CN117842370A - Mechanical assembly method based on laser projection assistance - Google Patents
Mechanical assembly method based on laser projection assistance Download PDFInfo
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Abstract
The invention belongs to the technical field of mechanical assembly, and particularly relates to a mechanical assembly method based on laser projection assistance, which comprises the following steps: preparing a laser projection device, and determining a mode of generating an initial projection code according to the existence of an assembly process characteristic digital-analog condition; editing the initial projection code by using a laser projection industrial personal computer in the laser projection device to modify/debug the initial projection code, adding assembly requirements and text descriptions, selecting projection items, and modifying the sizes and colors of projection points and projection lines so as to obtain a final projection code; and controlling the laser projector to project assembly guide information on the surface of the target assembly body based on the final projection code, and assembling the target assembly body according to the assembly guide information. The technical scheme has two modes of the point tag alignment calibration module and the teaching test functional module, can be flexibly switched and used, meets the use requirements under different working conditions, can ensure the projection precision, and provides quality guarantee for mechanical assembly.
Description
Technical Field
The invention belongs to the technical field of mechanical assembly, and particularly relates to a mechanical assembly method based on laser projection assistance.
Background
Aircraft assembly is an important link in aircraft manufacturing, assembly accuracy is crucial, and aircraft performance and production interchangeability are directly affected. In aircraft assembly, a large amount of manual assembly fasteners are installed, accurate hole site information, fastener size information and other auxiliary assembly information are needed, assembly staff need to read a large amount of production operation instruction books according to assembly process requirements, assembly efficiency is low, errors are easy to occur, and the phenomenon of incorrect assembly or missing assembly can occur, so that assembly staff is needed to reload or repair the aircraft, and the production period of the aircraft is influenced.
In the modern aircraft assembly process, some domestic inventions are based on projection type augmented reality interaction technology, process information projection is carried out on the surface of a target assembly body through combination of visual measurement and a DLP projector, assembly guiding information is intuitively displayed to assist assembly, and workers do not need to repeatedly inquire assembly parameters during assembly, so that assembly efficiency is greatly improved, and assembly error risk is reduced. However, the visual measurement calibration method greatly increases the learning cost of assembly workers, so that the projection auxiliary assembly technology is difficult to popularize and apply in the assembly workers. Meanwhile, the vision measurement calibration method needs at least one industrial camera, and in order to obtain a better calibration result, two industrial cameras are generally selected, so that the cost of projection equipment is greatly increased. For a target assembly body which cannot acquire digital models, the traditional projection auxiliary assembly method cannot extract assembly guide information, and further cannot be used on the target assembly body with countless model information.
Disclosure of Invention
The invention aims to provide a mechanical assembly method based on laser projection assistance, which solves the problem of projection equipment cost existing in the visual measurement calibration method proposed in the background technology and the problem that the traditional projection assistance assembly method cannot be used on a target assembly body with infinite module information.
The technical scheme adopted for achieving the purposes is as follows:
the mechanical assembly method based on laser projection assistance is characterized by comprising the following steps of:
s1, preparing a laser projection device; the laser projection device comprises a bracket, a DLP projector and a laser projection industrial personal computer which are respectively arranged on the bracket, and the laser projection industrial personal computer is in communication connection with the DLP projector;
s2, determining a mode for generating an initial projection code according to the condition of whether the assembly process characteristic digital modulus exists or not, and specifically: if the assembly process characteristic digital model exists, an initial projection code is generated by a point tag pair Ji Biaoding module; if the process characteristic digital model of the assembly is not available, generating an initial projection code through a trial teaching function module;
s3, editing the initial projection code by using a laser projection industrial personal computer to modify/debug the initial projection code, adding assembly requirements and text descriptions, selecting projection items, and modifying the sizes and colors of projection points and projection lines so as to obtain a final projection code;
and S4, controlling the DLP projector to project assembly guide information on the surface of the target assembly body based on the final projection code, and assembling the target assembly body according to the assembly guide information.
