CN117589458A - System and method for butting engine and test frame - Google Patents
System and method for butting engine and test frame Download PDFInfo
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- CN117589458A CN117589458A CN202311420268.6A CN202311420268A CN117589458A CN 117589458 A CN117589458 A CN 117589458A CN 202311420268 A CN202311420268 A CN 202311420268A CN 117589458 A CN117589458 A CN 117589458A
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- 238000012360 testing method Methods 0.000 title claims abstract description 81
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000003032 molecular docking Methods 0.000 claims abstract description 52
- 230000000007 visual effect Effects 0.000 claims abstract description 36
- 238000005259 measurement Methods 0.000 claims abstract description 33
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 238000012546 transfer Methods 0.000 claims abstract description 24
- 210000001503 joint Anatomy 0.000 claims abstract description 12
- 230000033001 locomotion Effects 0.000 claims description 4
- 230000032258 transport Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M15/00—Testing of engines
- G01M15/02—Details or accessories of testing apparatus
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Abstract
The invention relates to a docking system, in particular to a docking system and method for an engine and a test frame. The system comprises an automatic docking scheduling control unit, a transfer lifting vehicle and a visual pose measurement control unit which are electrically connected with the automatic docking scheduling control unit, and a pose adjustment mechanism which is electrically connected with the visual pose measurement control unit; the automatic docking scheduling control unit is used for controlling the transfer lifting vehicle to transport the engine to the lower part of the test frame; the gesture adjusting mechanism is arranged on the transferring lifting vehicle; the vision pose measurement control unit is arranged on the transfer lifting vehicle; the automatic butt joint scheduling control unit is used for resolving the vertical error value between the engine and the preset mark point on the test frame in real time. According to the invention, the coordinate values of the preset mark points on the engine and the test frame are collected, then the vertical error value between the preset mark points is analyzed, and finally the engine is subjected to real-time posture adjustment, so that the full-automatic alignment is realized.
Description
Technical Field
The invention relates to a docking system, in particular to a docking system of an engine and a test frame and a docking method based on the docking system.
Background
In the development process of the engine technology, the test is taken as a key link, and has important significance for verification and improvement of the design scheme.
The existing engine test bed is usually a vertical test bed, and before an engine test bed is used, the vertical butt joint between the engine and the test bed is needed to be completed; because the engine is heavy, the space butt joint requirement is high, the existing manual butt joint mode requires more operation time, the efficiency is low, and the influence of human factors is large.
When facing more and more heavy test tasks, the method for butting the engine and the test frame, which is relatively long in time consumption, is improved, so that the test period of the engine is shortened, the influence of human factors is reduced, and the reliability of the test is improved.
Disclosure of Invention
The invention aims to solve the technical problems that the existing manual butt joint mode requires more operation time, is low in efficiency and is greatly influenced by human factors, and provides an engine and test frame butt joint system and method.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the docking system of the engine and the test frame is characterized in that:
the system comprises an automatic docking scheduling control unit, a transfer lifting vehicle and a visual pose measurement control unit which are electrically connected with the automatic docking scheduling control unit, and a pose adjustment mechanism which is electrically connected with the visual pose measurement control unit;
the automatic docking scheduling control unit is used for controlling the transfer lifting vehicle to transport the engine to the lower part of the test frame;
the gesture adjusting mechanism is arranged on the transferring lifting vehicle and is used for adjusting the angle gesture of the engine and driving the engine to vertically lift;
the visual pose measurement control unit is arranged on the transfer lifting vehicle and is used for collecting coordinate values of preset mark points on the engine and the test frame in real time;
the automatic docking scheduling control unit is used for resolving the vertical error value between the engine and the preset mark point on the test frame in real time according to the coordinate values of the preset mark point on the engine and the test frame measured by the visual pose measurement control unit, and then controlling the pose adjustment mechanism to adjust the pose of the engine or vertically lift the engine in real time by the visual pose measurement control unit, so as to realize docking of the engine and the test frame.
Further, the device also comprises a closed-loop feedback control module arranged on the gesture adjusting mechanism;
the input end of the closed-loop feedback control module is electrically connected with the visual pose measurement control unit, and the output end of the closed-loop feedback control module is electrically connected with the pose adjustment mechanism and is used for controlling the pose adjustment mechanism to adjust the pose of the engine in real time according to the motion instruction of the visual pose measurement control unit.
