CN115635270A - Orthogonal hole system automatic alignment method for assembly butt joint - Google Patents

Abstract

The invention relates to an orthogonal hole system automatic alignment method for assembly butt joint, belonging to the technical field of orthogonal hole system automatic alignment; establishing a butt joint system which comprises components, a cabin section, a side hole, a top hole, a calibration hole, a CCD camera, a laser displacement sensor, a laser ranging sensor, a detection fixing device and a sensor bracket; the butt joint process is divided into three parts, namely assembly entering cabin section, assembly reaching designated position and two-hole posture adjustment; the radial distance between the assembly and the cabin section is adjusted through the laser displacement sensor, the axial distance between the assembly and the cabin section is measured through the laser ranging sensor, and a CCD camera is adopted to collect an assembly hole edge image; according to the invention, the six-degree-of-freedom platform and the sensor are used for realizing automatic butt joint of the assembly, coaxial control is automatically realized between the cabin section and three holes of the assembly, the deviation is not more than 0.1mm, and the manpower is greatly saved; the butt joint precision is high, and the butt joint is efficient, accessible sensor real-time supervision butt joint assembly process.

Description

An automatic alignment method for orthogonal hole systems for component docking

technical field

The invention belongs to the technical field of automatic alignment of orthogonal hole systems, and relates to an automatic alignment method of orthogonal hole systems for component docking.

Background technique

The cabin section and components are important parts of the aircraft. There are multiple radial holes processed in the radial direction, and each hole is in an orthogonal state. During the docking assembly process of the rudder system, it is necessary to complete three groups of rudder shaft holes in the cabin section that are coaxial with the rocker arm holes of the components. The cabin section is made of composite materials, and the components are made of metal materials. There are three coaxial through holes, the coaxiality is less than or equal to 0.1mm, and the docking precision is required to be high, resulting in low docking efficiency, and because of the small gap between the cabin and components, collisions are easy to occur, and the docking assembly process is not easy to monitor.

There is currently no good solution.

Contents of the invention

The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, to propose an automatic alignment method for orthogonal hole systems for component docking, to realize automatic docking of components by using a six-degree-of-freedom platform and sensors, and to realize automatic docking of components between cabins and components The hole is automatically controlled on the same axis, and the deviation is not greater than 0.1mm, which greatly saves manpower; the docking precision is high, the docking efficiency is high, and the docking assembly process can be monitored in real time through sensors.

The technical solution of the present invention is:

An automatic alignment method for orthogonal hole systems for component docking, comprising:

Establish a docking system; including components, cabins, CCD cameras-, laser displacement sensors-, laser ranging sensors, detection fixtures, sensor brackets-; cabins are equipped with cabin holes-; modules are equipped with component holes-;

Define the alignment coordinate system xyz;

Move the assembly to the open end of the entry compartment;

Adjust the attitude of the component; including adjusting the attitude of the component through the laser displacement sensor, adjusting the attitude of the component through the laser displacement sensor, and adjusting the attitude of the component through the laser displacement sensor;

Use the CCD camera to extract the hole wheel information from the cabin hole and the component hole; use the cabin hole as the origin to establish a coordinate system; through the discrete point coordinates, combined with the circle series equations, extract the component hole, and the cabin respectively. Segment hole, circle center coordinates, intersection coordinates, intersection straight line equation;

Perform centering and attitude adjustment processing on component holes and cabin holes, including non-intersection processing, uncombined edge processing and center centering processing;

The center of the circle of the assembly hole of the module coincides with the center of the circle of the cabin hole of the cabin respectively to complete the final attitude adjustment.

In the above-mentioned method for automatic alignment of orthogonal hole systems for component docking, the docking system is specifically:

The cabin is placed axially and horizontally on the external base platform; the detection fixture is an arch structure, and the detection fixture is installed across the cabin; the sensor bracket is fixed and installed in the middle of the top beam of the detection fixture; the top center of the cabin is set There are cabin holes; the two sides of the cabin are respectively provided with cabin holes and cabin holes; the cabin holes and the cabin holes are coaxial, and the cabin holes, the cabin holes and the cabin holes are located on the same vertical plane; the sensor The bracket is installed on the external base platform and is located at the opening end of the cabin; the sensor bracket is a U-shaped structure with the opening upward; the laser displacement sensor is installed on the inside of the two vertical sides of the sensor bracket respectively; the laser displacement sensor is symmetrically installed on the sensor The upper surface of the horizontal side of the bracket; the laser displacement sensor is installed at the bottom of the sensor bracket; the laser ranging sensor is installed at the bottom of the sensor bracket; the CCD camera and the CCD camera are respectively installed on the inner side walls of the two vertical sides of the detection fixture; and the CCD The camera is aimed at the cabin hole, and the CCD camera is aimed at the cabin hole; the CCD camera is installed in the middle of the top beam of the detection fixture, and the CCD camera is aimed at the cabin hole;

The components are installed on the external six-degree-of-freedom platform; the components are placed coaxially and horizontally with the cabin, and the components are located outside the open end of the cabin; the top center of the component is provided with a component hole; the two sides of the component are respectively provided with a component hole and a component hole; the component The hole and the component hole are coaxial, and the component hole, the component hole and the component hole are located in the same vertical plane.

