CN106903663B - A positioning marking method, device and system for internal parts of a rotary housing - Google Patents

Abstract

The invention discloses a method, a device and a system for positioning and marking internal parts of a rotary housing, and relates to the technical field of assembly. In the positioning marking method provided by the present invention, the inner surface model of the housing is obtained by laser scanning the inner surface of the revolving housing, the preset assembly model is adjusted according to the obtained inner surface model, and the actual assembly model is obtained, and the position of the parts in the revolving housing is determined according to the actual assembly model. According to the position data in the body, the parts are positioned and marked in the rotary housing according to the position data, which realizes the automatic positioning and marking of the parts. The whole marking process is completed by the operator on the computer, without manual mechanical measurement and other physical labor.

Description

A positioning marking method, device and system for internal parts of a rotary housing

technical field

The invention discloses a method, a device and a system for positioning and marking internal parts of a rotary housing, belonging to the technical field of assembly.

Background technique

For the positioning method of the internal parts of the rotary shell, the domestic traditional method is to use mechanical measuring tools such as steel rulers and vernier calipers to mark lines to ensure. This method of scribing is low in cost and does not require high operator experience, but it is prone to human errors, and most of the angle dimensions are converted into arc lengths, which are confirmed by measuring the arc length with a steel ruler, and the error is relatively large. There is no ability to predict in advance whether there will be interference in the later assembly process. In addition, the positioning accuracy of parts is ensured by assembling special parts positioning tooling and assembly jigs. This method has a long cycle and requires a large amount of assembly tooling. In addition, for narrow spaces, the applicability of the tooling is limited, and most of these assembly tooling are non-flexible tooling, and the applicability is very low. In recent years, laser projection has been applied in the fields of automobile assembly and aircraft assembly. The laser positioning accuracy is generally around 0.5mm, and the main limitation is that the space must be open, that is, the linear distance between the light source and the assembly position of the parts must not be blocked, and the linear distance between the rotary housing and the light source must be within the set range, so as to ensure the laser projection. In addition, the laser projection range of each laser projection is relatively small, generally no more than 400cm ² , usually 1-3 parts, suitable for projecting 1 part and assembling immediately, and the assembly process of 1 part under projection, and the entire assembly The environment in which the link does not occlude the projection path. It is not suitable for the environment where the opening of the space is not high, the projection path will be blocked during the assembly process, and the parts to be installed need to be assembled uniformly.

Therefore, there is an urgent need for an automatic positioning marking method to realize accurate positioning marking of the internal parts of the rotary housing.

Contents of the invention

The purpose of the present invention is to provide a calibration method, device and system for the internal parts of the rotary housing, which can realize automatic accurate positioning and marking of the internal parts of the rotary housing.

In order to achieve the above object, the present invention adopts the following technical solutions.

A method for positioning and marking internal parts of a rotary housing, comprising:

Obtain laser scanning data of the inner surface of the revolving shell;

Establishing a shell inner surface model according to the laser scanning data;

Comparing the established shell inner surface model with the theoretical shell inner surface model in the preset assembly model to obtain shell inner surface error data, the preset assembly model includes the theoretical shell inner surface model and the theoretical shell inner surface model assembled in the theoretical at least one part model within the shell inner surface model;

adjusting the preset assembly model according to the error data on the inner surface of the housing to obtain an actual assembly model;

According to the actual assembly model, calculate the position data of the part corresponding to the at least one part model in the rotary housing;

According to the position data obtained through calculation, a positioning marking instruction is sent to perform positioning marking on the part corresponding to the at least one part model in the rotary housing.

In an optional embodiment, the acquisition of the laser scanning data of the inner surface of the revolving shell includes:

The laser scanner is controlled to move along the axial direction of the inner surface of the rotary housing according to a preset movement strategy, and the rotary housing is controlled to rotate with a preset rotation strategy to obtain laser scanning data of the inner surface of the rotary housing.

In an optional embodiment, the adjusting the preset assembly model according to the error data of the inner surface of the housing includes:

adjusting the theoretical shell inner surface model according to the shell inner surface error data;

When the part model interferes with the adjusted theoretical shell inner surface model, determine the part model as the part model to be adjusted;

Adjusting the position of the part model to be adjusted so that the part model to be adjusted is located in the adjusted theoretical shell inner surface model to obtain an actual assembly model.

