CN118332708A - Large-size component assemblability evaluation method based on characteristic point distance error matrix - Google Patents
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Abstract
The invention relates to the technical field of aircraft assembly and discloses a large-size component assemblability evaluation method based on a feature point distance error matrix. The method for evaluating the assemblability provided by the invention is based on the spatial position relation of the characteristic points of the theoretical digital-analog and the actual parts, so that the assemblability of the large-size parts is judged, the assemblability of the parts can be judged without an adjustment stage, and the measurement of the characteristic point data of the actual parts is not limited by application scenes. The invention can effectively improve the efficiency of the assembly process and reduce the assembly cost.
Description
Technical Field
The invention relates to the technical field of aircraft assembly, in particular to the field of aircraft large-size component assemblability evaluation, and more particularly relates to a large-size component assemblability evaluation method based on a characteristic point distance error matrix.
Background
In the process of digital adjustment of large-size parts of an aircraft, the actual parts are generally moved to theoretical digital-analog assembly positions, and then assembly work is carried out. The actual component is adjusted to the theoretical digital-analog position, and the characteristic points selected in the component are generally positioned. In consideration of the influences of factors such as machining errors, actual component deformation and the like, the characteristic points of the actual component have certain deviation from the characteristic points in the theoretical digital model, and along with the improvement of the assembly precision, if the deviation between the actual characteristic points and the theoretical characteristic points is too large, the limitation of the assembly precision requirement is exceeded, and the assembly of the component cannot be completed.
The existing assemblability evaluation generally focuses on the problem of non-assemblability caused by factors such as assembly size chain paths, surrounding environment interference, resource allocation and the like, and does not consider the problem of non-assemblability caused by errors of actual components and theoretical digital-to-analog characteristic points. In addition, because the number of the characteristic points is generally large, the spatial position relationship is complex, the pose adjustment process generally comprises nonlinear operations such as linear translation, rotation and the like, the tolerance range of deviation between the theoretical characteristic points and the actual characteristic points meeting the assembly precision requirement is not clear, and the pose adjustment process is difficult to express in a linear relationship. Therefore, there is currently no evaluation method for judging the assemblability of a large-sized component based on the deviation of the feature points of the actual component.
Disclosure of Invention
In order to overcome the problems and the defects existing in the prior art, the invention provides an assembly feasibility evaluation method considering the deviation of actual components and theoretical digital-to-analog characteristic points and the assembly precision, and provides a large-size component assembly suitability evaluation method based on a characteristic point distance error matrix.
In order to achieve the above object, the present invention has the following technical scheme:
The invention provides a large-size component assemblability evaluation method based on a characteristic point distance error matrix, which specifically comprises the following steps:
S1, respectively selecting theoretical digital-analog characteristic points and actual component characteristic points corresponding to a component to be assembled, and then respectively obtaining coordinates of the characteristic points;
S2, respectively calculating coordinate differences between any two feature points of a theoretical digital model and coordinate differences between any two feature points of an actual component, and then respectively forming a theoretical digital model direction distance matrix and an actual component direction matrix of the component to be assembled;
s3, calculating the difference between the theoretical digital-analog direction distance matrix and the actual component direction distance matrix to form a distance error matrix of the component to be assembled;
S4, combining the assembly precision and a distance error matrix or a total distance matrix of the parts to be assembled, and carrying out assemblability evaluation, wherein an evaluation result comprises that the parts to be assembled can be assembled and cannot be assembled.
As a preferable aspect of the present invention, in the step S4, when the distance error matrix of the component to be assembled is used for the assemblability evaluation, a specific evaluation manner is as follows: when the values of all elements in the distance error matrix are within the assembly precision range, indicating that the parts to be assembled can be assembled; when the distance error value of a certain characteristic point in a certain direction in the distance error matrix exceeds the assembly precision range (namely, the value of a certain element in the distance error matrix exceeds the assembly precision range), the part to be assembled cannot be assembled.
In a preferred embodiment of the present invention, in the step S4, if the actual component needs to be rotated by a large angle exceeding 10 ° in either direction to reach a position close to the theoretical digital pose, the total distance error matrix D of the component may be used instead of the distance error matrix to evaluate the assemblability of the component. When the assemblability evaluation is performed by adopting the total distance matrix of the parts to be assembled, the total distance matrix D of the parts to be assembled is calculated by using the distance error matrix, and the specific evaluation mode is as follows: when all elements in the total distance matrix D are within the assembly precision range, indicating that the parts to be assembled can be assembled; when a certain element in the total distance matrix D exceeds the assembly precision range, the component to be assembled cannot be assembled.
