CN-121989000-A - Duct assembly positioning method and tool based on pressure feedback and visual optimization

CN121989000ACN 121989000 ACN121989000 ACN 121989000ACN-121989000-A

Abstract

The invention discloses a duct assembly positioning method and a tool based on pressure feedback and visual optimization, and relates to the technical field of aeroengine assembly and manufacture, wherein the method comprises the following steps of S1, scanning the surface contour and edge boundary of at least one part in a complex product through a sensor array, acquiring geometric characteristic data caused by various shapes, and obtaining current size change parameters; S2, extracting coordinates of key points of duct component assembly and relative position relations by adopting a machine vision algorithm according to current size change parameters, and determining an initial positioning reference position of a duct in an assembly fixture.

Inventors

CHENG JUNJIE
WU XIUYUN
GAO YUZONG
MA HONGGANG
WU MEIQIAN

Assignees

安徽旋羽航空科技有限公司

Dates

Publication Date: 20260508
Application Date: 20251211

Claims (10)

1. A duct assembly positioning method based on pressure feedback and visual optimization is characterized by comprising the following steps: s1, scanning the surface contour and edge boundary of at least one part in a complex product through a sensor array, and acquiring geometric feature data caused by shape diversity to obtain current size change parameters; S2, extracting coordinates and relative position relations of assembly key points of the duct parts by adopting a machine vision algorithm according to the current size change parameters, and determining initial positioning reference positions of the duct in the assembly fixture; S3, arranging a pressure sensor array in a contact area of the duct and the assembly fixture, collecting contact pressure distribution data in the assembly process in real time, and judging the uniformity of the clamping force and the supporting surface; S4, if the vision reference position and the pressure distribution state deviate from the preset balance threshold, calculating a dynamic adjustment scheme by fusing a vision identification result and pressure feedback data, and synchronously correcting the clamp gesture, the clamping force and the duct local gesture to obtain a new vision reference angle and a new positioning coordinate; s5, aiming at the adjusted positioning reference angle and pressure distribution state, acquiring the existing interface specification data of the modularized clamp, calculating the matching compatibility coefficient of the duct and the clamp, and judging the assembly stability; And S6, if the compatibility coefficient deviates from a preset tolerance threshold, selecting an adjustable module unit from a clamp database according to a pressure feedback curve and a vision correction result, and updating the clamp gesture and the clamping parameter by adopting a reconfiguration scheme to realize repositioning calibration.
2. The ducted fitting localization method based on pressure feedback and visual optimization of claim 1, wherein S1 comprises: scanning at least one component in the product through a sensor array to acquire surface profile and edge boundary data, and obtaining geometric feature data; according to the geometric feature data, a preset threshold value is adopted for comparison, if the deviation caused by the diversity of the shapes exceeds the threshold value, a size change parameter is determined, wherein the deviation is obtained by calculating the difference between the edge boundary and the standard contour in the geometric feature data; Extracting key indexes from the size change parameters to obtain current size change parameters, wherein the key indexes are obtained by selecting peak values and average values reflecting various shapes in the size change parameters; And aiming at the current size change parameter, monitoring the change trend by combining the part scanning result to obtain the verification result of the current size change parameter.
3. The ducted fitting localization method based on pressure feedback and visual optimization of claim 1, wherein S2 comprises: acquiring key point coordinates from the size change parameters, and processing the relative position relationship by adopting a machine vision algorithm to obtain a duct component scanning result; Carrying out surface profile analysis on the scanning result of the duct part, extracting edge boundary data, and determining geometrical characteristic deviation; comparing and judging the geometric characteristic deviation with a threshold value to obtain a change trend verification and judging an initial positioning reference; And (3) verifying and adjusting the positioning of the assembly fixture according to the change trend, and obtaining the initial positioning reference position of the duct in the assembly fixture.
4. The ducted fitting localization method based on pressure feedback and visual optimization of claim 1, wherein S3 comprises: acquiring pressure sensor array data from a contact area, and acquiring a clamping force distribution diagram by integrating and processing distribution information through multiple sensor signals by adopting a data fusion method; extracting a peak area aiming at the clamping force distribution diagram, acquiring a pressure gradient of a supporting surface, and determining a uniformity deviation value; Comparing the uniformity deviation value with a preset threshold value, and if the uniformity deviation value exceeds the threshold value, adjusting the feedback of the sensor array to correct the pressure reading, and judging abnormal points of the clamping force; and generating correction mapping according to the abnormal points of the clamping force, acquiring balanced data of the supporting surface in the assembly process, and judging the uniformity of the supporting surface.
5. The ducted fitting localization method based on pressure feedback and visual optimization of claim 1, wherein S4 comprises: obtaining deviation data from a visual reference position, and calculating the deviation degree by fusing the pressure distribution state with a preset balance threshold value to obtain a dynamic adjustment scheme; Aiming at the dynamic adjustment scheme, integrating pressure feedback data by adopting a visual recognition result, and determining a clamp posture correction parameter; according to the clamp posture correction parameters, a clamping force adjustment value is obtained, and the synchronous deviation of the local posture of the duct is judged to obtain a correction mapping relation; Determining a balance index of the supporting surface by correcting the mapping relation and fusing a new vision reference angle and a positioning coordinate; And if the balance index of the supporting surface deviates from the threshold value, adjusting the feedback data of the sensor to obtain a new visual reference angle and a new positioning coordinate.