Preferably, in the step S1, a laser projection software control system is set in the laser projection industrial personal computer; the laser projection software control system comprises:
calibration point alignment calibration module: for generating an initial projection code in said step S2 with an assembly process feature digital model;
test teaching function module: for generating an initial projection code without the assembly process feature digital model in said step S2;
projection debugging unit: for said modifying/debugging the initial projected code in step S3;
projection control unit: for controlling the DLP projector to visually display the fitting guidance information;
a system setting unit: for setting internal parameters of the DLP projector.
Preferably, in the step S2, the generating the initial projection code by the point tag alignment calibration module includes the following steps:
importing the process characteristic digital model of the assembly into a laser projection industrial personal computer;
on the basis of the assembly process characteristic digital model, a DLP projector is used for projecting blank contents on the surface of a target assembly as a substrate;
generating, on a substrate, calibration points suitable for key feature points on a surface of a target assembly;
the mobile calibration points are overlapped with key feature points on the surface of the target assembly body, so that the positions of the projection features and the actual features are accurately matched, and the current position of the target assembly body is determined;
acquiring a coordinate transformation relation between a target assembly and a DLP projector coordinate system;
and carrying out distortion correction on the projection image according to the coordinate transformation relation and combining the distortion coefficient of the DLP projector, and generating a projection code.
Preferably, the number of the calibration points of the key characteristic points on the surface of the target assembly body is not less than 4, so as to ensure that the deviation between the projection point line characteristic and the corresponding point line position of the target assembly body is less than 2mm; and all key characteristic points on the surface of the target assembly body are sequentially connected in a straight line to form a closed graph, and at least 80% of assembly process holes on the target assembly body can be surrounded.
Preferably, the pattern of the calibration points is in the shape of a cross cursor.
Preferably, in the step S1, the generating the initial projection code by the teaching function module includes the following steps:
planning projection contents according to the assembly process steps of the target assembly body, and determining the information contents and the sequence of each projection process;
projecting blank content on the surface of the target assembly body as a substrate by using a DLP projector;
moving a mouse pointer on a substrate, and sequentially selecting process feature points on a target assembly to determine process features and current postures of the target assembly to be projected;
obtaining projection information of a target assembly and a coordinate system transformation relation;
and carrying out distortion correction on the projection image according to the relation between the projection information and the coordinate transformation, and generating a projection code.
Preferably, after the process feature points are selected, green highlighting solid circles are projected at the process feature points.
Preferably, in the step S3, a mode of generating an initial projection code is further determined according to the surface curvature transformation condition and the projection precision of the target assembly body, that is, if the area with large surface curvature transformation of the target assembly body cannot obtain satisfactory projection precision in the process of generating the initial projection code by adopting the calibration module, the method jumps to the teaching function module, and performs assembly guiding information extraction on the area with large surface curvature transformation of the target assembly body so as to obtain high-precision projection.
Preferably, the initial projection code and the final projection code include information of sizes, shapes, numbers, colors and positions of projection points and projection lines, assembly process requirements and text descriptions.
The invention has the beneficial effects that:
1. the mechanical assembly method based on laser projection assistance is simple and flexible in operation, data is directly imported under the condition of the assembly process characteristic digital-to-analog, the mapping relation between the DLP projector coordinate system and the target assembly coordinate system can be determined by adopting at least 4 point alignment calibration, a projection image is generated, no additional camera is needed for calibration, the projection equipment cost is greatly saved, the calibration mode is simple and easy to operate, and the calibration workload of operators is reduced.
2. According to the mechanical assembly method based on laser projection assistance, the DLP projector projects the blank substrate on the surface of the target assembly body, so that the assembly guide information can be extracted, a projection image is obtained, a projection code is generated, the operation is convenient and quick, the assembly process information projection guide can be performed under the scene without the assembly process characteristic digital-analog, and the application range is wide.