In an optional embodiment, the adjusting the position of the part model to be adjusted so that the part model to be adjusted is located in the adjusted theoretical shell inner surface model includes:

Calculating adjustment parameters of the part model to be adjusted;

judging whether the calculated adjustment parameter meets a preset adjustment standard;

If it is satisfied, adjust the position of the part model to be adjusted according to the adjustment parameter, so that the part model to be adjusted is located in the adjusted theoretical shell inner surface model;

If not, obtain manually input adjustment parameters, and adjust the position of the part model to be adjusted according to the manually input adjustment parameters, so that the part model to be adjusted is located in the adjusted theoretical shell inner surface model.

In an optional embodiment, the sending a positioning marking instruction according to the calculated position data to perform positioning marking on the part corresponding to the at least one part model in the rotary housing includes:

According to the established shell inner surface model, determine the vertical distance between the marking device and the inner surface of the rotary shell during operation;

According to the calculated position data and the determined vertical distance, a positioning marking instruction is sent to control the marking device to perform positioning marking on the part corresponding to the at least one part model in the rotary housing.

A positioning marking device for internal parts of a rotary housing, comprising:

a data acquisition unit, configured to acquire laser scanning data on the inner surface of the rotary housing;

A data processing unit, configured to establish a shell inner surface model according to the laser scanning data;

A comparison unit, configured to compare the established shell inner surface model with the theoretical shell inner surface model in the preset assembly model to obtain shell inner surface error data, the preset assembly model including the theoretical shell inner surface model and at least one part model fitted within the theoretical shell inner surface model;

an adjustment unit, configured to adjust the preset assembly model according to the error data on the inner surface of the housing to obtain an actual assembly model;

A calculation unit, configured to calculate the position data of the part corresponding to the at least one part model in the rotary housing according to the actual assembly model;

The positioning unit is configured to send a positioning marking command according to the calculated position data, so as to perform positioning marking on the part corresponding to the at least one part model in the rotary housing.

In an optional embodiment, the system includes: an inkjet printer, a laser scanner, and the above-mentioned positioning marking device for the internal parts of the rotary housing;

The laser scanner is used to scan the inner surface of the rotary housing to obtain laser scanning data, and send the obtained data to the positioning marking device;

The inkjet printer is used for receiving the positioning marking instruction sent by the positioning marking device, and performing positioning marking according to the positioning marking instruction.

In an optional embodiment, the system further includes: a numerical control turntable, a positioning disk, a zero point positioning system and a robot;

The positioning disc is connected with the numerical control turntable through the zero point positioning system, the positioning disc is used to fix the rotary shell, and the numerical control turntable is used to drive the rotary shell to rotate with a preset rotation strategy. The robot is suspended above the numerically controlled turntable, and the robot is provided with a clamping mechanism for clamping the jetting terminal and/or the laser scanner; the input end of the robot and the input end of the numerically controlled turntable All are connected with the positioning marking device.

In an optional embodiment, the zero point positioning system includes at least three sets of matching positioning joints and positioners; the lower surface of the positioning disc is connected to the positioning joints, and each positioning joint is located on the circumference consistent with the center of the positioning disc; the locators are arranged on the numerically controlled turntable, and each of the locators is located on a circle consistent with the center of the numerically controlled turntable; the positioning joint and the positioner With the locking force ≥ 3000N.

In an optional embodiment, the positioning disc is provided with a plurality of positioning pin holes along the circumferential direction, and the positioning disc is fixedly connected with the rotary housing through the positioning pins passing through the positioning pin holes. , the coaxiality of the axis of the circle where the plurality of positioning pin holes are located and the rotary shaft of the numerical control turntable is ≤ф0.1mm, and the positioning accuracy is ≤0.05mm.

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

In the positioning marking method provided by the invention, the inner surface model of the housing is obtained by laser scanning the inner surface of the revolving housing, the preset assembly model is adjusted according to the obtained inner surface model, and the actual assembly model is obtained, and the parts are determined according to the actual assembly model. According to the position data in the body, the parts are positioned and marked in the rotary housing according to the position data, which realizes the automatic positioning and marking of the parts. The whole marking process is completed by the operator on the computer, without manual mechanical measurement and other physical labor.