In the above-mentioned automatic alignment method for orthogonal hole systems for component docking, in the alignment coordinate system xyz, the z-axis is vertically upward; the y-axis is the axial direction of the cabin; the x-axis is determined by the right-hand rule.

In the above-mentioned automatic alignment method for orthogonal hole system for component docking, the specific process of moving the component to the open end of the entry cabin is as follows:

The component is fed through the six-degree-of-freedom platform, and the laser ranging sensor is used to judge whether the component will enter the cabin. When the target value is reached, the six-degree-of-freedom platform stops the feeding movement.

In the above-mentioned automatic alignment method for orthogonal hole system for component docking, the process of adjusting the attitude of the component through the laser displacement sensor is:

Measure the distances z1 and z2 between the component and the z-direction through the laser displacement sensor; rotate clockwise or counterclockwise around the y-axis through the six-degree-of-freedom platform to make z1 and z2 equal; then make the component through the six-degree-of-freedom platform Move up and down along the z-axis to make z1 and z2 reach the target value z0; after adjustment, the component’s rotation on the y-axis and translation on the z-axis are limited, and the remaining degrees of freedom are not limited.

In the above-mentioned automatic alignment method for orthogonal hole system for component docking, the process of adjusting the attitude of the component through the laser displacement sensor is:

Measure the distance x1 and x2 between the component and the side laser displacement sensor; calculate the opposite side difference Δx=lx-lz-x1 through x1; where lz is the width of the component in the x direction, and compare Δx with x2 , to judge whether there is a rotation deviation of the component along the z-axis; when Δx is not equal to x2, make the six-degree-of-freedom platform rotate clockwise or counterclockwise around the z-axis; if Δx is equal to x2, stop the rotation; then use The component is translated along the x-axis until it reaches the target value x0; after adjustment, the component rotates on the z-axis and the translation on the x-axis is limited; the rotation on the x-axis and the translation on the y-axis are not limited.

In the above-mentioned method for automatic alignment of orthogonal hole systems for component docking, the process of adjusting the attitude of the component through the laser displacement sensor is:

The distance z1 between the component and it is measured by a laser displacement sensor. If it deviates from the target value z0, it is rotated clockwise or counterclockwise along the x-axis through a six-degree-of-freedom platform until it reaches the target value.

In the above-mentioned method for automatic alignment of orthogonal hole systems for component docking, the specific process of no-intersection processing is as follows:

When the component has not yet moved to the designated position, there will be intersections between the component hole and the cabin hole and respectively; whether it is in place is judged by the laser ranging sensor, due to the small installation and fixation error of each part, plus the position and attitude before the docking in the early stage The detection is completed, so the position of the two holes is basically determined by distance measurement to ensure that there is no intersection between the two holes at this time.

In the above-mentioned automatic alignment method for orthogonal hole systems for component docking, the process of uncombining edge processing is:

When the component does not rotate around each axis, the component hole is circular; when the component rotates around the x-axis, the component hole is still circular; when the component rotates around the y-axis, another edge appears above and below the collected component hole ;When the component rotates around the z axis, another edge will appear on the left and right of the collected component hole; therefore, only around the y and z axes will the combined edge appear, and the rotation of the y and z axes will be removed through this step;

When the CCD camera captures the profile of the component hole as a combined edge; the initial acquisition image, according to the quadrant where the intersection point is located, determines whether the six-degree-of-freedom platform rotates counterclockwise or clockwise around the y-axis; when the intersection point is on the z-axis, stop the y-axis rotation According to whether the arc segment is on the left or the right, the component is rotated clockwise or counterclockwise around the z-axis. The final image collected by the camera is only the circle of the component hole and the cabin hole, without other edges; remove the component hole and After the cabin hole has redundant arc segments, the top CCD camera is used to collect the information of the top component hole of the module, and the same method is used to make the component rotate clockwise or counterclockwise around the z-axis of the absolute coordinate system to remove the redundant arc of the top component hole; So far, the rotation of the component around the x, y, and z axes has been determined; in addition, whether the rotation movement has been completed is further determined by whether the component hole contour is circular.