3. The technical scheme has two modes of the point tag alignment calibration module and the teaching test functional module, can be flexibly switched and used, meets the use requirements under different working conditions, can ensure the projection precision, and provides quality guarantee for mechanical assembly.
Drawings
FIG. 1 is a basic implementation flow chart of the present technical solution;
FIG. 2 is a schematic diagram of a laser projection device according to the present disclosure;
fig. 3 is an assembly example diagram of the present technology.
In the accompanying drawings:
1. a DLP projector; 2. a bracket; 3. the laser projection industrial personal computer; 4. marking a point; 5. marking a point II; 6. marking a point; 7. identification points number four; 8. and (5) marking points.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments.
Accordingly, the following detailed description of the invention, as provided in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without any inventive effort, are intended to be within the scope of the invention.
Example 1
This example discloses a mechanical assembly method based on laser projection assistance, as a basic implementation of this example, as shown in fig. 1, comprising the following steps:
s1, preparing a laser projection device; as shown in fig. 2, the laser projection device includes a bracket 2, and a DLP projector 1 and a laser projection industrial personal computer 3 which are respectively mounted on the bracket 2, wherein the laser projection industrial personal computer 3 is in communication connection with the DLP projector 1.
S2, determining a mode for generating an initial projection code according to the condition of whether the assembly process characteristic digital modulus exists or not, and specifically: if the assembly process characteristic digital model exists, an initial projection code is generated by a point tag pair Ji Biaoding module; if the assembly process characteristic digital modulus is not available, generating an initial projection code through the teaching function module.
S3, editing the initial projection code by using the laser projection industrial personal computer 3 to modify/debug the initial projection code, adding assembly requirements and text descriptions, selecting projection items, and modifying the sizes and colors of projection points and projection lines, thereby obtaining a final projection code. The assembly requirements are as follows: refers to information such as location, number, gauge, standard, type of assembly tool, etc. for a particular assembly process. The assembly information contained on the assembly process feature digital model may not be exhaustive or missing, where the purpose is to facilitate the user to add more detailed assembly requirements to the code as desired. The text description: any textual description outside the assembly requirements, including drawing numbers, names, etc. related to the assembly process, is useful herein to facilitate the user in adding the necessary description according to the requirements. Projection of an item: the program will automatically divide the code into different code blocks according to the process information contained in the assembly process feature digital model, each code block contains all assembly information under the same process, and the projection item refers to the code block needing projection, which is mainly a process for facilitating the user to select projection. The size and color of the projection points and projection lines: the projection effect is changed according to preference by a user.
And S4, controlling the DLP projector 1 to project assembly guide information on the surface of the target assembly body based on the final projection code, and assembling the target assembly body according to the assembly guide information. Assembly guide information: the assembly guide information can display all assembly procedures at one time, and can also be displayed in a single step according to different procedures. The projection mode can be selected in the projection control unit, i.e. a single-step projection according to the procedure, or a single presentation of the entire assembly procedure.
Example 2
This example discloses a mechanical assembly method based on laser projection assistance, as a preferred implementation of this example, comprising the following steps:
s1, preparing a laser projection device; the laser projection device comprises a support 2, a DLP projector 1 and a laser projection industrial personal computer 3 which are respectively arranged on the support 2, and the laser projection industrial personal computer 3 is in communication connection with the DLP projector 1. Wherein, set up laser projection software control system in laser projection industrial computer 3, laser projection software control system includes: the calibration point 8 is aligned to a calibration module, and is used for generating an initial projection code under the condition that the assembly process characteristic digital model exists in the step S2; the teaching test function module is used for generating an initial projection code under the condition that the assembly process characteristic digital model is not generated in the step S2; a projection debugging unit for modifying/debugging the initial projection code in step S3; a projection control unit for controlling the DLP projector 1 to visually display (specifically, projection display) the fitting guidance information; a system setting unit for setting internal parameters of the DLP projector 1. Internal parameters: the focus and distortion coefficients of the projector are referred to, and for a specific projector, the parameters are parameters inside the machine body (the parameters cannot be automatically obtained through a program and are generally provided by a manufacturer), and in order to enable the program to be applicable to different projectors, the parameters are set to be manually input.