The positioning marking system provided by the invention has a high degree of automation, and the position calibration of the parts of the whole system is completed by the operator on the computer. No need for manual mechanical measurement and other physical labor;

Through the linkage between the CNC turntable and the robot, the CNC turntable realizes the rotary motion of the rotary shell, thereby ensuring the positioning accuracy of the circumferential rotation angle, and the robot performs displacement and small rotation along the axis of the rotary shell, thereby maximizing the The positioning accuracy of the robot provides a guarantee for the high-precision spraying of the part position line;

The high-precision positioning of the rotary shell and the CNC turntable is realized by the positioning disc. By positioning the disc, key feature points on the rotary housing can be located without alignment. It not only eliminates the alignment error of the traditional shell installation method on the CNC turntable, but also greatly saves the time of continuous alignment with the traditional dial gauge;

The position accuracy of the parts inside the shell is calibrated by the present invention. The error points of the whole system include the rotation error of the CNC turntable itself, the error of the robot movement, and the error caused by the width of the spray line, all of which are inherent errors of the hardware equipment. 0.4mm. In addition, various reinforcing ribs and thickened areas on the inner surface of the shell have little influence on the entire device, that is, the applicability of the device is relatively high.

Description of drawings

Fig. 1 is a flow chart of a positioning marking method for internal parts of a rotary housing provided by an embodiment of the present invention;

Fig. 2 is a schematic diagram of a positioning marking device for internal parts of a rotary housing provided by an embodiment of the present invention;

Fig. 3 is a schematic diagram of a positioning marking system for internal parts of a rotary housing provided by an embodiment of the present invention;

Fig. 4 is a partial schematic diagram of a positioning marking system for internal parts of a rotary housing provided by an embodiment of the present invention;

Fig. 5 is a schematic diagram of a positioning disc and a rotary housing provided by an embodiment of the present invention;

Fig. 6 is a schematic diagram of the installation surface of the numerical control turntable and the positioning disk provided by the embodiment of the present invention.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings.

Referring to Fig. 1, the embodiment of the present invention provides a method for positioning and marking the internal parts of the rotary housing, including:

Step 101: Obtain the laser scanning data of the inner surface of the rotary housing;

Specifically, in the embodiment of the present invention, a laser scanner can be used to scan the entire inner surface of the revolving housing to obtain laser scanning data of the inner surface;

Step 102: Establish a model of the inner surface of the shell according to the laser scanning data;

Specifically, in the embodiment of the present invention, three-dimensional modeling can be performed according to laser scanning data according to three-dimensional modeling technologies such as Pro/E and solidworks, to obtain the inner surface model of the shell;

Step 103: Comparing the established shell inner surface model with the theoretical shell inner surface model in the preset assembly model to obtain shell inner surface error data, the preset assembly model includes the theoretical shell inner surface model and the assembled in at least one part model within the theoretical shell inner surface model;

Specifically, in the embodiment of the present invention, the preset assembly model may include a target assembly model, that is, a theoretical assembly model designed according to usage requirements, and data such as shape and position coordinates between two models may be converted according to reverse modeling software. Compare to get the error data;

Step 104: Adjust the preset assembly model according to the error data of the inner surface of the shell to obtain an actual assembly model;

Specifically, in the embodiment of the present invention, the preset assembly model can be automatically adjusted according to the reverse modeling software, and the preset assembly model can also be adjusted manually;

Step 105: According to the actual assembly model, calculate the position data of the part corresponding to the at least one part model in the rotary housing;

Specifically, in the embodiment of the present invention, the position data may include the two-dimensional or three-dimensional position coordinates of the part, and may also include the code of the part in the entire model, and the code may be in various forms such as a two-dimensional code, a code, etc. . Based on image recognition and other technologies, position data such as position coordinates and codes of each part in the actual assembly model can be identified;

Step 106: According to the calculated position data, send a positioning marking command to perform positioning marking on the part corresponding to the at least one part model in the rotary housing.

Specifically, in the embodiment of the present invention, the positioning marking instruction may include positioning coordinates, and may also include codes of parts to be marked, and the codes may be in various forms such as two-dimensional codes and codes. In the embodiment of the present invention, the positioning coordinates contained in the positioning instruction can be obtained through coordinate transformation according to the position coordinates, and the position corresponding to the positioning coordinates can be sprayed with marks such as part position lines, two-dimensional codes, and codes for positioning mark.

In the positioning marking method provided by the embodiment of the present invention, the inner surface model of the housing is obtained by laser scanning the inner surface of the revolving housing, the preset assembly model is adjusted according to the obtained inner surface model, and the actual assembly model is obtained, and the parts are determined according to the actual assembly model. According to the position data in the rotary housing, the parts are positioned and marked in the rotary housing according to the position data, which realizes the automatic positioning and marking of the parts. The entire marking process is completed by the operator on the computer, without manual mechanical measurement and other physical strength labor.