In the above-mentioned method for automatic alignment of orthogonal hole systems for component docking, the specific process of center centering processing is as follows:

Calculate the center of the component hole and the cabin hole and the relative distance between them in y and z; then give the displacement command of the six-degree-of-freedom platform in the y and z directions; then according to the center of the top component hole and the cabin hole in The components on each coordinate axis are given the displacement command in the x direction of the six-degree-of-freedom platform; finally, the center coordinate information of the component hole and the cabin hole is used for calibration to complete the center of the circle.

The beneficial effect of the present invention compared with prior art is:

(1) The present invention uses a six-degree-of-freedom platform and sensors to realize automatic docking of components, and the three holes of the cabin and components are automatically controlled coaxially, and the deviation is not greater than 0.1mm, which greatly saves manpower; the docking accuracy is high, the docking efficiency is high, and the Real-time monitoring of the docking assembly process through sensors;

(2) The present invention has established a docking system, including components, cabin sections, side holes, top holes, calibration holes, CCD cameras, laser displacement sensors, laser distance measuring sensors, detection fixtures and sensor brackets; through the docking system, completed The adjustment work of three parts: the module enters the cabin, the module arrives at the designated position, and the attitude adjustment of the two holes;

(3) The present invention adjusts the radial distance between the assembly and the cabin through the laser displacement sensor, and the laser ranging sensor measures the axial distance between the assembly and the cabin, adopts a CCD camera to collect the edge image of the assembly hole, and uses a six-degree-of-freedom platform and sensor The automatic docking of components is realized, and the coaxial control of the cabin and the three holes of the component is automatically realized, which can be widely used in the high-precision docking process of various cabin components.

Description of drawings

Fig. 1 is a schematic diagram of the docking system of the present invention.

Fig. 2 is a schematic diagram of the docking process of the present invention.

Fig. 3 is a schematic diagram of the displacement adjustment process at the bottom of the component.

Fig. 4 is a schematic diagram of the side displacement adjustment process of the component.

Fig. 5 is a schematic diagram of the displacement adjustment process at the top of the component.

FIG. 6 is a schematic diagram of an overview of hole profile information.

Fig. 7 is a schematic diagram of the moving process of two holes.

Figure 8 is a schematic diagram of the combined edge of the side hole of the module.

Fig. 9 is a schematic diagram of the process of removing the combined edge of the side hole.

Fig. 10 is a schematic diagram of the centering process of a circle.

Detailed ways

The present invention will be further elaborated below in conjunction with embodiment.

The invention adopts an automatic alignment method for orthogonal hole systems for component docking, based on the real-time automatic adjustment of the rudder system docking assembly tooling, the docking system includes components, cabins, side holes, top holes, calibration holes, CCD cameras, Laser displacement sensor, laser distance sensor, detection fixture and sensor bracket. The components are fixed on the six-degree-of-freedom platform, the cabin section, the detection fixture, the bottom and side sensor brackets are all fixed on the base platform, the top sensor bracket is fixed on the top of the detection fixture, and the CCD camera is fixed on the detection fixture On both sides and the top, the laser displacement sensors are respectively fixed on the sensor bracket, and the laser displacement sensor and the laser ranging sensor are fixed on the top of the detection fixture through the sensor bracket.

The method for automatic alignment of orthogonal hole systems for component docking, specifically includes the following steps:

Establish a docking system; as shown in Figure 1, including components 1, cabin section 2, CCD camera 31-33, laser displacement sensor 41-45, laser ranging sensor 5, detection fixture 6, sensor bracket 7-8; cabin section 2 is provided with compartment holes 21-23; module 1 is provided with assembly holes 11-13. The docking system is specifically:

The cabin section 2 is placed axially and horizontally on the external base platform; the detection and fixing device 6 is an arch structure, and the detection and fixing device 6 is straddled and installed above the cabin section 2; the sensor bracket 8 is fixedly installed on the middle part of the top beam of the detection and fixing device 6; The top center of cabin section 2 is provided with cabin section hole 22; The two sides of cabin section 2 are respectively provided with cabin section hole 21 and cabin section hole 23; The section hole 21 and the cabin section hole 23 are located on the same vertical plane; the sensor bracket 7 is installed on the external base platform and is located at the opening end of the cabin section 2; the sensor bracket 7 is a U-shaped structure with an upward opening; the laser displacement sensor 41 , 44 are respectively installed in the inner side of 72 vertical sides of sensor support; Laser displacement sensors 42,43 are symmetrically installed on the upper surface of sensor support 7 horizontal sides; Laser displacement sensor 45 is installed in the bottom of sensor support 8; At the bottom of the sensor bracket 8; CCD camera 31 and CCD camera 33 are respectively installed on the inner side walls of the two vertical sides of the detection fixture 6; and CCD camera 31 is aimed at cabin hole 21, and CCD camera 33 is aimed at cabin section hole 23 ; The CCD camera 32 is installed in the middle of the top beam of the detection fixture 6, and the CCD camera 32 is aimed at the cabin hole 22;

Component 1 is installed on the external six-degree-of-freedom platform; component 1 is placed coaxially and horizontally with cabin section 2, and component 1 is located outside the opening end of cabin section 2; component hole 12 is set in the center of the top of component 1; There is an assembly hole 11 and an assembly hole 13; the assembly hole 11 and the assembly hole 13 are coaxial, and the assembly hole 11, the assembly hole 12 and the assembly hole 13 are located in the same vertical plane.