Further, the system also comprises a remote scheduling module and an automatic navigation module which are arranged on the transfer lift truck;
the remote scheduling module and the automatic navigation module are electrically connected with the automatic docking scheduling control unit and are used for controlling the transfer lift truck to move according to the control instruction of the automatic docking scheduling control unit.
Further, the vision pose measurement control unit comprises a controller and two groups of vision cameras; the controller and the two groups of vision cameras are both arranged on the transferring lifting car;
the two groups of vision cameras are oppositely arranged, and each group of vision cameras comprises at least two vision cameras and is used for collecting coordinate values of preset mark points on the engine and the test frame in real time; the two groups of vision cameras are electrically connected with the controller, and the controller is electrically connected with the gesture adjusting mechanism and the automatic docking scheduling control unit.
Meanwhile, the invention also provides a method for butting the engine and the test frame, which is based on the system for butting the engine and the test frame and is characterized by comprising the following steps:
step 1, an automatic docking scheduling control unit controls a transfer lifting vehicle to transport an engine to the lower part of a test frame;
step 2, respectively setting a plurality of preset mark points on the engine and the test frame;
step 3, controlling the gesture adjusting mechanism to adjust the angle gesture of the engine through the visual gesture measuring control unit, measuring real-time coordinate values of preset mark points on the engine and the test frame through the visual gesture measuring control unit, and resolving the vertical error value between the preset mark points on the engine and the test frame in real time through the automatic docking scheduling control unit until the resolved vertical error value is in a preset error range, so that the alignment of the engine and the test frame is completed;
step 4, controlling the gesture adjusting mechanism to vertically lift the engine through the visual gesture measurement control unit until the vertical distance between the engine and the test frame reaches a preset distance;
and 5, removing preset mark points, connecting the engine with the test frame, and completing the butt joint between the engine and the test frame.
Further, in step 4, the preset distance is within a range of 5mm-10mm.
Further, in step 5, the engine is connected to the test frame by bolts.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention collects the coordinate values of the preset mark points on the engine and the test frame in real time through the set vision pose measurement control unit, analyzes the vertical error value between the preset mark points in real time through the automatic butt joint scheduling control unit according to the coordinate values of the two mark points, and controls the pose adjustment mechanism to adjust the pose of the engine in real time through the vision pose measurement control unit, thereby realizing the full-automatic alignment.
2. According to the invention, the gesture adjusting mechanism can be controlled to adjust the gesture of the engine in real time according to the vertical error value through the arranged closed loop feedback control module, and the control accuracy is higher.
3. The invention adopts the vision camera to collect the coordinate values of the preset mark points on the engine and the test frame, and the acquisition mode is convenient and has higher real-time performance.
Drawings
FIG. 1 is a schematic diagram of a transfer lift truck, a gesture adjustment mechanism, and a visual gesture measurement unit in an embodiment of an engine and test frame docking system of the present invention;
FIG. 2 is a control schematic diagram of an automatic docking dispatch control unit, a gesture adjustment mechanism, and a visual gesture measurement unit in an embodiment of an engine and test frame docking system of the present invention.
In the figure: 01-test frame, 02-engine;
1-a transfer lifting vehicle, 2-a gesture adjusting mechanism and 3-a vision gesture measuring control unit.
Detailed Description
To further clarify the objects, advantages and features of the present invention, a further detailed description of an engine and test frame docking system and method according to the present invention will be provided with reference to the accompanying drawings and examples. The advantages and features of the present invention will become more apparent from the following detailed description. It should be noted that: the drawings are in a very simplified form and are all to a non-precise scale, merely for convenience and clarity in aiding in the description of embodiments of the invention; second, the structures shown in the drawings are often part of the actual structure.
The embodiment provides a docking system of an engine and a test frame, referring to fig. 1 and 2, the system comprises an automatic docking scheduling control unit, a transfer lift truck 1 and a visual pose measurement control unit 3 which are electrically connected with the automatic docking scheduling control unit, and a pose adjustment mechanism 2 which is electrically connected with the visual pose measurement control unit 3.
The automatic butt joint dispatching control unit can cooperate with a plurality of setting and various measurement and control units to complete related functions, and is mainly used for controlling the transfer lifting vehicle 1 and the visual pose measurement control unit 3 in the system.
