1. A device suitable for measuring the attitude of a cabin-like product is characterized by comprising: a measuring head frame (5) and a measuring tail frame (6);

the measuring head frame (5) and the measuring tail frame (6) are respectively positioned at the head end and the tail end of a measured product to measure the axial posture of the measured product;

the measuring head frame (5) obtains a head profile curve of the measured product through detection of a measuring instrument, and the measuring tail frame (6) obtains a tail profile curve of the measured product through detection of the measuring instrument;

and respectively fitting the head profile curve and the tail profile curve into circles to obtain corresponding circle centers, and fitting the plurality of circle centers into the axis of the measured product.

2. The device suitable for attitude measurement of a deck-type product according to claim 1, further comprising: a posture adjusting platform (4) and an assembling platform (3);

the measured product is installed on the posture adjusting platform (4), and the posture adjusting platform (4), the measuring headstock (5) and the measuring tailstock (6) are in driving connection with the assembling platform (3).

3. The device for measuring the attitude of a hold-type product according to claim 2, wherein the assembly platform (3) comprises a first horizontal slide rail and a second horizontal slide rail, the attitude adjusting platform (4) is in driving connection with the first horizontal slide rail, and the measuring headstock (5) and the measuring tailstock (6) are in driving connection with the second horizontal slide rail.

4. The device suitable for measuring the attitude of a cabin-like product according to claim 2, characterized in that the attitude adjusting platform (4) comprises a fixed part and a movable part, the fixed part is connected to the assembly platform (3) in a driving manner, the movable part and the fixed part are connected through a vertical sliding rail, and the product to be measured is placed on the movable part;

the measuring head frame (5) comprises a second fixed part and a second movable part, the second fixed part is connected to the assembling platform (3) in a driving mode, the second movable part is connected with the second fixed part through a second vertical sliding rail, and the second movable part is used for installing the measuring instrument;

the measuring tail frame (6) comprises a third fixing part and a third movable part, the third fixing part is in driving connection with the assembling platform (3), the third movable part is connected with the third fixing part through a third vertical sliding rail, and the third movable part is used for installing the measuring instrument.

5. Device suitable for attitude measurement of deck-type products according to claim 3, characterized in that said measuring headstock (5) comprises a first mounting surface for mounting said measuring instrument, said measuring tailstock (6) has a second mounting surface for mounting said measuring instrument, said first and second mounting surfaces being perpendicular to said first horizontal sliding rail.

6. Attitude measurement device, suitable for a deck-type product, according to claim 5, characterized in that the positions of the measuring instruments on the first or second mounting surface are not on the same circumference.

7. The device suitable for attitude measurement of a deck-type product according to claim 1, further comprising: the intelligent camera (8) is arranged on the measuring headstock (5) and is used for determining the angular direction by measuring the positioning gap of the measured product.

8. The device for attitude measurement of a cabin-type product according to claim 3, wherein said measuring instrument comprises a laser measuring instrument whose line laser beam is perpendicular to said first horizontal sliding rail.

9. A method suitable for measuring the attitude of a cabin-type product is characterized in that a head profile curve and a tail profile curve of the product to be measured are obtained through detection by adopting the device of any one of claims 1 to 8, the head profile curve and the tail profile curve are respectively fitted into a circle to obtain a corresponding circle center, and a plurality of circle centers are fitted into the axis of the product to be measured.

10. A software system adapted for attitude measurement of a deck-type product, wherein the software system when executed performs the method of claim 9.

Background

The multi-section butt joint and separation of cabin products are important links in the final assembly process, and because the manual bundling type butt joint operation of each section of products is difficult and the installation is difficult to guarantee once, the requirements for high precision and high automation cannot be met due to repeated adjustment and the like. The automatic butt joint of the cabin section type products is implemented, and the whole process mainly comprises four steps: the method comprises the steps of multi-section feeding, rapid measurement of each section of posture, high-precision posture adjustment, butt joint and automated butt joint, wherein the premise of automated butt joint is that the placing position of each cabin section is accurately and rapidly measured.