Define the alignment coordinate system xyz; in the alignment coordinate system xyz, the z-axis is vertically upward; the y-axis is the axial direction of cabin section 2; the x-axis is determined by the right-hand rule.

Move the component 1 to the open end of the cabin section 2; the specific process of moving the component 1 to the open end of the cabin section 2 is as follows:

The component 1 is fed through the six-degree-of-freedom platform, and the laser ranging sensor 5 is used to judge whether the component 1 will enter the compartment 2. When the target value is reached, the six-degree-of-freedom platform stops the feeding movement.

Adjusting the posture of the component 1 includes adjusting the posture of the component 1 through the laser displacement sensors 42 and 43 , adjusting the posture of the component 1 through the laser displacement sensors 41 and 44 , and adjusting the posture of the component 1 through the laser displacement sensor 45 .

The process of adjusting the attitude of the component 1 through the laser displacement sensors 42 and 43 is:

The distances z1 and z2 in the z direction between the component 1 and the laser displacement sensor 42 and 43 are respectively measured; the six-degree-of-freedom platform rotates clockwise or counterclockwise around the y-axis to make z1 and z2 equal; and then through the six-degree-of-freedom The platform moves the component 1 up and down along the z-axis, so that z1 and z2 reach the target value z0; after adjustment, the rotation of the component 1 on the y-axis and the translation of the z-axis are limited, and the remaining degrees of freedom are not limited.

The process of adjusting the attitude of the component 1 through the laser displacement sensors 41 and 44 is:

Measure the distance x1 and x2 between the component 1 and it by the side laser displacement sensors 44 and 41; calculate the opposite side difference Δx=lx-lz-x1 by x1; wherein, lz is the width of the component in the x direction, and Δx Compare with x2 to judge whether component 1 has a rotation deviation along the z-axis; when Δx is not equal to x2, make the six-degree-of-freedom platform rotate clockwise or counterclockwise around the z-axis, and stop if Δx is equal to x2 Rotate; then make the component 1 translate along the x-axis until it reaches the target value x0; after adjustment, the component 1 rotates on the z-axis and the translation on the x-axis is limited; the rotation on the x-axis and the translation on the y-axis are not limited.

The process of adjusting the attitude of the component 1 through the laser displacement sensor 45 is:

The distance z1 between the component 1 and the component 1 is measured by the laser displacement sensor 45. If it deviates from the target value z0, the six-degree-of-freedom platform is used to rotate clockwise or counterclockwise along the x-axis until the target value is reached.

The hole wheel information is extracted from the cabin holes 21-23 and component holes 11-13 through the CCD camera 31-33; the coordinate system is established with the cabin hole 21-23 as the origin; through the discrete point coordinates, combined with the circle series equations, the extraction Outlet component holes 11, 12 and 13 and cabin segment holes 21, 22 and 23 respectively, the coordinates of the center of circle, the coordinates of the intersection point, the equation of the line of intersection point.

Perform centering and attitude adjustment processing on the component holes 11-13 and the cabin hole 21-23, including non-intersection processing, de-combining edge processing and centering processing.

The specific process of non-intersection processing is as follows:

When the component 1 has not moved to the specified position, there will be intersections between the component holes 11, 12 and 13 and the cabin holes 21, 22 and 23 respectively; whether it is in place is judged by the laser ranging sensor 5, because the installation and fixing errors of each part are small , and the detection of the position and attitude before the docking is completed in the early stage, so the position of the two holes is basically determined by distance measurement to ensure that there is no intersection between the two holes at this time.