S2, determining a mode for generating an initial projection code according to the condition of whether the assembly process characteristic digital modulus exists or not, and specifically: if the assembly process characteristic digital model exists, an initial projection code is generated by a point tag pair Ji Biaoding module; if the assembly process characteristic digital modulus is not available, generating an initial projection code through the teaching function module.
S3, editing the initial projection code by using the laser projection industrial personal computer 3 to modify/debug the initial projection code, adding assembly requirements and text descriptions, selecting projection items, and modifying the sizes and colors of projection points and projection lines, thereby obtaining a final projection code.
And S4, controlling the DLP projector 1 to project assembly guide information on the surface of the target assembly body based on the final projection code, and assembling the target assembly body according to the assembly guide information.
Example 3
The present embodiment discloses a mechanical assembling method based on laser projection assistance, and as a preferred implementation manner of the present embodiment, in example 1 or 2, the defining the initial projection code by the dot label pair Ji Biaoding module in step S2 includes the following steps:
and importing the process characteristic digital-analog of the assembly into a laser projection industrial personal computer 3.
On the basis of the assembly process feature digital model, a DLP projector 1 is used to project blank content as a substrate on the surface of the target assembly.
Generating on the substrate calibration points 8 suitable for the key feature points of the surface of the target assembly; wherein, key feature points: key feature points of the target assembly are determined in the assembly process feature digital model; principle of generating the calibration point 8: a cross icon is randomly projected by using the DLP projector 1, and the icon can be dragged to a position by using a mouse, and the calibration process is to drag the cross icon to coincide with a selected point on the assembly body.
The mobile calibration points 8 coincide with key feature points on the surface of the target assembly body, so that the positions of the projection features and the actual features are accurately matched to determine the current position of the target assembly body; key feature points: the process of determining the process characteristic digital model of the assembly body is automatically analyzed, the DLP projector 1 is utilized to randomly generate the calibration point 8, the calibration point 8 is dragged to coincide with the key characteristic point, the process is the corresponding process of the coordinate system of the DLP projector 1 and the coordinate system of the target assembly body, and the coordinate conversion relation can be analyzed later.
Acquiring a coordinate transformation relation between a target assembly and a DLP projector 1 coordinate system; DLP projector 1 coordinate system: the DLP projector 1 is imaged with a coordinate system, which can be understood as a coordinate system with the DLP projector 1 device as origin. Through the above-mentioned point alignment calibration process, the position (the position where the projection needs to be imaged) of the target assembly body can be obtained, the process characteristic digital model of the assembly body contains the position information of the target assembly body, and the conversion relationship between the two can be solved through a PnP algorithm.
And carrying out distortion correction on the projection image according to the coordinate transformation relation and combining the distortion coefficient of the DLP projector 1, and generating a projection code. Wherein, the projection image: refers to projected process information (contents such as points, lines, characters and the like); projection code: a self-defined pseudo code format containing text description of projection information is convenient to modify and debug, and all the contained projection information can be modified at this time.
Example 4
The present embodiment discloses a mechanical assembly method based on laser projection assistance, which is a preferred implementation manner of the present embodiment, namely in embodiments 1, 2 or 3, the main functions of the trial teaching mode are as follows: the user extracts the projection content on the target assembly by the DLP projector 1. The mode of extracting projection information is as follows: the process feature points are selected by moving the mouse pointer on the substrate in sequence on the target assembly, wherein the process feature points refer to points needing to be punched on the assembly or holes needing to be provided with bolts/rivets/positioning pins and the like (the points with assembly/manufacturing requirements can be all the points just used for example and not particularly specified).