The measuring unit of patent document CN 111571171A uses a laser profiler to measure the contour information of the cabin, and obtains the outer contour of the whole cabin, which is low in precision. In patent document CN 108917723B, manual marking points and key measuring points are made on the cabin segment, and measurement is performed by a binocular optical camera, while most of cabin segment parts such as missiles and the like do not support exterior marking, and the marking is made on the non-high-precision processing surface of the exterior, so the precision is low. Patent documents CN111046549A and CN108274231B adopt a laser displacement sensor combination mode to scan the cabin so as to analyze the cylindrical axis of the cabin, and the efficiency of generating the point cloud of the cylinder for the whole scanning is low, and the measured external contour of the cabin with low precision.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a device, a method and a software system suitable for measuring the attitude of a cabin-section-type product.

The invention provides a device suitable for measuring the attitude of a cabin-section-type product, which comprises: a measuring headstock 5 and a measuring tailstock 6;

the measuring headstock 5 and the measuring tailstock 6 are respectively positioned at the head end and the tail end of a measured product to measure the axial posture of the measured product;

the measuring head frame 5 obtains a head profile curve of the measured product through detection of a measuring instrument, and the measuring tail frame 6 obtains a tail profile curve of the measured product through detection of the measuring instrument;

and respectively fitting the head profile curve and the tail profile curve into circles to obtain corresponding circle centers, and fitting the plurality of circle centers into the axis of the measured product.

Preferably, the method further comprises the following steps: a posture adjusting platform 4 and an assembling platform 3;

the measured product is installed on the posture adjusting platform 4, and the posture adjusting platform 4, the measuring headstock 5 and the measuring tailstock 6 are in driving connection with the assembling platform 3.

Preferably, the assembling platform 3 includes a first horizontal slide rail and a second horizontal slide rail, the posture adjusting platform 4 is connected to the first horizontal slide rail in a driving manner, and the measuring headstock 5 and the measuring tailstock 6 are connected to the second horizontal slide rail in a driving manner.

Preferably, the posture adjusting platform 4 comprises a fixed part and a movable part, the fixed part is connected to the assembling platform 3 in a driving manner, the movable part is connected with the fixed part through a vertical sliding rail, and the product to be tested is placed on the movable part;

the measuring headstock 5 comprises a second fixed part and a second movable part, the second fixed part is connected to the assembling platform 3 in a driving manner, the second movable part is connected with the second fixed part through a second vertical sliding rail, and the second movable part is used for installing the measuring instrument;

the measuring tail frame 6 comprises a third fixing part and a third movable part, the third fixing part is in driving connection with the assembling platform 3, the third movable part is connected with the third fixing part through a third vertical sliding rail, and the third movable part is used for installing the measuring instrument.

Preferably, the measuring headstock 5 comprises a first mounting surface for mounting the measuring instrument, and the measuring tailstock 6 comprises a second mounting surface for mounting the measuring instrument, wherein the first mounting surface and the second mounting surface are perpendicular to the first horizontal sliding rail.

Preferably, the positions of the measuring instruments on the first mounting surface or the second mounting surface are not on the same circumference.

Preferably, the method further comprises the following steps: and the intelligent camera 8 is arranged on the measuring headstock 5 and is used for determining the angular direction by measuring the positioning gap of the measured product.

Preferably, the measuring instrument comprises a laser measuring instrument, and a linear laser beam of the laser measuring instrument is perpendicular to the first horizontal sliding rail.

According to the method for measuring the attitude of the cabin-type product, provided by the invention, the head profile curve and the tail profile curve of the measured product are obtained through detection by adopting the device, the head profile curve and the tail profile curve are respectively fitted into a circle to obtain corresponding circle centers, and the plurality of circle centers are fitted into the axis of the measured product.

According to the software system suitable for measuring the attitude of the cabin-class product, the software system realizes the method when being executed.

Compared with the prior art, the invention has the following beneficial effects:

by adopting non-contact line laser measurement, the measurement span and the measurement position can be adjusted according to the length and the size of a product, the axis attitude and the product angular position can be measured by one time, the work of the attitude adjusting platform is guided, the measurement precision and the measurement efficiency are improved, and a measurement basis is provided for high-precision attitude adjustment and butt joint of cabin products.

The gestures of the whole axis are obtained by a plurality of groups of circles obtained by the fitting of the front end and the rear end after finish machining, the gestures are closer to the actual product, and the condition that a few points determine the axis and have larger errors is avoided.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of a measurement headstock and a measurement tailstock;

FIG. 3 is a schematic view of the working state of the measurement headstock or the measurement tailstock;

fig. 4 is a working principle diagram of the present invention.