As a preferable aspect of the present invention, the step S4 further includes: setting the assembly error tolerance coefficient k enlarges the assembly accuracy. Because the assembly process has operations such as rotation, manual correction and the like, after the values of the individual characteristic points in the distance error matrix exceed the assembly precision epsilon, the assembly can still be realized, the assembly error tolerance coefficient k is set for the assembly, the range of the assembly precision is moderately enlarged, and the enlarged assembly tolerance range is k epsilon.
Therefore, when the assemblability of the component is evaluated using the distance error distance matrix, when all the element values in the distance error matrix are within the assembly accuracy epsilon range, it is indicated that the component can be assembled; when a certain element in the distance error matrix exceeds the assembly precision epsilon, but does not exceed the expanded assembly tolerance range k epsilon, the assembly of the component is possible to be realized; when a certain element in the distance error matrix exceeds the expanded assembly tolerance range k epsilon, the component cannot be assembled.
Further, when the assemblability of the component is evaluated using the total distance error matrix D, when all elements in the total distance matrix D are within the assembly accuracy range, it is indicated that the component to be assembled can be assembled; when an element in the total distance matrix D exceeds the assembly precision epsilon, but does not exceed the expanded assembly tolerance range k epsilon, the element represents that the assembly of the component is possible to be realized; when a certain element in the total distance matrix D exceeds the expanded assembly tolerance range k epsilon, it indicates that the component cannot be assembled.
In step S1, the number of the selected feature points is 3 or more.
As a preferable aspect of the present invention, in step S2, it is assumed that there are n theoretical digital-analog characteristic points and n actual component characteristic points, where coordinates of the theoretical digital-analog characteristic points are (xl1,yl1,zl1)、(xl2,yl2,zl2)…(xln,yln,zln), and coordinates of the actual component characteristic points are (xs1,ys1,zs1)、(xs2,ys2,zs2)…(xsn,ysn,zsn),, respectively, and elements in a direction distance matrix formed by the theoretical digital-analog characteristic points and the actual component characteristic points are calculated according to the following formulas:
For a direction distance matrix formed by theoretical digital model feature points, the values of the j-th column elements of the i-th row in the matrix are as follows:
；
Wherein Rlx, rly, rlz is a matrix of theoretical digital-analog characteristic points in X, Y, Z directions respectively;
for a directional distance matrix formed by the feature points of the actual component, the values of the elements in the ith row and the jth column in the matrix are as follows:
；
Wherein Rsx, rsy, rsz are matrices of actual component feature points in X, Y, Z directions respectively.
As a preferable aspect of the present invention, in step S3, the elements in the distance error matrix are calculated according to the following calculation expression: for the ith row and jth column elements in the matrix, the values are:
；
Wherein Ax ij、Ayij、Azij is the error distance matrix of theoretical digital model feature point and actual component feature point in X, Y, Z three directions respectively.
As a preferable aspect of the present invention, the calculation formula of the total distance error matrix D is as follows:
。
In a preferred embodiment of the invention, in step S4, the given assembly accuracy epsilon may be within the same range for all the feature points or within different ranges. Namely, when the assembly precision requirement of the individual characteristic points is higher than that of the other points, the method is still applicable.
As a preferable aspect of the present invention, in step S4, when the assemblability of the component is evaluated using the total distance matrix D, the value of the allowable coefficient k for assembly error may be increased appropriately.
As a preferred solution of the present invention, in step S4, the values of the fitting error tolerance coefficient k may be given in a matrix, instead of a single value, i.e. the k values in the three directions X, Y, Z may be different, and the corresponding k values may be moderately relaxed when the fitting accuracy requirements of certain feature points are low.
As a preferable aspect of the present invention, when the measures of manual correction and the like are not considered, assuming that the actual component is a rigid body, the minimum value of the k value can be obtained by a rotation matrix method, a quaternion method and the like without deformation during the posture adjustment and the assembly. For the rotation matrix method, when the actual component assembly process rotates according to the conventional ZYX compliance, the minimum k values are respectively as follows in three directions of X, Y, Z:
；
wherein Deltax, deltay, deltaz are distance error values (namely coordinate difference values) of the feature points in the X, Y and Z directions, and alpha, beta and gamma are maximum values of Euler angles of the component rotating according to the ZYX compliance.
The invention has the beneficial effects that:
1. The assemblability evaluation method provided by the invention can judge the assemblability of the component only by the characteristic point coordinate information of the theoretical digital model and the characteristic point coordinate information of the actual component, has no requirement on the measurement position of the actual component, can not measure in the adjustment stage, improves the efficiency of the assembly process and reduces the operation cost.
