CN112122917A - Accurate matching method for engine assembly - Google Patents
Accurate matching method for engine assembly Download PDFInfo
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- CN112122917A CN112122917A CN202010728728.1A CN202010728728A CN112122917A CN 112122917 A CN112122917 A CN 112122917A CN 202010728728 A CN202010728728 A CN 202010728728A CN 112122917 A CN112122917 A CN 112122917A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
- B23P19/12—Alignment of parts for insertion into bores
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Abstract
The invention discloses an accurate matching method of an engine assembly body, which comprises the steps of firstly calibrating intrinsic parameters and extrinsic parameters of two pairs of binocular cameras respectively, calibrating a camera coordinate system and a six-degree-of-freedom parallel platform coordinate system, converting the two flexible parallel platform coordinate systems into a base coordinate system by means of a laser tracker, placing two assemblies to be assembled of an engine on the two flexible parallel platforms respectively, rotating the two flexible parallel platforms respectively, enabling pins and pin holes of the two assemblies to be assembled of the engine to be completely imaged in a binocular vision system, carrying out image acquisition, image processing and three-dimensional reconstruction to obtain rigid conversion relations of the pin holes and the pins on the flexible parallel platforms respectively, reversing the two flexible parallel platforms to the original poses, obtaining target positions of the assemblies to be assembled of the engine by resolving, and carrying out one-time assembly. Through the mode, the coaxial adjusting device can overcome the defect that the coaxial adjusting difficulty is high in the existing method, and is high in precision, good in stability, capable of being installed and adjusted at one time and high in efficiency.
Description
Technical Field
The invention relates to the field of automation control and the technical field of machine vision, in particular to an accurate matching method for an engine assembly body.
Background
The accurate cooperation of locating pin and locating hole is the important process of each field assembly of industry and holds the meaning, and the manual butt joint assembly is carried out to traditional butt joint mode adoption V type frock support, and this kind of butt joint mode centering degree of difficulty is great, and the degree of difficulty is bigger to the pinhole, needs many people to participate in moreover, and efficiency and the precision of butt joint rely on operating personnel's experience and level completely. Particularly, when the butt joint of workpieces is large, the realization difficulty is increased sharply, and the efficiency of automatic production is influenced.
Some researchers use a raster scanning device to scan for docking, however, this method needs to stick the mark points, and the process is complicated. Still some scholars adopt the mode of external target to carry out indirect measurement, because this kind of mode needs to carry out the clamping, the practicality has obtained the restriction.
Disclosure of Invention
The invention aims to provide an accurate matching method of an engine assembly body, which can realize collision-free butt joint between pins and holes in two adjacent large-scale devices, has high butt joint precision, high automation degree and high efficiency, and can be applied to automatic assembly of large-scale products such as engines or aerospace products.
In order to solve the technical problems, the invention adopts a technical scheme that: the accurate matching method of the engine assembling body comprises two to-be-assembled bodies of the engine, two flexible parallel platforms with six degrees of freedom, two binocular vision systems and a laser tracker, and comprises the following steps:
step 1: before an assembly body is not placed, a calibration plate is placed on a flexible parallel platform with six degrees of freedom, the flexible parallel platform with six degrees of freedom is adjusted to a zero position, a laser tracker coordinate system is used as a base coordinate system, and the position relation between the coordinate system of the flexible parallel platform with six degrees of freedom and the laser tracker coordinate system is determined by using a laser tracker;
step 2: placing two sections of bodies to be assembled of an engine on two corresponding flexible parallel platforms with six degrees of freedom, and rotating the two flexible parallel platforms with six degrees of freedom to approach 45 degrees, so that the mounting ends of the two sections of bodies to be assembled are respectively in the visual fields of two sets of binocular vision systems;
and step 3: acquiring images of respective bodies to be assembled by using two sets of binocular vision systems, processing the images, and analyzing the images to obtain three-dimensional space coordinates under the vision systems;
and 4, step 4: two flexible parallel platforms with six degrees of freedom are connected in parallel for-45 degrees;
and 5: and resolving the target pose by using two flexible parallel platforms with six degrees of freedom.
Further, the step 1 includes the step 11) of carrying out binocular vision calibration on the two sets of binocular vision systems, and determining an internal reference matrix of the cameras of the binocular vision systems and an external reference conversion matrix between the cameras of the binocular vision systems.