The transfer lift truck 1 mainly transports the engine 02 to the lower part of the test bed 01 under the control of an automatic docking scheduling control unit to wait for subsequent docking work. Because the movement track of the transfer lift truck 1 is complex, in order to improve the operation accuracy of the transfer lift truck 1, the embodiment is provided with a remote scheduling module and an automatic navigation module, and the remote scheduling module and the automatic navigation module are electrically connected with an automatic docking scheduling control unit, so that the transfer lift truck 1 is controlled to accurately move according to the control instruction of the automatic docking scheduling control unit.
Referring to fig. 1, the posture adjustment mechanism 2 is mainly used for adjusting the angular posture of the engine 02 and driving the engine 02 to vertically lift; the gesture adjusting mechanism 2 is specifically composed of four single-shaft lifting units arranged at four corners of the transfer lifting vehicle, and when the gesture adjusting mechanism is used, the engine 02 and the four single-shaft lifting units are required to be connected through lock chains (not shown in the figure) respectively; thereby go up and down through arbitrary unipolar elevating unit, reach the gesture regulation purpose of engine 02 to go up and down jointly through four unipolar elevating units, drive engine 02 and carry out vertical lifting. In order to improve the butting precision, four single-shaft lifting units are respectively provided with a closed-loop feedback control module; the input end of the closed-loop feedback control module is electrically connected with the visual pose measurement control unit 3, and the output end of the closed-loop feedback control module is electrically connected with the single-shaft lifting unit, so that the pose of the engine 02 is adjusted in real time according to the movement instruction of the visual pose measurement control unit 3.
The vision pose measuring unit 3 is mainly used for collecting coordinate values of preset mark points on the engine 02 and the test frame 01 in real time and controlling the pose adjusting mechanism 2; specifically, the vision pose measuring unit 3 comprises a controller and two groups of vision cameras which are arranged on the transferring lift truck 1; the two groups of vision cameras are oppositely arranged; each group of vision cameras comprises at least two vision cameras (comprising lenses and light sources), the two groups of vision cameras are electrically connected with a controller, and the controller is electrically connected with a closed-loop feedback control module of the gesture adjusting mechanism 2 and an automatic docking scheduling control unit. The positions of the preset mark points on the engine 02 and the test frame 01 can be accurately obtained through the vision cameras by calibrating the positions of the vision cameras in advance.
Finally, according to the coordinate values of the preset mark points on the engine 02 and the test frame 01 sent by the visual pose measuring unit 3, the automatic docking scheduling control unit calculates the vertical error value between the preset mark points on the engine 02 and the test frame 01 in real time, so that the visual pose measuring unit 3 controls the pose adjusting mechanism 2 to adjust the pose of the engine 02 in real time or vertically lift the engine 02, and docking of the engine 02 and the test frame 01 is realized.
Based on the foregoing system for docking an engine and a test frame, the embodiment provides a docking method for docking an engine and a test frame, which mainly includes the following steps:
step 1, an automatic docking scheduling control unit controls a transfer lifting vehicle 1 to transport an engine 02 to the lower part of a test bed 01;
step 2, manually setting a plurality of preset mark points on an engine 02 and a test frame 01 respectively; the main purpose of setting the preset mark points is to provide a reference standard for visual alignment for a visual camera; the preset mark point can be a test tool and the like.
Step 3, controlling the position of the engine 02 by the visual pose measurement control unit 3, measuring real-time coordinates of preset mark points on the engine 02 and the test frame 01 by the visual pose measurement control unit 3, and resolving a vertical error value between the preset mark points on the engine 02 and the test frame 01 in real time by the automatic docking scheduling control unit until the resolved vertical error value is in a preset error range, wherein the preset error range is used for finishing the alignment of the engine 02 and the test frame 01;
and 4, controlling the gesture adjusting mechanism 2 to vertically lift the engine 02 through the visual gesture measuring control unit 3 until the vertical distance between the engine 02 and the test frame 01 reaches a preset distance, wherein the preset distance is 5-10 mm in value range. The method comprises the steps of carrying out a first treatment on the surface of the
And 5, disassembling the preset mark points, and manually connecting the engine 02 with the test frame 01 through bolts to finish the butt joint between the engine 02 and the test frame 01.