2. The method for evaluating the assemblability provided by the invention has the advantages of relatively simple calculation operation, clear theoretical principle and high feasibility on the basis of considering the spatial position relation among all the characteristic points. Even for the case where the number of feature points is extremely large (even at 1000 or more), it is possible to draw a conclusion as to whether or not assembly is possible with extremely high efficiency (within 0.1 s).
3. The method for evaluating the assemblability can be expanded in the assembling and adjusting stage, and not only can the assemblability of the component be judged, but also the deformation and the measurement error of the component can be reflected according to the different poses of the component in the assembling and adjusting stage and the actual characteristic point data of the component measured in the assembling process.
4. Because of the large number of general feature points of the large-size parts, the method is particularly suitable for the assemblability evaluation of the large-size parts in the fields of aerospace, automobiles, ships, nuclear industry and the like.
5. The method for evaluating the assemblability provided by the invention is also applicable to the situation that different characteristic points have different assembly precision.
Drawings
The foregoing and the following detailed description of the invention will become more apparent when read in conjunction with the following drawings in which:
FIG. 1 is a flow chart of the method of the present invention;
fig. 2 is a schematic diagram of a first part to be assembled and its feature points and a second part to be assembled and its feature points (black points are selected feature points in the drawing) according to an embodiment of the present invention;
Fig. 3 is a schematic diagram of a theoretical digital model of a first part to be assembled and its feature points and a theoretical digital model of a second part to be assembled and its feature points (black points in the figure are selected feature points) according to an embodiment of the present invention.
In the figure:
1. a first component; 2. a second component; 3. a first part theoretical digital-to-analog; 4. the second component theory is digital to analog.
Detailed Description
In order to enable those skilled in the art to better understand the technical solutions of the present invention, the following specific examples will further illustrate the technical solutions for achieving the object of the present invention, and it should be noted that the technical solutions claimed in the present invention include, but are not limited to, the following examples. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, based on the embodiments of the present invention shall fall within the scope of protection of the present invention.
At present, the existing component assemblability evaluation generally focuses on the problem of non-assemblability caused by factors such as assembly size chain paths, surrounding environment interference, resource allocation and the like, and does not consider the problem of non-assemblability caused by errors of actual components and theoretical digital-to-analog characteristic points. In addition, because the number of the characteristic points is generally large, the spatial position relationship is complex, the pose adjustment process generally comprises nonlinear operations such as linear translation, rotation and the like, the tolerance range of deviation between the theoretical characteristic points and the actual characteristic points meeting the assembly precision requirement is not clear, and the pose adjustment process is difficult to express in a linear relationship. Therefore, there is no evaluation method for judging assemblability of large-sized parts based on deviation of feature points of actual parts
Based on the above, the embodiment of the invention provides a large-size component assemblability evaluation method based on a characteristic point distance error matrix. The invention has no requirement on the measuring position of the actual part, can measure in the adjustment stage, improves the efficiency of the assembly process and reduces the operation cost
The embodiment discloses a large-size component assemblability evaluation method based on a characteristic point distance error matrix, and the method adopts the following scheme with reference to the attached figure 1 in the specification:
S1, randomly selecting the theoretical digital model feature points and the actual feature points of the components to be assembled, and obtaining coordinate data of the corresponding feature points under a Cartesian coordinate system.
In the embodiment depicted in the present invention, the number of selected feature points is typically 3 or more for some structures with greater corner distortion, and as many as possible.
S2, respectively calculating coordinate differences between any two feature points of the theoretical digital model and coordinate differences between any two feature points of the actual component, and finally forming a theoretical digital model direction distance matrix and an actual component direction distance matrix in the X, Y and Z directions.
S3, calculating the difference value of the distance matrix of the actual component characteristic points and the corresponding theoretical digital-analog characteristic points in the X, Y and Z directions, and finally forming a distance error matrix.
And S4, carrying out assemblability evaluation on the parts to be assembled by combining the assembly precision epsilon and the distance error matrix formed in the step S3.
In the depicted embodiment of the present invention, the step S4 specifically includes the following steps:
Firstly, due to the operations of rotation, manual correction and the like of the components in the assembly process, after the values of the individual characteristic points in the distance error matrix exceed the assembly precision epsilon, assembly can still be realized, an assembly error tolerance coefficient k is set for the assembly, the range of the assembly precision epsilon is moderately enlarged, and the enlarged assembly tolerance range is k epsilon.