Further, the step 1) comprises a step 12) of calibrating the binocular vision system and the six-degree-of-freedom flexible parallel platform by using a 'hand-eye' calibration method.
Further, the step 1) includes a step 13) of global calibration of the whole operating system, taking the laser tracker coordinate system as a base coordinate system, and converting the camera coordinate system of the binocular vision system and the six-degree-of-freedom flexible parallel platform coordinate system into the base coordinate system by using the step 12) and the step 13).
Further, the step 3) includes the step 31) of collecting images of respective assemblies to be assembled by using two sets of binocular vision systems, carrying out image processing on the collected positioning pins and positioning holes, and carrying out image analysis to obtain image coordinates of the positioning pins and the positioning holes.
Further, the step 3 comprises a step 32) of obtaining three-dimensional space coordinates of the positioning pin and the positioning hole under the corresponding binocular vision system by means of a binocular triangulation principle of the binocular vision system.
Further, the step 3 includes a step 33) of utilizing the step 31), the step 32) to obtain the relative position relationship between the parallel platform coordinate system with six degrees of freedom and the positioning pin and the relative position relationship between the parallel platform coordinate system with six degrees of freedom and the positioning hole.
Further, in the step 1, before an assembly body of an engine is not placed, a calibration plate is placed on a flexible parallel platform with six degrees of freedom, so that 'hand-eye' calibration is performed, namely eyes are not manually operated, a camera of a binocular vision system performs image acquisition on the calibration plate placed on the flexible parallel platform, readings of the flexible parallel platform with six degrees of freedom at present are read, the flexible parallel platform with six degrees of freedom is converted into a plurality of postures, and a conversion relation between a camera coordinate system and a base coordinate system of the flexible parallel platform can be obtained by solving by using a least square method; similarly, the binocular vision system on the other side can also establish a conversion relation with the other flexible parallel platform with six degrees of freedom.
Further, the direction of the flexible parallel platform with six degrees of freedom in the step 5 is adjusted to return to a zero position, the flexible parallel platform with six degrees of freedom is subjected to kinematic analysis, the target pose of the end to be butted of the engine is calculated, and the positioning pin-hole high-precision positioning installation is realized.
Further, the laser tracker was a Leica AT901B used with a 6 inch target ball AT 75m3The measurement precision in the full range is plus or minus (15 mu m plus 6 mu m/m).
The invention has the beneficial effects that: the accurate matching method for the engine assembly body provided by the invention has the following beneficial effects and advantages:
1. the accurate matching method of the engine assembly body can realize collision-free butt joint between the pin and the hole.
2. The accurate matching method of the engine assembly body can realize the blind butt joint of the pin and the hole, and has high butt joint efficiency and high accuracy.
3. The accurate matching method of the engine assembly body is wide in application range and can be applied to the fields of aviation, aerospace product butt joint, engine assembly and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of a method of precision mating an engine assembly according to the present disclosure;
fig. 2 is a system configuration diagram of a method for precisely fitting an engine assembly according to the present invention.
1. Assembling the body; 2. a flexible parallel platform with six degrees of freedom; 3. a binocular vision system; 4. a laser tracker.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention are described in detail below with reference to the accompanying drawings. Examples of these preferred embodiments are illustrated in the accompanying drawings. The embodiments of the invention shown in the drawings and described in accordance with the drawings are exemplary only, and the invention is not limited to these embodiments.
It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and/or processing steps closely related to the scheme according to the present invention are shown in the attached drawings, and other details not so relevant to the present invention are omitted.