Based on this, in step S2, generating the initial projection code by the teaching function module includes the steps of:
planning projection contents according to the assembly process steps of the target assembly body, and determining the information contents and the sequence of each projection process; wherein, the projection content: the method comprises the steps of extracting process characteristic points and lines connected through the process characteristic points (the method is not required, the line extracting mode is that a plurality of points are extracted, the points are automatically connected into the lines by a program), and after the process characteristic points are extracted, pseudo codes are automatically generated by the program, so that the pseudo codes can be edited, and required projection content is increased; the sequence is as follows: since the assembly generally comprises a plurality of processes, such as mounting 5mm pins and mounting 5mm bolts, it is a matter of two different procedures. Determining the projection order means that the order of projection of the "position where 5mm pin is installed" and the "position where 5mm bolt is installed" can be selected. Of course, the positions of the two steps may be projected at the same time.
Blank content is projected as a substrate on the surface of the target assembly using the DLP projector 1.
And (3) moving a mouse pointer on the substrate, and sequentially selecting process feature points on the target assembly to determine the process features and the current gesture of the target assembly to be projected. The method for extracting projection information is as follows: the method comprises the steps that a mouse pointer is moved on a substrate, and process characteristic points are sequentially selected on a target assembly body, wherein the process characteristic points refer to points needing to be punched on the assembly body or holes needing to be provided with bolts/rivets/positioning pins and the like (the points with assembly/manufacturing requirements can be all the points just for example but not particularly specified); the process feature points are extracted substantially identically to the point tag alignment process described above. The conversion relation between the projection coordinate system and the assembly coordinate system can be realized through the process, so that the projection process information can be exactly overlapped with the surface of the assembly body, and the conversion work is guided.
Obtaining projection information of a target assembly and a coordinate system transformation relation; DLP projector 1 coordinate system: the DLP projector 1 is imaged with a coordinate system, which can be understood as a coordinate system with the DLP projector 1 device as origin. Through the above-mentioned point alignment calibration process, the position (the position where the projection needs to be imaged) of the target assembly body can be obtained, the process characteristic digital model of the assembly body contains the position information of the target assembly body, and the conversion relationship between the two can be solved through a PnP algorithm.
And carrying out distortion correction on the projection image according to the relation between the projection information and the coordinate transformation, and generating a projection code. Wherein, the projection image: refers to projected process information (contents such as points, lines, characters and the like); projection code: a self-defined pseudo code format containing text description of projection information is convenient to modify and debug, and all the contained projection information can be modified at this time.
Example 5
This example discloses a mechanical assembly method based on laser projection assistance, as a preferred implementation of this example, comprising the following steps:
s1, preparing a laser projection device; the laser projection device comprises a bracket, a DLP projector 1 and a laser projection industrial personal computer 3 which are respectively arranged on the bracket, and the laser projection industrial personal computer 3 is in communication connection with the DLP projector 1. Wherein, a laser projection software control system is arranged in the laser projection industrial personal computer 3; the laser projection software control system comprises: the calibration point 8 is aligned to a calibration module, and is used for generating an initial projection code under the condition that the assembly process characteristic digital model exists in the step S2; the teaching test function module is used for generating an initial projection code under the condition that the assembly process characteristic digital model is not generated in the step S2; a projection debugging unit for modifying/debugging the initial projection code in step S3; a projection control unit for controlling the DLP projector 1 to visually display the fitting guidance information; a system setting unit for setting internal parameters of the DLP projector 1.
S2, determining a mode for generating an initial projection code according to the condition of whether the assembly process characteristic digital modulus exists or not, and specifically: if the assembly process characteristic digital model exists, an initial projection code is generated by a point tag pair Ji Biaoding module; if the assembly process characteristic digital modulus is not available, generating an initial projection code through the teaching function module.