Therefore, there are two ways to evaluate the assemblability of the component based on the expanded assembly allowable range k×ε, one is to compare the distance error matrix obtained in the distance step S4 with the expanded assembly allowable range k×ε, and perform the assemblability evaluation; and the other is to calculate a total distance error matrix based on the distance error matrix obtained in the step S4, and then compare the total distance error matrix with the expanded assembly allowable range k×epsilon, so as to evaluate the assembly performance. The assemblability evaluation typically gives one of three conclusions: can be assembled, and can possibly realize assembly and non-assembly.
For the situation shown in fig. 2 of the specification, in order to complete the assembly feasibility evaluation of the first component and the second component, distance error matrixes of actual component feature points and corresponding theoretical digital-analog feature points of the two components need to be respectively established, and the theoretical digital-analog of the two components and the feature points thereof are shown in fig. 3. The first component will be described below as an example of the mountability evaluation, and the second component will be the same.
Firstly, acquiring coordinate values of theoretical digital-analog characteristic points and actual component characteristic points of a first component under a Cartesian coordinate system, wherein the first component is provided with 8 theoretical digital-analog characteristic points and 8 actual component characteristic points, and the coordinates of the theoretical digital-analog characteristic points and the coordinates of the actual component characteristic points are shown in the following table 1:
。
Calculating coordinate differences between any two theoretical digital model feature points and coordinate differences between any two actual component feature points; the coordinate differences between all any two theoretical digital model feature points obtained through calculation form a distance matrix (Rlx, rly, rlz) of each direction of the theoretical digital model, and the coordinate differences between all any two actual component feature points obtained through calculation form a distance matrix (Rsx, rsy, rsz) of each direction of the actual component; the specific calculation results are shown in the following tables 2 to 7:
；
；
；
；
；
。
And thirdly, calculating the distance matrix difference value of the theoretical digital-analog characteristic points and the corresponding actual component characteristic points in all directions, and finally forming a distance error matrix (Ax, ay, az). Considering that the coordinates of the actual component of the first component are relatively close to the coordinates of the theoretical digital-analog, the assembly process does not need to perform a rotation operation exceeding 10 degrees, and therefore the calculated distance error matrix (Ax, ay, az) of each direction of the first component is used as an assemblability criterion. The first component directional distance error matrices (Ax, ay, az) are shown in tables 8-10 below:
；
；
。
The fourth step is to set an assembly error tolerance coefficient k, which in this embodiment is required to satisfy epsilon-0.5, 0.5 for all feature points. The expanded fitting tolerance is k epsilon-0.75, 0.75. And carrying out the first component assemblability evaluation by combining the expanded assembly tolerance range and the distance error matrix, wherein the evaluation process is specifically as follows:
As can be seen from the distance errors in the directions obtained by the third step, the values of some elements in the X-direction distance error matrix Ax of the first component are between epsilon and k×epsilon, the values of all elements in the Y-direction distance error matrix Ay are within the assembly precision epsilon, and the distance error between the feature point 6 and the feature point 2 exceeds k×epsilon in the Z-direction distance error matrix Az. Therefore, it can be determined that the first member cannot be adjusted to the theoretical position with a prescribed assembly accuracy, so that the assemblability of the first member is evaluated as being unable to be assembled.
The process of evaluating the assemblability of the second component is the same as that of the first component, but since the first component is already in an unassembled state, the second component may not be analyzed.
As another embodiment of the present invention, the assemblability of the first component is evaluated by replacing the distance error matrix with the total distance matrix D. The total distance matrix D of the first component is calculated based on the distance error matrices (Ax, ay, az), the calculation expression being as follows:
；
thus, the total distance matrix D of the first component is calculated as shown in table 11 below:
。
When the assemblability of the first component is evaluated using the total distance matrix D, the assembly error tolerance coefficient k=2.0 is taken, and the expanded assembly tolerance range is k×ε ε [ -1.0,1.0].
As is clear from the calculation results of the table, the distance error between the feature point 2 and the feature point 6 is still out of the expanded fitting allowable range, so that it can be determined that the first component cannot be adjusted to the theoretical position with the prescribed fitting accuracy, and therefore the fittability of the first component is evaluated as impossible to be fitted.
The total distance error matrix is used for replacing the distance error matrix in each direction to carry out subsequent assemblability evaluation, and the greatest benefit is that the assemblability evaluation can be realized even if the pose or the coordinate system of the actual component and the theoretical digital model have larger difference.
The foregoing description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and any simple modification, equivalent variation, etc. of the above embodiment according to the technical matter of the present invention fall within the scope of the present invention.