Also, in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Referring to fig. 1 to 2, an embodiment of the present invention includes: an accurate matching method for an engine assembly body comprises two to-be-assembled bodies 1 of an engine, two flexible parallel platforms 2 with six degrees of freedom, two binocular vision systems 3 and a laser tracker 4, and comprises the following steps:
step 1: step 11) carrying out binocular vision calibration on the two sets of binocular vision systems, and determining an internal reference matrix of cameras of the binocular vision systems and an external reference conversion matrix between the cameras of the binocular vision systems; step 12) calibrating a binocular vision system and a flexible parallel platform with six degrees of freedom by using a 'hand-eye' calibration method; globally calibrating the whole operating system, taking a laser tracker coordinate system as a base coordinate system, and converting a camera coordinate system of a binocular vision system and a six-degree-of-freedom flexible parallel platform coordinate system into the base coordinate system by using the step 12) and the step 13);
step 2: placing two sections of bodies to be assembled of an engine on two corresponding flexible parallel platforms with six degrees of freedom, and rotating the two flexible parallel platforms with six degrees of freedom to approach 45 degrees, so that the mounting ends of the two sections of bodies to be assembled are respectively in the visual fields of two sets of binocular vision systems;
and step 3: step 31) collecting images of respective bodies to be assembled by using two sets of binocular vision systems, carrying out image processing on the collected positioning pins and positioning holes, and carrying out image analysis to obtain image coordinates of the positioning pins and the positioning holes; step 32) obtaining three-dimensional space coordinates of the positioning pin and the positioning hole under the corresponding binocular vision system by means of a binocular triangulation principle of the binocular vision system; step 33) utilizing the step 31) and the step 32) to obtain the relative position relation between the six-degree-of-freedom parallel platform coordinate system and the positioning pin and the relative position relation between the six-degree-of-freedom parallel platform coordinate system and the positioning hole;
and 4, step 4: two flexible parallel platforms with six degrees of freedom are connected in parallel for-45 degrees;
and 5: the direction of the flexible parallel platform with six degrees of freedom is adjusted to a zero position, the flexible parallel platform with six degrees of freedom is subjected to kinematic analysis, the target pose of the end to be butted of the engine is solved, and high-precision positioning and installation of the positioning pin and the hole are realized.
Further, in the step 1, before an assembly body of an engine is not placed, a calibration plate is placed on a flexible parallel platform with six degrees of freedom, so that 'hand-eye' calibration is performed, namely eyes are not manually operated, a camera of a binocular vision system performs image acquisition on the calibration plate placed on the flexible parallel platform, readings of the flexible parallel platform with six degrees of freedom at present are read, the flexible parallel platform with six degrees of freedom is converted into a plurality of postures, and a conversion relation between a camera coordinate system and a base coordinate system of the flexible parallel platform can be obtained by solving by using a least square method; similarly, the binocular vision system on the other side can also establish a conversion relation with the other flexible parallel platform with six degrees of freedom.
Further, the laser tracker was a Leica AT901B used with a 6 inch target ball AT 75m3The measurement precision in the full range is plus or minus (15 mu m plus 6 mu m/m). The camera of basler company and the lens of the camera are adopted, all simulation experiments are realized by Visual Studio 2017 software under a Windows 7 operating system, and the experiment results show that the method can realize high-precision assembly of the pin and the hole, and can be completed by one-time measurement assembly without multiple times of measurement.
The invention has the beneficial effects that: the accurate matching method for the engine assembly body provided by the invention has the following beneficial effects and advantages:
1. the accurate matching method of the engine assembly body can realize collision-free butt joint between the pin and the hole.
2. The accurate matching method of the engine assembly body can realize the blind butt joint of the pin and the hole, and has high butt joint efficiency and high accuracy.
3. The accurate matching method of the engine assembly body is wide in application range and can be applied to the fields of aviation, aerospace product butt joint, engine assembly and the like.
Furthermore, it should be noted that in the present specification, "include" or any other variation thereof is intended to cover a non-exclusive inclusion, so that a process, a method, an article or an apparatus including a series of elements includes not only those elements but also other elements not explicitly listed, or further includes elements inherent to such process, method, article or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
It should be understood that although the present description refers to embodiments, not every embodiment contains only a single technical solution, and such description is for clarity only, and those skilled in the art should make the description as a whole, and the technical solutions in the embodiments may be appropriately combined to form other embodiments understood by those skilled in the art.
Claims (10)
1. The accurate matching method of the engine assembly body is characterized by comprising two to-be-assembled bodies of an engine, two flexible parallel platforms with six degrees of freedom, two binocular vision systems and a laser tracker, and comprises the following steps:
step 1: before an assembly body is not placed, a calibration plate is placed on a flexible parallel platform with six degrees of freedom, the flexible parallel platform with six degrees of freedom is adjusted to a zero position, a laser tracker coordinate system is used as a base coordinate system, and the position relation between the coordinate system of the flexible parallel platform with six degrees of freedom and the laser tracker coordinate system is determined by using a laser tracker;
step 2: placing two sections of bodies to be assembled of an engine on two corresponding flexible parallel platforms with six degrees of freedom, and rotating the two flexible parallel platforms with six degrees of freedom to approach 45 degrees, so that the mounting ends of the two sections of bodies to be assembled are respectively in the visual fields of two sets of binocular vision systems;
and step 3: acquiring images of respective bodies to be assembled by using two sets of binocular vision systems, processing the images, and analyzing the images to obtain three-dimensional space coordinates under the vision systems;
and 4, step 4: two flexible parallel platforms with six degrees of freedom are connected in parallel for-45 degrees;
and 5: and resolving the target pose by using two flexible parallel platforms with six degrees of freedom.