The process of decombining edge processing is:

When the component 1 does not rotate around each axis, the component hole 11 is circular; when the component 1 rotates around the x-axis, the component hole 11 is still circular; when the component 1 rotates around the y-axis, the collected component hole 11 , another edge appears at the bottom; when the component 1 rotates around the z axis, another edge appears on the left and right of the collected component hole 11; therefore, only around the y and z axes will there be a combined edge, and the y and z axes will be removed by this step The rotation of the z axis;

When the CCD camera 31 collects the profile of the component hole 11 as a combined edge; initially collect the image, and determine whether the six-degree-of-freedom platform rotates counterclockwise or clockwise around the y-axis according to the quadrant where the intersection point is located; when the intersection point is on the z-axis, stop y Axis rotation; then according to whether the arc segment is on the left or right, the component 1 is rotated clockwise or counterclockwise around the z-axis, and the final image collected by the camera is only the circle of the component hole 11 and the cabin hole 21, without other edges ; After removing the redundant arc section of component hole 11 and cabin section hole 21, collect the information of component 1 top component hole 12 through top CCD camera 32 again, and adopt the same method to make the component rotate clockwise or counterclockwise around the z axis of the absolute coordinate system , remove the redundant circular arc of the top assembly hole 12; so far, the rotation of the assembly 1 around the x, y and z axes has been determined; in addition, whether the outline of the assembly hole 13 is circular can further determine whether the rotation has been completed.

The specific process of the centering process is as follows:

Calculate the center of circle of the component hole 11 and the cabin hole 21 and the relative distance between them in y and z; then give the displacement command of the six-degree-of-freedom platform in the y and z directions; then according to the top component hole 12 and the cabin hole The components of the center of circle 22 on each coordinate axis are given the displacement command of the six-degree-of-freedom platform in the x direction; finally, the center of the circle is calibrated using the center coordinate information of the component hole 13 and the cabin hole 23.

Make the center of circle of the assembly holes 11-13 of the assembly 1 coincide with the center of circle of the cabin section holes 21-23 of the cabin section 2 respectively to complete the final attitude adjustment.

Example

Fig. 1 is an embodiment of the present invention, the present invention is based on the real-time automatic adjustment of the docking assembly tooling of the rudder system, the docking system includes a component 1, a cabin section 2, side holes 11, 21, top holes 12, 22, and calibration holes 13, 23 , CCD cameras 31, 32, 33, laser displacement sensors 41, 42, 43, 44, 45, laser ranging sensors 5, detection fixtures 6, sensor brackets 7,8. Among them, the component 1 is fixed on the 6-DOF platform, the cabin section 2, the detection fixture 6 and the sensor bracket 7 are all fixed on the base platform, the sensor bracket 8 is fixed on the top of the detection fixture 6, and the CCD cameras 31, 32 and 33 Fixed on both sides and the top of the detection fixture 6, the laser displacement sensors 41, 42, 43 and 44 are respectively fixed on the sensor bracket 7, and the laser displacement sensor 45 and the laser ranging sensor 5 are fixed on the detection fixture 5 through the sensor bracket 8. 6 tops.

The docking process includes two parts: preparation before docking and docking, as shown in FIG. 2 . Before docking, the coordinate system of component 1 needs to be calibrated first to correct the rotation error of component 1 during assembly; then component 1 is fed through the six-degree-of-freedom platform, and the laser ranging sensor 5 is used to determine whether the component will enter cabin 2, When the target value is reached, the six-degree-of-freedom platform stops the feed motion, and starts to detect the position and posture, so as to preliminarily ensure that the compartment 2 and the component 1 will not rub against each other. The docking process is divided into three stages: component 1 enters cabin 2, component 1 arrives at the designated position, and two-hole attitude adjustment. When component 1 just enters cabin 2, it mainly uses anti-collision detection and auxiliary position and posture detection to prevent collisions; Ensure that the component 1 reaches the designated position through the detection of the entry distance; the attitude adjustment of the two holes is realized through the detection of the coaxial alignment.

The adjustment process is divided into three processes: using the laser displacement sensors 42 and 43 to measure the component displacement adjustment, the side laser displacement sensors 41 and 44 to measure the component displacement adjustment and the top laser displacement sensor 45 to measure the component displacement adjustment. The absolute coordinate system shall prevail, relying on it to drive the components to perform translation and rotation of x, y, z, the specific operation is as follows:

Bottom laser displacement sensors 42 and 43 measure component displacement adjustment, that is, y-axis rotation and z-axis translation, as shown in Figure 3; and 42 measure the distances z1 and z2 between the component 1 and it. The adjustment step is divided into two steps. First, the six-degree-of-freedom platform rotates clockwise or counterclockwise around the y-axis to make z1 and z2 equal, and then moves the component 1 up and down along the z-axis through the six-degree-of-freedom platform to make z1 and z2 reach Target value z0. After this adjustment, the rotation of the component 1 on the y-axis and the translation on the z-axis are limited, and the remaining degrees of freedom are not yet defined.