Generating an initial projection code by the point tag alignment calibration module comprises the following steps: the process characteristic digital model of the assembly is led into a laser projection industrial personal computer 3; on the basis of the assembly process characteristic digital model, a DLP projector 1 is used for projecting blank contents on the surface of a target assembly body as a substrate; generating on the substrate calibration points 8 suitable for the key feature points of the surface of the target assembly; the mobile calibration points 8 coincide with key feature points on the surface of the target assembly body, so that the positions of the projection features and the actual features are accurately matched to determine the current position of the target assembly body; acquiring a coordinate transformation relation between a target assembly and a DLP projector 1 coordinate system; and carrying out distortion correction on the projection image according to the coordinate transformation relation and combining the distortion coefficient of the DLP projector 1, and generating a projection code. Wherein, the number of the calibration points 8 of the key characteristic points on the surface of the target assembly body is not less than 4, so as to ensure that the deviation between the projection point line characteristic and the corresponding point line position of the target assembly body is less than 2mm; and all key characteristic points on the surface of the target assembly body are sequentially connected in a straight line to form a closed graph, and at least 80% of assembly process holes on the target assembly body can be surrounded. The more the calibration points 8 are, the smaller the error is, and when the calibration is performed, the mobile calibration points 8 are overlapped with the key characteristic points, so that the two types of points are identical. Further, the pattern of the index points 8 is in the shape of a cross cursor.
In the overlong process of generating an initial projection code through the point tag alignment calibration module, when the surface curvature of the target assembly body is less than 2.0, the position deviation between the projection point line characteristic and the corresponding point line of the target assembly body is +/-1 mm. Based on the above, the method further comprises determining a mode of generating an initial projection code according to the surface curvature transformation condition and the projection precision of the target assembly body, namely, if a region with large surface curvature transformation of the target assembly body cannot obtain satisfactory projection precision in the process of generating the initial projection code by adopting the calibration point 8 to align the calibration module, jumping to the teaching function module, and extracting assembly guide information from the region with large surface curvature transformation of the target assembly body so as to obtain high-precision projection. The method does not directly adopt the test teaching mode of the test teaching function module, the test teaching function module is not needed to be carried out after the test teaching function module is jumped, the content of the section only indicates that under the condition that the surface curvature is large, when satisfactory precision cannot be obtained through point label alignment, the projection result of automatic analysis of the numerical mode of the process characteristics of the assembly body can be abandoned, the assembly guide information is extracted through the test teaching function module, the flexible application of the two modes of the test teaching function module and the point label alignment calibration module is realized, and because the process of extracting the assembly guide information through the test teaching mode is accurate extraction, the error can be considered to be avoided for each extraction.
Generating an initial projection code by the trial function module includes the steps of: planning projection contents according to the assembly process steps of the target assembly body, and determining the information contents and the sequence of each projection process; projecting blank content on the surface of the target assembly using the DLP projector 1 as a substrate; moving a mouse pointer on a substrate, and sequentially selecting process feature points (red highlight solid circles or green highlight solid circles are projected on the selected process feature points of the target assembly) on the target assembly to determine the process feature and the current gesture required to be projected by the target assembly; obtaining projection information of a target assembly and a coordinate system transformation relation; and carrying out distortion correction on the projection image according to the relation between the projection information and the coordinate transformation, and generating a projection code.
Further, after the process feature points are selected, green highlight solid circles are projected at the process feature points, so that the selected feature points can be observed conveniently.
S3, editing the initial projection code by using the laser projection industrial personal computer 3 to modify/debug the initial projection code, adding assembly requirements and text descriptions, selecting projection items, and modifying the sizes and colors of projection points and projection lines, thereby obtaining a final projection code.
And S4, controlling the DLP projector 1 to project assembly guide information on the surface of the target assembly body based on the final projection code, and assembling the target assembly body according to the assembly guide information.
Further, the initial projection code and the final projection code include information of the size, shape, number, color and position of the projection points and projection lines, as well as assembly process requirements and text descriptions. Wherein the projected dot pattern is solid circle or ellipse; the projected line pattern is a real line segment; the colors of the patterns projected by different assembly procedures are different. These projection effects are achieved by projection code control, which is mainly used to intuitively distinguish the presentation of the same/different process information to the worker.
