4 targets (4) are as follows: the 4 targets (4) are respectively adhered to the 4 corner edges of the surface (21) to be processed;
step three, scanning and measuring the coplanarity of 4 targets (4) by the laser tracker (3), and entering step four when the coplanarity meets the requirement; when the coplanarity does not meet the requirement, finely adjusting the position of the target (4) until the coplanarity meets the requirement; the coplanarity requirement is as follows: the coplanarity of the 4 targets (4) is less than or equal to 0.05 mm;
scanning and measuring the measured cabin (1), the surface to be processed (21) and 4 targets (4) by using the laser tracker (3); obtaining the spatial position of the surface (21) to be processed relative to the tested cabin (1); establishing a coordinate system oxyz of a surface to be processed to obtain coordinates of 4 targets (4) relative to the coordinate system oxyz of the surface to be processed;
comparing the spatial position of the surface (21) to be processed in the fourth step with the spatial standard position of the known processed bracket processing surface with respect to the tested cabin (1) to obtain the processing amount of the surface (21) to be processed;
sixthly, removing the support (2) to be processed from the outer wall of the tested cabin (1), processing the surface (21) to be processed by taking the coordinates of the 4 targets (4) relative to the coordinate system oxyz of the surface to be processed as a reference, and removing the processing amount determined in the fifth step;
step seven, resetting the processed support to the side wall of the tested cabin (1), and comparing the reset support with a standard position by using a laser tracker (3) to carry out calibration detection;
step eight, when the detection result meets the requirement, finishing the processing; and when the detection result does not meet the requirement, repeating the fourth step to the seventh step until the requirement is met.
2. The extravehicular support machining process method based on multipoint measurement feedback according to claim 1, characterized in that: in the first step, the distance between the axle center of the laser tracker (3) and the outer wall of the measured cabin (1) is L; the axial height of the tested cabin (1) is h; then
h＞0；L＞0。
3. The extravehicular support machining process method based on multipoint measurement feedback according to claim 2, characterized in that: in the second step, the surface to be processed of the support (2) to be processed is positioned on the side surface, facing the laser tracker (3), of the support (2) to be processed.
4. The extravehicular support machining process method based on multipoint measurement feedback according to claim 3, wherein the extravehicular support machining process method comprises the following steps: in the fourth step, the method for establishing the coordinate system of the surface to be processed comprises the following steps:
the lower left corner of the surface (21) to be processed is taken as a coordinate origin o, the x axis points to the horizontal side edge, the y axis points to the vertical side edge, and the z axis is determined by the right-hand rule.
5. The extravehicular support machining process method based on multipoint measurement feedback according to claim 4, wherein the extravehicular support machining process method comprises the following steps: in the fourth step, the coordinate measuring method of the 4 targets (4) comprises the following steps:
the laser tracker (3) measures the coordinates of each target (4) 5-7 times and calculates the average.
6. The extravehicular support machining process method based on multipoint measurement feedback according to claim 5, wherein the extravehicular support machining process method comprises the following steps: in the eighth step, the requirements of the detection result are as follows: the deviation between the bracket and the standard position after resetting is less than or equal to 0.1 mm.
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