The side laser displacement sensors 44 and 41 measure the displacement adjustment of the component 1, that is, z-axis rotation and x-axis translation, as shown in FIG. 4 ; the distances x1 and x2 between the component 1 and the component 1 are measured by the side laser displacement sensors 44 and 41 . The adjustment step is divided into two steps. First, calculate the opposite side difference Δx=lx-lz-x1 through x1, where lz is the width of the component in the x direction, and compare Δx with x2 to determine whether the component 1 rotates along the z-axis deviation. If Δx and x2 are not equal, make the six-degree-of-freedom platform rotate clockwise or counterclockwise around the z-axis, and if Δx and x2 are equal, stop the rotation; then make component 1 translate along the x-axis until the target value is reached x0. After this adjustment, the z-axis rotation and x-axis translation of component 1 are limited, and only the x-axis rotation and y-axis translation are not yet defined.

The top laser displacement sensor 45 measures the displacement adjustment of the component, that is, the x-axis rotation, as shown in Figure 5; the distance z1 between the component 1 and the component is measured by the laser displacement sensor 45, and if it deviates from the target value z0, the six-degree-of-freedom platform is used to It rotates clockwise or counterclockwise along the x-axis until it reaches the target value; after this process of attitude adjustment, the values measured by the laser displacement sensors 41, 42, 43 and 44 may change, and the above two steps need to be repeated, and finally , the values of the five laser displacement sensors are all within the set values; after the above three steps of adjustment, only the translation around the y-axis among the six degrees of freedom has not been adjusted. In the follow-up process, it is still necessary to Axis feeds the assembly and is therefore ignored.

After the hole contour is identified, the discrete point information of the contour can be extracted. Since the cabin section 2 and the CCD cameras 31, 32 and 33 are installed in fixed relative positions and do not move during the entire attitude adjustment process, the hole contour information extraction process uses the cabin The segment hole is a dot, and the coordinate system is established. When the subsequent component hole moves, it only needs to measure its relative position with the cabin hole, and then give the corresponding displacement command. Through the discrete point coordinates, combined with the circle series equations, the information shown in Figure 6 can be extracted, including the center coordinates of the component holes 11, 12, and 13 and the cabin holes 21, 22, and 23, the coordinates of the intersection points, and the line equations of the intersection points, etc. .

Centering posture adjustment is divided into three processes: non-intersection point, uncombined edge and center centering. The contour information uses the relative coordinate system. After the displacement command is calculated, the movement of the six-degree-of-freedom platform is based on its absolute coordinate system. During the working process, first ensure that there is no intersection, as shown in Figure 7, when the assembly 1 has not moved to the designated position, there will be intersections between the assembly holes 11, 12 and 13 and the cabin holes 21, 22 and 23 respectively. In this process, the laser distance measuring sensor 5 is mainly used to judge whether it is in place. Since the installation and fixation error of each part is small, and the position and attitude detection is completed before the docking in the previous stage, the position of the two holes can be basically determined through distance measurement to ensure that the two holes are free from damage at this time. If there is a deviation in the intersection point, combined with the coordinates of the intersection point, the displacement command information of the six-degree-of-freedom platform is given to make the component 1 move until the component hole is completely within the cabin hole.

Further, it is necessary to combine the edges. The component 1 may have an inclination in the cabin section 2, so that the component hole collected by the CCD camera is a combined edge of a circle and an arc. 1 The collected contour information becomes a circle. Taking the side hole 11 in the component 1 as an example, as shown in Figure 8, when the component 1 does not rotate around each axis, the component side hole 11 is circular; when the component 1 rotates around the x-axis, the component side hole 11 is still circular Round shape; when the component 1 rotates around the y-axis, another edge appears on the top and bottom of the collected component side hole 11; when the component 1 rotates around the z-axis, another edge appears on the left and right of the collected component side hole 11. It can be seen that only around the two axes of y and z will the combined edge appear, and the rotation of the two axes of y and z can be removed through this step. Figure 9 shows the process of removing the combined edge of the side holes 11 and 21. When the CCD camera 31 collects the outline of the component hole 11 as a combined edge, first initially collect the image, and determine whether the six-degree-of-freedom platform is counterclockwise or counterclockwise around the y-axis according to the quadrant where the intersection point is located. Rotate clockwise, when the intersection point is on the z-axis, stop the y-axis rotation; then make component 1 rotate clockwise or counterclockwise around the z-axis according to whether the arc segment is on the left or right, and finally the image captured by the camera is as follows: After 2, there are only the circles of component holes 11 and 21, no other edges. After removing the redundant arc segments of the side holes 11 and 21, collect the information of the top hole 12 of the component 1 through the top CCD camera 32, and use the same method to make the component rotate clockwise or counterclockwise around the z-axis of the absolute coordinate system to remove the top component hole 12 for redundant arcs. So far, the rotations of the component 1 around the x, y and z axes have been determined. In addition, whether the contour of the third side hole 13 is circular can also be used to further determine whether the rotation has been completed.