Example 6
The embodiment discloses a mechanical assembly method based on laser projection assistance, which is a preferred implementation scheme of the embodiment, and is applied to the assembly process steps of a curved hole site of a certain part, wherein the steps are as follows:
A. digital-analog of process characteristics of the obtained target assembly
A1: according to the technological characteristic digital model of the target assembly body, the positions of key points of the surface characteristics are defined, and as for the curved surface hole site assembly body shown in fig. 3, the total number of key points of the surface characteristics is 4: a first identification point 4, a second identification point 5, a third identification point 6 and a fourth identification point 7. In the step, the number of the key points of the surface features on the target assembly is not less than 4, and the closed graph formed by the key points of the features can contain as many assembly process holes as possible of the target assembly;
a2: using the DLP projector 1 to project blank contents on the surface of a target assembly body as a substrate, generating 4 calibration points 8 on the substrate, wherein the projection pattern of the calibration points 8 is in the shape of a cross cursor shown in fig. 3, and corresponds to a first identification point 4, a second identification point 5, a third identification point 6 and a fourth identification point 7 shown in fig. 3 respectively, and the mobile calibration points 8 are respectively overlapped with the 4 identification points on the surface of the target assembly body to realize accurate matching of the projection characteristics and the actual characteristics, so as to determine the current position of the target assembly body and acquire the transformation relation between the target assembly body and the coordinate system of the DLP projector 1;
a3: c, carrying out distortion correction on the projection graph according to the coordinate system transformation relation in the step A2;
a4: editing and modifying the projection code according to the projection requirement according to the projection result in the step A3, adding the assembly requirement and the text description, selecting a projection item, and modifying the sizes and colors of the projection point and the projection line so as to obtain a final projection code;
a5: using the final projection code in step A4, the DLP projector 1 is controlled to project the assembly guide information on the surface of the target assembly. According to the assembly procedure, the projection patterns of the same kind of hole sites in the same procedure are the same-color highlight solid circles with uniform sizes, and the projection patterns of the same kind of hole sites in the same procedure and the same kind of hole sites in the different procedures can be set into the solid circles with different sizes and different colors in the step A4.
B. Obtaining no technological characteristic digital-analog of target assembly
B1: planning projection contents according to the assembly process steps of the target assembly body, and determining the information contents and the sequence of each projection process;
b2: b1, according to the process information content projected in a single process of the target assembly, using a DLP projector 1 to project blank content on the surface of the target assembly as a substrate, sequentially selecting process characteristic points of the current assembly process on the target assembly by moving a mouse pointer on the substrate, projecting red highlight solid circles by the selected characteristic points, and determining that the selected projected pattern becomes green solid circles;
b3: b2, selecting all process characteristic points of different assembly procedures, determining process characteristics and current postures of a target assembly body to be projected, obtaining projection information of the target assembly body and a coordinate system transformation relation, and generating a projection code;
b4: the steps A3-A5 are repeated, so that the DLP projector 1 projects assembly guide information on the surface of the target assembly body.
The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application and are intended to be comprehended within the scope of the present application.
Claims (9)
1. The mechanical assembly method based on laser projection assistance is characterized by comprising the following steps of:
s1, preparing a laser projection device; the laser projection device comprises a bracket (2), a DLP projector (1) and a laser projection industrial personal computer (3) which are respectively arranged on the bracket (2), wherein the laser projection industrial personal computer (3) is in communication connection with the DLP projector (1);
s2, determining a mode for generating an initial projection code according to the condition of whether the assembly process characteristic digital modulus exists or not, and specifically: if the assembly process characteristic digital model exists, an initial projection code is generated by a point tag pair Ji Biaoding module; if the process characteristic digital model of the assembly is not available, generating an initial projection code through a trial teaching function module;
s3, editing the initial projection code by utilizing a laser projection industrial personal computer (3) to modify/debug the initial projection code, adding assembly requirements and text descriptions, selecting projection items, and modifying the sizes and colors of projection points and projection lines so as to obtain a final projection code;
and S4, controlling the laser projector to project assembly guide information on the surface of the target assembly body based on the final projection code, and assembling the target assembly body according to the assembly guide information.