6. The ducted fitting localization method based on pressure feedback and visual optimization of claim 1, wherein S5 comprises: The pressure distribution state is adjusted and fused through a reference angle, interface specification data are obtained, and a matching compatibility coefficient is calculated through comparison of the interface specification data and the pressure distribution state, so that an initial value of assembly stability is obtained; according to the matching compatibility coefficient, integrating clamping force adjustment by adopting an attitude correction parameter, determining local attitude synchronous offset, and obtaining vision reference angle update; Aiming at the vision reference angle update, positioning coordinates are obtained, and the balance is judged through the comparison of the positioning coordinates and the indexes of the supporting surface, so that sensor feedback correction data are obtained; And feeding back correction data through a sensor, fusing the partial attitude synchronization and the initial value of the assembly stability, and calculating the final index of the assembly stability.
7. The ducted fitting localization method based on pressure feedback and visual optimization of claim 1, wherein S6 comprises: if the compatible coefficient deviation exceeds a preset tolerance threshold, fusing a vision correction result according to a pressure feedback curve, acquiring an adjustable module unit from a clamp database, and determining a module unit integration path through comparison of curve data points and result pixel deviation; integrating paths through adjustable module units, updating the posture adjustment of the clamp by adopting a reconfiguration scheme, and calculating according to the unit position offset in the paths to obtain a clamping parameter optimization value; Integrating attitude parameter synchronization aiming at the clamping parameter optimization value, and judging the repositioning calibration realization degree through matching of the optimization value and synchronous data; And obtaining compatible coefficient deviation correction from the repositioning calibration realization degree, and determining an assembly stability index through the difference comparison of the degree index and a deviation initial value.
8. The duct assembly positioning method based on pressure feedback and visual optimization according to claim 1, further comprising S7, simulating position deviation distribution of a duct in an assembly process through a step positioning sequence, synthesizing visual simulation and pressure feedback data, judging overall assembly precision, calculating an error correction vector, and updating a fixture supporting structure parameter and pressure distribution balancing strategy according to a correction result to obtain duct final assembly configuration data, wherein the method specifically comprises the steps of: Simulating the duct position deviation distribution through the step positioning sequence, acquiring visual simulation data and pressure feedback data from the position deviation distribution, and comprehensively judging the overall assembly precision by the visual simulation data and the pressure feedback data to obtain an error correction vector; And calculating a support structure parameter updating value according to the error correction vector, fusing material deformation compensation aiming at the support structure parameter updating value, wherein the material deformation compensation is obtained by comparing the temperature gradient with the stress distribution, judging the compensation integration degree by adopting a preset threshold value, and determining a pressure distribution balancing strategy.
9. The method for positioning a stent assembly based on pressure feedback and visual optimization of claim 8, wherein S7 further comprises: acquiring a temperature influence correction factor from a pressure distribution balancing strategy, and if the temperature influence correction factor exceeds a preset threshold, integrating an error correction vector and the temperature influence correction factor to acquire a clamp dynamic adjustment scheme; Updating the duct positioning parameters through a dynamic clamp adjustment scheme, comparing initial deviation distribution with respect to the duct positioning parameters, and judging a reassembly precision lifting value to obtain a configuration optimization path; and fusing vibration feedback data according to the configuration optimization path to obtain final assembly configuration data.
10. The duct assembly positioning tool for realizing the pressure feedback and vision optimization-based duct assembly positioning method according to any one of claims 1-9, which is characterized by comprising a supporting platform (1), a sliding rail assembly (2), a supporting column (3), a liftable positioning column (4), a rotatable telescopic rod (6), a circular attaching wheel (5), a sensor array module and a vision processing unit; The support platform (1) is of an annular structure, and a plurality of sliding rail assemblies (2) are uniformly arranged in the circumferential direction of the support platform (1) and used for supporting and guiding the installation positions of the segmented duct; the support column (3) is arranged on the sliding rail assembly (2) and can slide along the length direction of the sliding rail to realize the radial position adjustment of the duct section; The liftable positioning column (4) is arranged at the center of the supporting platform (1) and adopts a hydraulic driving structure to adjust the height; the top of the liftable positioning column (4) is provided with a rotatable telescopic rod (6) connected with a bearing, and the rotatable telescopic rod (6) can rotate around the center of the supporting platform and has a multi-stage telescopic function; The end part of the rotatable telescopic rod (6) is provided with a round attaching wheel (5), and a pressure sensor is embedded in the round attaching wheel (5) and is used for detecting the contact pressure of the inner wall and outputting a pressure feedback signal in the duct splicing process; the sensor array module is arranged at the periphery of the supporting platform (1) and is used for collecting surface profile and edge characteristic data of each section of the duct and generating geometric characteristic parameters; The visual processing unit is electrically connected with the sensor array module and is used for analyzing geometric feature data based on a machine visual algorithm, extracting key point coordinates and relative position relations, further generating initial positioning reference configuration and calculating accumulated error compensation values through the genetic algorithm module; The control system of the tool is used for adjusting the positions of the sliding rail assembly (2) and the supporting column (3) in real time according to the deviation correction vector output by the vision processing unit, so that automatic alignment correction and roundness optimization in the duct splicing process are realized.