Claims (9)
1. The large-size component assemblability evaluation method based on the characteristic point distance error matrix is characterized by comprising the following steps of:
S1, respectively obtaining coordinates of theoretical digital model feature points of a part to be assembled and actual part feature points;
S2, respectively calculating coordinate differences between any two feature points of the theoretical digital model and coordinate differences between any two feature points of the actual component, and respectively forming a direction distance matrix;
S3, calculating the difference value between a direction distance matrix formed by theoretical digital model feature points and a direction distance matrix formed by actual component feature points to form a distance error matrix of the component to be assembled;
S4, combining the assembly precision with the distance error matrix, and performing assemblability evaluation, wherein the assembly precision and the distance error matrix comprise the assembly possibility and the assembly incapability of the parts to be assembled.
2. The method for evaluating the assemblability of a large-sized component based on a feature point distance error matrix according to claim 1, wherein said step S4 comprises: when all elements in the distance error matrix are within the assembly precision range, indicating that the parts to be assembled can be assembled; and when a certain element in the distance error matrix exceeds the assembly precision range, the part to be assembled cannot be assembled.
3. The method for evaluating the assemblability of a large-sized component based on a feature point distance error matrix according to claim 1, wherein said step S4 comprises: calculating a total distance matrix D based on the distance error matrix; when all elements in the total distance matrix D are within the assembly precision range, indicating that the parts to be assembled can be assembled; when a certain element in the total distance matrix D exceeds the assembly precision range, the component to be assembled cannot be assembled.
4. The method for evaluating the assemblability of a large-sized component based on a feature point distance error matrix according to claim 1, wherein in step S1, the number of feature points selected is 3 or more.
5. The method for evaluating the assemblability of a large-size component based on a feature point distance error matrix according to claim 1, wherein in step S2, n theoretical digital-analog feature points and n actual component feature points are assumed, respectively, and wherein the coordinates of the theoretical digital-analog feature points are (xl1,yl1,zl1)、(xl2,yl2,zl2)…(xln,yln,zln), and the coordinates of the actual component feature points are (xs1,ys1,zs1)、(xs2,ys2,zs2)…(xsn,ysn,zsn),, respectively, and the elements in the directional distance matrix formed by the theoretical digital-analog feature points and the actual component feature points are calculated according to the following formulas:
For a direction distance matrix formed by theoretical digital model feature points, the values of the j-th column elements of the i-th row in the matrix are as follows:
；
rlx, rly, rlz are matrixes of theoretical digital characteristic points in the x, y and z directions respectively;
for a directional distance matrix formed by the feature points of the actual component, the values of the elements in the ith row and the jth column in the matrix are as follows:
；
wherein Rsx, rsy, rsz are matrices of the feature points of the actual component in the x, y and z directions respectively.
6. The method for evaluating the assemblability of a large-sized component based on a feature point distance error matrix according to claim 1, wherein in step S3, the elements in the distance error matrix are calculated according to the following calculation expression, and for the ith row and jth column elements in the matrix, the values are:
；
ax ij、Ayij、Azij is the error distance matrix of the theoretical digital model feature point and the actual component feature point in the x, y and z directions.
7. The method for evaluating the assemblability of a large-sized component based on a feature point distance error matrix according to claim 2, wherein said step S4 further comprises: setting an assembly error tolerance coefficient k to enlarge the assembly precision, wherein the enlarged assembly tolerance range is k epsilon; when all elements in the distance error matrix are within the assembly precision epsilon range, the components can be assembled; when a certain element in the distance error matrix exceeds the assembly precision epsilon, but does not exceed the expanded assembly tolerance range k epsilon, the assembly of the component is possible to be realized; when a certain element in the distance error matrix exceeds the expanded assembly tolerance range k epsilon, the component cannot be assembled.
8. A method for evaluating the assemblability of a large-sized component based on a feature point distance error matrix according to claim 3, wherein said step S4 further comprises: setting an assembly error tolerance coefficient k to enlarge the assembly precision, wherein the enlarged assembly tolerance range is k epsilon; when all elements in the total distance matrix D are within the assembly precision range, indicating that the parts to be assembled can be assembled; when an element in the total distance matrix D exceeds the assembly precision epsilon, but does not exceed the expanded assembly tolerance range k epsilon, the element represents that the assembly of the component is possible to be realized; when a certain element in the total distance matrix D exceeds the expanded assembly tolerance range k epsilon, it indicates that the component cannot be assembled.
9. The method for evaluating the assemblability of a large-sized component based on a characteristic point distance error matrix according to claim 5, wherein the assembly error tolerance coefficient k is obtained by a rotation matrix method or a quaternion method.
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