Further centering the center of the circle, the centering of the circle refers to the translation of the x, y and z of the component 1, so that the center of the hole in the component 1 coincides with the center of the hole in the cabin section 2, so as to achieve the final attitude adjustment. The overall The method of aligning two holes and calibrating the third hole is adopted. As shown in Figure 10, at first, calculate the center of circle of side holes 11 and 21 and the relative distance between them in y and z, then give the displacement command of the six-degree-of-freedom platform in the y and z directions; then according to the top hole 12 The components of the center of the circle and 22 on each coordinate axis give the displacement command of the six-degree-of-freedom platform in the x direction; finally, use the coordinate information of the center of the calibration hole 13 and 23 to calibrate and complete the centering of the circle.

Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention, and any person skilled in the art can use the methods disclosed above and technical content to analyze the present invention without departing from the spirit and scope of the present invention. Possible changes and modifications are made in the technical solution. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention, which do not depart from the content of the technical solution of the present invention, all belong to the technical solution of the present invention. protected range.

Claims (10)

1. A method for automatic alignment of orthogonal hole systems for component docking, characterized in that: comprising: Establish a docking system; including components (1), cabin sections (2), CCD cameras (31)-(33), laser displacement sensors (41)-(45), laser ranging sensors (5), detection fixtures (6 ), sensor bracket (7)-(8); cabin section (2) is provided with cabin section hole (21)-(23); assembly (1) is provided with assembly hole (11)-(13); Define the alignment coordinate system xyz; Move the assembly (1) to the open end of the entry compartment (2); Adjusting the attitude of the component (1); including adjusting the attitude of the component (1) through the laser displacement sensors (42), (43), adjusting the attitude of the component (1) through the laser displacement sensors (41), (44) and Adjusting the attitude of the component (1) through a laser displacement sensor (45); Through the CCD camera (31)-(33), the hole wheel information is extracted from the cabin hole (21)-(23) and the component hole (11)-(13); with the cabin hole (21)-(23) as the origin , to establish a coordinate system; through the discrete point coordinates, combined with the circle series equations, the center coordinates, Intersection coordinates, intersection line equation; Perform centering and attitude adjustment processing on component holes (11)-(13) and cabin holes (21)-(23), including non-intersection processing, decombined edge processing and center centering processing; Make the center of circle of the assembly holes (11)-(13) of the assembly (1) coincide with the center of circle of the cabin section holes (21)-(23) of the cabin section (2) respectively, to complete the final attitude adjustment. 2. A method for automatic alignment of orthogonal hole systems for component docking according to claim 1, characterized in that: the docking system is specifically: The cabin section (2) is placed axially and horizontally on the external base platform; the detection fixture (6) is an arch structure, and the detection fixture (6) is installed across the cabin section (2); the sensor bracket (8) is fixedly installed In the middle part of the top beam of the detection fixture (6); the top center of the cabin (2) is provided with a cabin hole (22); the both sides of the cabin (2) are respectively provided with a cabin hole (21) and a cabin hole ( 23); the cabin hole (21) and the cabin hole (23) are coaxial, and the cabin hole (22), the cabin hole (21) and the cabin hole (23) are located on the same vertical plane; the sensor support ( 7) Installed on the external base platform, and located at the opening end of the cabin section (2); the sensor bracket (7) is a U-shaped structure with the opening upward; the laser displacement sensors (41), (44) are respectively installed on the sensor bracket ( 7) Inside of 2 vertical sides; laser displacement sensors (42), (43) are symmetrically installed on the upper surface of the horizontal side of sensor bracket (7); laser displacement sensor (45) is installed on the bottom of sensor bracket (8); The ranging sensor (5) is installed at the bottom of the sensor bracket (8); CCD camera (31) and CCD camera (33) are respectively installed on the inner wall of the two vertical sides of the detection fixture (6); and the CCD camera (31) Aim at the cabin hole (21), and the CCD camera (33) is aimed at the cabin hole (23); the CCD camera (32) is installed in the middle of the top beam of the detection fixture (6), and the CCD camera (32) is aligned cabin hole (22); The component (1) is installed on the external six-degree-of-freedom platform; the component (1) is placed coaxially and horizontally with the cabin section (2), and the component (1) is located outside the open end of the cabin section (2); the top center of the component (1) is set There are component holes (12); component holes (11) and component holes (13) are respectively arranged on both sides of component (1); component holes (11) and component holes (13) are coaxial, and component holes (11), The assembly hole (12) and the assembly hole (13) are located in the same vertical plane. 3. A method for automatic alignment of orthogonal hole systems for component docking according to claim 1, characterized in that: in the alignment coordinate system xyz, the z axis is vertically upward; the y axis is the cabin section (2) Axial direction; the x-axis is determined by the right-hand rule. 4. A method for automatic alignment of orthogonal hole systems for component docking according to claim 3, characterized in that: the specific process of moving the component (1) to the opening end of the entry cabin (2) is: The component (1) is fed through the six-degree-of-freedom platform, and the laser ranging sensor (5) is used to judge whether the component (1) will enter the cabin (2). When the target value is reached, the six-degree-of-freedom platform stops the feeding movement . 