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.

As shown in fig. 1, the device suitable for measuring the attitude of a cabin-like product provided by the invention mainly comprises: the measuring head frame 5 and the measuring tail frame 6 are respectively positioned at the head end and the tail end of the measured product 2, and the axial line posture of the measured product 2 is measured. Specifically, as shown in fig. 4, the measurement headstock 5 detects by the measuring instrument 9 to obtain a head profile curve of the product to be measured, the measurement tailstock 6 detects by the measuring instrument to obtain a tail profile curve of the product to be measured, the measuring instrument may adopt a laser measuring instrument, which is not limited in this year, and as shown in fig. 3, a linear laser beam of the laser measuring instrument is perpendicular to a circumferential line of the product to be measured. And respectively fitting the head profile curve and the tail profile curve into circles to obtain corresponding circle centers, and fitting a plurality of circle centers to obtain the axis of the measured product. The positions of the measuring instruments on the first mounting surface or the second mounting surface are not on the same circle, so that a plurality of contour curves can be obtained.

Each measuring instrument acquires a section of curve, the curve is composed of thousands of measuring points, as every 3 points are fitted into a circle, the 3 sections of curves of the headstock/tailstock are fitted into a plurality of circles according to the space positions (the width of the laser light beam is limited, and only a small section of curve can be measured). The headstock and the tailstock are combined by fitting the centers of a plurality of groups of circles, and finally the axis posture of the whole cabin type product is fitted.

The reason for this is:

1) the outer cylindrical surface of the cabin product is a non-high-precision processing surface, the precision is low in a mode of scanning the outer contour precision through point clouds, the number of the point clouds is large, the whole process period is long, and the efficiency is low; the tool is not available in the form of measuring a product, and the tool clamps the outer contour.

Laser beams of the laser measuring instrument pass through the surface of the object, and the shape and the outline of the object are presented by combining the measuring results of thousands of points according to the difference of the positions of the reflected light spots of the points; the common method of the laser measuring instrument for cylindrical objects is to select the laser measuring width according to the diameter of a cylinder, arrange a light beam approximately perpendicular to the axial direction of the object and move the light beam along the axial line at a constant speed until the whole section is completely scanned.

The method can obtain the actual contour of the upper half part of the cylindrical surface, but has 3 problems, firstly, because one section of contour is measured once when the cylindrical surface is moved, the whole section of contour is measured, 3D point cloud is formed, and the system calculation and processing time is longer; secondly, the outer surface is required to have higher processing precision by a processing mode of fitting an outer shape contour with an axis; thirdly, the method is difficult to cover when the diameter of the object is larger or needs to select a more expensive laser measuring instrument according to the diameter of the cylinder when the laser measuring instrument is selected.

2) Two ends of a cabin-section product are provided with mounting connection surfaces, the cabin-section product is subjected to finish machining and can be used for measurement, the centers of circles at two ends are determined by using three-coordinate contact measurement points, then the axis is determined, the three-coordinate contact measurement is low in measurement efficiency and easy to make mistakes after moving, and the centers of circles are determined by only evaluating a plurality of points on one surface.

The cabin section product is characterized in that the butt seam allowances at the two ends of the cabin body have the requirements of dimensional accuracy, coaxiality and roundness, and the outer surface cylinder only needs to have correct overall dimension and does not have the requirement of bus accuracy, so that the accuracy of the outer cylinder profile measurement method is not high. Adopt two laser measuring apparatu to arrange the form in this scheme, the butt joint tang department is directly measured, cuts single measurement and just produces the result, does not need instrument position to move among the measurement process, reduces the accumulative error.

3) In the scheme, non-contact measurement is firstly used, a finished surface is measured, in addition, line laser measurement is adopted, each measuring instrument only measures one group of profile curves, and the speed is high; finally, the postures of the whole axis are obtained by the multiple groups of circles which are subjected to finish machining and fitted at the front end and the rear end, the posture is closer to that of an actual product, and the condition that a few points are used for determining the axis to cause large errors is avoided.