Claims (7)
1. An engine and test frame docking system, characterized in that:
the visual gesture measuring device comprises an automatic docking scheduling control unit, a transfer lifting vehicle (1) and a visual gesture measuring control unit (3) which are electrically connected with the automatic docking scheduling control unit, and a gesture adjusting mechanism (2) which is electrically connected with the visual gesture measuring control unit (3);
the automatic docking scheduling control unit is used for controlling the transfer lifting vehicle (1) to transport the engine (02) to the lower part of the test frame (01);
the gesture adjusting mechanism (2) is arranged on the transferring lifting vehicle (1) and is used for adjusting the angle gesture of the engine (02) and driving the engine (02) to vertically lift;
the vision pose measurement control unit (3) is arranged on the transfer lifting vehicle (1) and is used for collecting coordinate values of preset mark points on the engine (02) and the test frame (01) in real time;
the automatic docking scheduling control unit is used for resolving the vertical error value between the preset mark points on the engine (02) and the test frame (01) in real time according to the coordinate values of the preset mark points on the engine (02) and the test frame (01) measured by the visual pose measurement control unit (3), and then controlling the pose adjustment mechanism (2) to adjust the pose of the engine (02) in real time or vertically lift the engine (02) through the visual pose measurement control unit (3), so that docking of the engine (02) and the test frame (01) is realized.
2. An engine and test frame docking system as defined in claim 1, wherein:
the device also comprises a closed-loop feedback control module arranged on the gesture adjusting mechanism (2);
the input end of the closed-loop feedback control module is electrically connected with the visual pose measurement control unit (3), and the output end of the closed-loop feedback control module is electrically connected with the pose adjustment mechanism (2) and is used for controlling the pose adjustment mechanism (2) to adjust the pose of the engine (02) in real time according to the motion instruction of the visual pose measurement control unit (3).
3. An engine and test frame docking system according to claim 1 or 2, characterized in that:
the system also comprises a remote scheduling module and an automatic navigation module which are arranged on the transferring lift truck (1);
the remote scheduling module and the automatic navigation module are electrically connected with the automatic docking scheduling control unit and are used for controlling the transfer lifting vehicle (1) to move according to the control instruction of the automatic docking scheduling control unit.
4. A docking system for an engine and a test frame according to claim 3, wherein:
the vision pose measurement control unit (3) comprises a controller and two groups of vision cameras; the controller and the two groups of vision cameras are both arranged on the transferring lifting car (1);
the two groups of vision cameras are oppositely arranged, and each group of vision cameras comprises at least two vision cameras and is used for collecting coordinate values of preset mark points on the engine (02) and the test bed (01) in real time; the two groups of vision cameras are electrically connected with a controller, and the controller is electrically connected with the gesture adjusting mechanism (2) and the automatic docking scheduling control unit.
5. A method of interfacing an engine with a test frame based on the system of any one of claims 1-4, comprising the steps of:
step 1, an automatic docking scheduling control unit controls a transfer lifting vehicle (1) to transport an engine (02) to the lower part of a test bed (01);
step 2, respectively setting a plurality of preset mark points on an engine (02) and a test bed (01);
step 3, controlling the attitude adjusting mechanism (2) to adjust the angle attitude of the engine (02) through the visual attitude measurement control unit (3), measuring real-time coordinate values of preset mark points on the engine (02) and the test frame (01) through the visual attitude measurement control unit (3), and resolving a vertical error value between the preset mark points on the engine (02) and the test frame (01) in real time through the automatic butt joint dispatching control unit until the resolved vertical error value is in a preset error range, thereby completing the alignment of the engine (02) and the test frame (01);
step 4, controlling the gesture adjusting mechanism (2) to vertically lift the engine (02) through the visual gesture measurement control unit (3) until the vertical distance between the engine (02) and the test frame (01) reaches a preset distance;
and 5, removing preset mark points, connecting the engine (02) with the test frame (01), and completing the butt joint between the engine (02) and the test frame (01).
6. The method for interfacing an engine with a test frame according to claim 5, wherein:
in step 4, the preset distance is 5mm-10mm.
7. The method for interfacing an engine with a test frame of claim 6, wherein:
in step 5, the engine (02) is connected to the test frame (01) by bolts.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311420268.6A CN117589458A (en) | 2023-10-30 | 2023-10-30 | System and method for butting engine and test frame |
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| CN202311420268.6A CN117589458A (en) | 2023-10-30 | 2023-10-30 | System and method for butting engine and test frame |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118090217A (en) * | 2024-04-17 | 2024-05-28 | 西安航天动力试验技术研究所 | Alignment method and system for engine test |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118090217A (en) * | 2024-04-17 | 2024-05-28 | 西安航天动力试验技术研究所 | Alignment method and system for engine test |
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