Description

Duct assembly positioning method and tool based on pressure feedback and visual optimization Technical Field The invention relates to the technical field of industrial vision and assembly positioning, in particular to a duct assembly positioning method and tool based on pressure feedback and vision optimization. Background In the field of aeroengine manufacturing, ducts are used as key aerodynamic structural components, and the assembly accuracy of the ducts directly influences the overall aerodynamic performance, noise control and operation stability of the engine. The existing duct assembly positioning method mostly adopts a fixed clamp and a static measurement reference to position the components, and is suitable for ducts with simple structures and regular shapes. However, along with the complexity of the duct shape and the accumulation of manufacturing tolerance, the traditional method has obvious defects that firstly, the traditional method relies on a mechanical locating pin or a fixed clamp to carry out reference determination, lacks the capability of identifying and correcting the geometric change of the surface of a part in real time, and cannot dynamically adjust the locating reference according to actual deformation, so that the initial assembly reference and the design reference deviate, secondly, the traditional method only relies on visual measurement to carry out assembly control, neglects the contact pressure distribution and mechanical state change between the duct and the clamp, and is easy to cause local excessive clamping or insufficient supporting, cause structural deformation or assembly stress concentration, and influence the final assembly precision and pneumatic performance. In addition, existing methods lack a dynamic optimal control mechanism that fuses visual recognition with pressure feedback during a multi-step assembly process. When the assembly reference deviates, the synchronous adjustment of the clamp gesture and the duct position cannot be realized through double feedback, so that the visual recognition result is not matched with the actual mechanical state, and the stability and repeatability of positioning are affected. Meanwhile, the interface compatibility between the modularized fixture system and the complex geometry of the duct is insufficient, so that the assembly error cannot be corrected through step-by-step feedback closed loop. In summary, the existing duct assembly positioning technology has significant limitations in adapting to complex structures, autonomously optimizing clamp postures and realizing dynamic error compensation. Disclosure of Invention The invention aims to provide a duct assembly positioning method and a duct assembly positioning tool based on pressure feedback and visual optimization, and solves the problems in the prior art. The invention provides a duct assembly positioning method based on pressure feedback and vision optimization, which comprises the following steps of S1, scanning the surface profile and edge boundary of at least one component in a complex product through a sensor array, obtaining geometrical characteristic data caused by shape diversity, obtaining current size change parameters, S2, extracting coordinates of key points of duct component assembly and relative position relations according to the current size change parameters by adopting a machine vision algorithm, determining an initial positioning reference position of a duct in an assembly fixture, S3, setting a pressure sensor array in a contact area of the duct and the assembly fixture, collecting contact pressure distribution data in the assembly process in real time, judging uniformity of clamping force and a supporting surface, S4, calculating a dynamic adjustment scheme, synchronously correcting the posture of the fixture, the clamping force and the local posture of the duct by fusing a visual identification result and pressure feedback data, obtaining new visual reference angles and positioning coordinates, S5, obtaining current interface specification data of the duct and the fixture according to the adjusted positioning reference angles and pressure distribution state, calculating the standard interface specification data of the duct and the fixture, calculating the stability of the duct and the clamp, judging stability of the duct and the clamp, and updating the stability of the module, and updating the module, if the standard position and the pressure distribution state deviate from a preset balance threshold, and the preset balance module are compatible with the calibration module, and the correction module is compatible with the regulation module. Preferably, the step S1 comprises the steps of scanning at least one component in a product through a sensor array to obtain surface profile and edge boundary data to obtain geometric feature data, comparing the geometric feature data by adopting a preset threshold value, determining a size change parameter if d