In order to realize the installation and the movement of the product, the invention also comprises the following steps: a posture adjusting platform 4 and an assembling platform 3. The measured product is arranged on the posture adjusting platform 4, and the posture adjusting platform 4, the measuring headstock 5 and the measuring tailstock 6 are connected on the assembling platform 3 in a driving way. The assembling platform 3 comprises a first horizontal sliding rail and a second horizontal sliding rail, the posture adjusting platform 4 is connected to the first horizontal sliding rail in a driving mode and can move horizontally, and the measuring head frame 5 and the measuring tail frame 6 are connected to the second horizontal sliding rail in a driving mode and can move horizontally.

Transfer appearance platform 4 and be used for adjusting the gesture of being surveyed product 2, transfer appearance platform 4 and include fixed part and movable part, fixed part drive connection is on assembly platform 3, connects through vertical sliding rail between movable part and the fixed part, and the product of being surveyed is placed in the movable part. In this embodiment, the quantity of fixed part and movable part all is two, and a fixed part passes through vertical sliding rail connection on a movable part, and the both ends of being surveyed product 2 are placed respectively on two movable parts, realize the level and realize whole level, whole vertical and single-ended vertical removal.

As shown in fig. 2, the measurement headstock 5 includes a second fixed portion 53 and a second movable portion 52, the second fixed portion is drivingly connected to the mounting platform 3, the second movable portion and the second fixed portion are connected by a second vertical slide rail 51, and the second movable portion is used for installing the measurement instrument; the measuring tail frame 6 comprises a third fixing part 63 and a third movable part 62, the third fixing part is in driving connection with the assembling platform 3, the third movable part and the third fixing part are connected through a third vertical sliding rail 61, and the third movable part is used for installing a measuring instrument. The measuring headstock 5 comprises a first mounting surface for mounting the measuring instrument, and the measuring tailstock 6 comprises a second mounting surface for mounting the measuring instrument, wherein the first mounting surface and the second mounting surface are perpendicular to the axis of the measured product.

In this embodiment, 3 laser measuring instruments forming a 120 ° line with each other are respectively installed on the measuring headstock 5 and the measuring tailstock 6, and the measuring headstock 5 further includes an intelligent camera 8 for measuring a positioning gap of a cabin product to determine an angular direction.

The method for measuring the axis attitude comprises the following steps:

1) the installation surfaces of the 3 laser measuring instruments are perpendicular to the first horizontal sliding rail, and the linear laser beams of the laser measuring instruments are perpendicular to the first horizontal sliding rail.

2) And the actual profile shape near the cabin section is obtained under the measurement of the laser measuring instrument, the shape is represented by a curve formed by a plurality of measuring points, and the conditions of chamfering, unevenness and the like of the product can be measured.

3) The measuring headstock 5/the measuring tailstock 6 are fitted into a plurality of circles according to the spatial positions of the curves measured by the 3 laser measuring instruments respectively, and the centers of the circles fitted by the measuring headstock 5 and the measuring tailstock 6 are finally fitted into the axis of the whole cabin section on the basis.

When the measuring headstock 5 and the measuring tailstock 6 move horizontally at the same time, the position of a measuring point is adjusted, when the measuring headstock 5 and the measuring tailstock 6 do not move simultaneously, the span is adjusted according to the size of a product to be measured, and when the measuring headstock 5 and the measuring tailstock 6 need to adjust the position, the measuring headstock and the measuring tailstock ascend along a vertical guide rail to separate from the position of a cabin-section-type product, so that the horizontal movement is realized. When the laser measuring instrument is used for measuring, the dislocation and the inclination of the product can be calculated by carrying out instantaneous comparison on the pre-registered reference image, the condition that the optical path is blocked is automatically corrected, and the measuring result is not influenced. In order to ensure that the laser measuring instrument can completely measure the axis when the cabin segment is skewed in a small amplitude, firstly, the cabin segment is placed on an attitude adjusting platform, the axis of butt joint seam allowances at two ends of the cabin segment is measured by a dial indicator or a laser interferometer according to the slide rail position reference of the attitude adjusting platform, the cabin segment is adjusted to be within a preset precision range through the attitude adjusting platform to be used as a reference cabin segment, then, the axis of the measurement reference cabin segment is moved downwards by using a measurement headstock and a measurement tailstock, and the measurement result is used as a registered reference image.

The invention provides a software system suitable for measuring the attitude of a cabin-class product, and a method for realizing the software system when the software system is executed.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.

The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.