2. A method of accurately fitting an engine assembly as set forth in claim 1, wherein: the step 1 comprises the step 11) of carrying out binocular vision calibration on the two sets of binocular vision systems, and determining an internal reference matrix of the cameras of the binocular vision systems and an external reference conversion matrix between the cameras of the binocular vision systems.
3. A method of accurately fitting an engine assembly as set forth in claim 1, wherein: the step 1 comprises a step 12) of calibrating the binocular vision system and the six-degree-of-freedom flexible parallel platform by using a 'hand-eye' calibration method.
4. A method of accurately fitting an engine assembly as set forth in any one of claims 1, 2, or 3, wherein: step 1) comprises step 13) of carrying out global calibration on the whole operating system, taking a laser tracker coordinate system as a base coordinate system, and converting a camera coordinate system of a binocular vision system and a six-degree-of-freedom flexible parallel platform coordinate system into the base coordinate system by utilizing step 12) and step 13).
5. A method of accurately fitting an engine assembly as set forth in claim 1, wherein: and the step 3 comprises the step 31) of collecting images of respective bodies to be assembled by using two sets of binocular vision systems, carrying out image processing on the collected positioning pins and positioning holes, and carrying out image analysis to obtain image coordinates of the positioning pins and the positioning holes.
6. A method of accurately fitting an engine assembly as set forth in claim 1, wherein: and the step 3 comprises the step 32) of obtaining three-dimensional space coordinates of the positioning pin and the positioning hole under the corresponding binocular vision system by means of a binocular triangulation principle of the binocular vision system.
7. An engine assembly precision mating method as claimed in any one of claims 1, 5 or 6, wherein: the step 3 comprises the step 33) of utilizing the step 31) and the step 32) to obtain the relative position relation between the six-freedom-degree parallel platform coordinate system and the positioning pin and the relative position relation between the six-freedom-degree parallel platform coordinate system and the positioning hole.
8. A method of accurately fitting an engine assembly as set forth in claim 1, wherein: before an assembly body of an engine is not placed, a calibration plate is placed on a flexible parallel platform with six degrees of freedom, the calibration plate is calibrated by hands and eyes, namely, the eyes are not manually operated, a camera of a binocular vision system acquires images of the calibration plate placed on the flexible parallel platform, the readings of the current flexible parallel platform with six degrees of freedom are read at the same time, the flexible parallel platform with six degrees of freedom is converted into a plurality of postures, and the conversion relation between a camera coordinate system and a base coordinate system of the flexible parallel platform can be obtained by solving by using a least square method; similarly, the binocular vision system on the other side can also establish a conversion relation with the other flexible parallel platform with six degrees of freedom.
9. A method of accurately fitting an engine assembly as set forth in claim 1, wherein: and 5, adjusting the direction of the flexible parallel platform with six degrees of freedom to return to a zero position, performing kinematic analysis on the flexible parallel platform with six degrees of freedom, resolving the target pose of the end to be butted of the engine, and realizing high-precision positioning and installation of the positioning pin and the hole.
10. A method of accurately fitting an engine assembly as set forth in claim 1, wherein: the laser tracker is Leica AT901B, used in cooperation with 6-inch target ball, and is AT 75m3The measurement precision in the full range is plus or minus (15 mu m plus 6 mu m/m).
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Cited By (2)
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| CN112775637A (en) * | 2020-12-29 | 2021-05-11 | 芜湖英视迈智能科技有限公司 | Large-scale part boxing positioning and assembling device and positioning and assembling method thereof |
| CN113624225A (en) * | 2021-09-15 | 2021-11-09 | 沈阳飞机设计研究所扬州协同创新研究院有限公司 | Pose calculation method for mounting engine positioning pin |
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