2. The mechanical assembling method based on laser projection assistance as claimed in claim 1, wherein in the step S1, a laser projection software control system is provided in the laser projection industrial personal computer (3); the laser projection software control system comprises:
the calibration point (8) is aligned with the calibration module: for generating an initial projection code in said step S2 with an assembly process feature digital model;
test teaching function module: for generating an initial projection code without the assembly process feature digital model in said step S2;
projection debugging unit: for modifying/debugging the initial projection code in said step S3;
projection control unit: for controlling the DLP projector (1) to visually display the fitting guidance information;
a system setting unit: for setting internal parameters of the DLP projector (1).
3. The mechanical assembling method based on laser projection assistance according to claim 2, wherein in the step S2, the generating of the initial projection code by the point tag alignment calibration module includes the steps of:
importing the process characteristic digital model of the assembly into a laser projection industrial personal computer (3);
on the basis of the assembly process characteristic digital model, a DLP projector (1) is used for projecting blank contents on the surface of a target assembly body as a substrate;
generating on the substrate calibration points (8) suitable for the key feature points of the surface of the target assembly;
the mobile calibration point (8) coincides with the key feature point on the surface of the target assembly body, so that the projection feature is accurately matched with the position of the actual feature to determine the current position of the target assembly body;
acquiring a coordinate transformation relation between a target assembly and a DLP projector (1) coordinate system;
and (3) carrying out distortion correction on the projection image according to the coordinate transformation relation and combining the distortion coefficient of the DLP projector (1), and generating a projection code.
4. A laser projection-assisted mechanical assembly method according to claim 3, wherein: the number of the calibration points (8) of the key characteristic points on the surface of the target assembly body is not less than 4, so that the position deviation between the projection point line characteristic and the corresponding point line of the target assembly body is ensured to be less than 2mm; and all key characteristic points on the surface of the target assembly body are sequentially connected in a straight line to form a closed graph, and at least 80% of assembly process holes on the target assembly body can be surrounded.
5. A laser projection-assisted mechanical assembly method according to claim 3, wherein: the pattern of the calibration points (8) is in the shape of a cross cursor.
6. The mechanical assembling method based on laser projection assistance according to claim 3, wherein in the step S1, the generating of the initial projection code by the teaching function module includes the steps of:
planning projection contents according to the assembly process steps of the target assembly body, and determining the information contents and the sequence of each projection process;
projecting blank content on the surface of the target assembly body as a substrate by using a DLP projector (1);
moving a mouse pointer on a substrate, and sequentially selecting process feature points on a target assembly to determine process features and current postures of the target assembly to be projected;
obtaining projection information of a target assembly and a coordinate system transformation relation;
and carrying out distortion correction on the projection image according to the relation between the projection information and the coordinate transformation, and generating a projection code.
7. The laser projection assisted mechanical assembly method of claim 6, wherein after the process feature point is selected, a green highlighted solid circle is projected at the process feature point.
8. The mechanical assembling method based on laser projection assistance according to claim 6, wherein in the step S3, the method further comprises determining the mode of generating the initial projection code according to the curvature transformation condition and the projection precision of the surface of the target assembly, that is, if the area with large curvature transformation of the surface of the target assembly cannot obtain satisfactory projection precision in the process of generating the initial projection code by using the calibration module with the calibration point (8), jumping to the teaching function module, and extracting the assembly guiding information of the area with large curvature transformation of the surface of the target assembly to obtain high-precision projection.
9. The laser projection assist based mechanical assembly method of claim 1 wherein the initial projection code and the final projection code include size, shape, number, color and location information of the projection points and projection lines, as well as assembly process requirements and written instructions.
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