5. A method for automatic alignment of orthogonal hole systems for component docking according to claim 4, characterized in that: the process of adjusting the attitude of the component (1) by laser displacement sensors (42), (43) for: The distances z1 and z2 in the z direction between the component (1) and the laser displacement sensor (42) and (43) are respectively measured; the six-degree-of-freedom platform rotates clockwise or counterclockwise around the y-axis to make z1 equal to z2 ; Then the component (1) moves up and down along the z-axis through the six-degree-of-freedom platform, so that z1 and z2 reach the target value z0; after adjustment, the component (1) is limited in y-axis rotation and z-axis translation, and the remaining degrees of freedom are not limited. 6. A method for automatic alignment of orthogonal hole systems for component docking according to claim 4, characterized in that: the process of adjusting the attitude of the component (1) by laser displacement sensors (41), (44) for: Measure the distance x1 and x2 between the component (1) and it by the side laser displacement sensors (44) and (41); calculate the opposite side difference Δx=lx-lz-x1 by x1; wherein, lz is the component in the x direction , and compare Δx with x2 to determine whether the component (1) has a rotation deviation along the z-axis; when Δx is not equal to x2, the six-degree-of-freedom platform is rotated clockwise or counterclockwise around the z-axis, if When Δx is equal to x2, the rotation is stopped; then the component (1) is translated along the x-axis until it reaches the target value x0; after adjustment, the component (1) is limited in z-axis rotation and x-axis translation; x-axis rotation and The y-axis translation is not defined. 7. A method for automatic alignment of orthogonal hole systems for component docking according to claim 4, characterized in that: the process of adjusting the attitude of the component (1) through the laser displacement sensor (45) is: The distance z1 between the component (1) and it is measured by a laser displacement sensor (45). If it deviates from the target value z0, the six-degree-of-freedom platform is used to rotate clockwise or counterclockwise along the x-axis until the target value is reached. 8. A method for automatic alignment of orthogonal hole systems for component docking according to claim 4, characterized in that: the specific process of non-intersection processing is: When the component (1) has not yet moved to the designated position, there will be intersection points between the component holes (11), (12) and (13) and the compartment holes (21), (22) and (23) respectively; The sensor (5) judges whether it is in place. Since the installation and fixation error of each part is small, and the position and attitude detection is completed before the docking in the early stage, the position of the two holes is basically determined by distance measurement to ensure that there is no intersection between the two holes at this time. 9. A method for automatic alignment of orthogonal hole systems for component docking according to claim 8, characterized in that: the process of de-combining edge processing is: When the assembly (1) does not rotate around each axis, the assembly hole (11) is circular; when the assembly (1) rotates around the x axis, the assembly hole (11) is still circular; when the assembly (1) rotates around the y axis When the axis rotates, another edge appears on the top and bottom of the collected component hole (11); when the component (1) rotates around the z axis, another edge appears on the left and right of the collected component hole (11); therefore, only around the y Combined edges will appear on the two axes of y and z, and the rotation of the two axes of y and z will be removed through this step; When the CCD camera (31) collects the profile of the component hole (11) as a combined edge; the initial image acquisition determines whether the six-degree-of-freedom platform rotates counterclockwise or clockwise around the y-axis according to the quadrant where the intersection point is located; when the intersection point is on the z-axis , then stop the rotation of the y-axis; then make the component (1) rotate clockwise or counterclockwise around the z-axis according to whether the arc segment is on the left or the right, and finally the graphics captured by the camera are only the component hole (11) and the cabin hole The circular shape of (21) has no other edges; after removing the excess arc section of the component hole (11) and cabin hole (21), collect the component (1) top component hole (12) by the top CCD camera (32) Information, use the same method to make the component rotate clockwise or counterclockwise around the z-axis of the absolute coordinate system, and remove the redundant arc of the top component hole (12); It has been determined; in addition, whether the profile of the component hole (13) is circular, further determines whether the rotary motion has been completed. 10. A method for automatic alignment of orthogonal hole systems for component docking according to claim 9, characterized in that: the specific process of center centering processing is: Calculate the center of circle of the component hole (11) and the cabin hole (21) and the relative distance between the two in y and z; then give the displacement command of the six-degree-of-freedom platform in the y and z directions; then according to the top component hole ( 12) and the components of the center of circle of the cabin hole (22) on each coordinate axis, the displacement command of the x-direction of the six-degree-of-freedom platform is given; finally, the coordinate information of the center of circle of the component hole (13) and the cabin hole (23) is used to carry out Calibrate to complete the center of the circle.

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