In an optional embodiment of the present invention, the acquisition of the laser scanning data of the inner surface of the revolving housing includes:

The laser scanner is controlled to move along the axial direction of the inner surface of the rotary housing according to a preset movement strategy, and the rotary housing is controlled to rotate with a preset rotation strategy to obtain laser scanning data of the inner surface of the rotary housing.

Specifically, in the embodiment of the present invention, the numerical control turntable can be linked with the robot, and the numerical control turntable can realize the rotary motion of the rotary housing, so as to ensure the positioning accuracy of the circumferential rotation angle, and the robot can perform the displacement along the axis of the rotary housing. And small rotation, so as to maximize the positioning accuracy of the robot, and provide guarantee for the high-precision spraying of the part position line.

In an optional embodiment of the present invention, the adjusting the preset assembly model according to the error data of the inner surface of the housing includes:

adjusting the theoretical shell inner surface model according to the shell inner surface error data;

When the part model interferes with the adjusted theoretical shell inner surface model, it is determined that the part model is the part model to be adjusted, wherein the interference, for example, the part model exceeds the accommodation space of the adjusted theoretical shell inner surface model;

Adjusting the position of the part model to be adjusted so that the part model to be adjusted is located in the adjusted theoretical shell inner surface model to obtain an actual assembly model.

By adjusting the position of the part model, the position where the part can be installed normally is determined, and the positioning accuracy is improved. The interference of the housing deformation on the installation parts due to manufacturing errors is avoided.

In an optional embodiment of the present invention, the adjusting the position of the part model to be adjusted so that the part model to be adjusted is located in the adjusted theoretical shell inner surface model includes:

Calculating adjustment parameters of the part model to be adjusted;

judging whether the calculated adjustment parameter meets a preset adjustment standard;

If it is satisfied, adjust the position of the part model to be adjusted according to the adjustment parameter, so that the part model to be adjusted is located in the adjusted theoretical shell inner surface model;

If not, obtain manually input adjustment parameters, and adjust the position of the part model to be adjusted according to the manually input adjustment parameters, so that the part model to be adjusted is located in the adjusted theoretical shell inner surface model.

This method further ensures the reliability of the part position and improves the positioning accuracy by introducing manual setting.

In an optional embodiment of the present invention, the sending a positioning mark instruction according to the calculated position data to perform positioning marking on the part corresponding to the at least one part model in the rotary housing includes:

According to the established shell inner surface model, determine the vertical distance between the marking device and the inner surface of the rotary shell during operation;

According to the calculated position data and the determined vertical distance, a positioning marking instruction is sent to control the marking device to perform positioning marking on the part corresponding to the at least one part model in the rotary housing. Wherein, the marking device may include a jetting head of an inkjet printer and the like.

The inkjet printer head always maintains a fixed vertical distance from the inner surface of the casing, which can ensure that the contour line width of the spouted parts and the casing is ≤0.3mm, which further improves the accuracy of positioning marks. In the embodiment of the present invention, the vertical distance can be set in the computer after the solid model is scanned, and the accuracy of the robot is guaranteed. Referring to Fig. 2, the embodiment of the present invention also provides a positioning marking device for the internal parts of the rotary housing, which is used to realize the above positioning marking method for the internal parts of the rotary housing, and the device includes:

A data acquisition unit 10, configured to acquire laser scanning data of the inner surface of the revolving housing;

A data processing unit 20, configured to establish a shell inner surface model according to the laser scanning data;

The comparison unit 30 is used to compare the established shell inner surface model with the theoretical shell inner surface model in the preset assembly model to obtain shell inner surface error data, the preset assembly model including the theoretical shell inner surface a model and at least one part model fitted within said theoretical shell inner surface model;

An adjustment unit 40, configured to adjust the preset assembly model according to the error data of the inner surface of the housing to obtain an actual assembly model;

A calculation unit 50, configured to calculate the position data of the parts corresponding to the at least one part model in the rotary housing 3 according to the actual assembly model;

The positioning unit 60 is configured to send a positioning marking instruction according to the calculated position data, so as to perform positioning marking on the part corresponding to the at least one part model in the rotary housing 3 .

The devices provided in the embodiments of the present invention correspond to the methods provided in the method embodiments one by one. For detailed technical features and effects, refer to the method embodiments, and details are not repeated here.

Referring to Fig. 3-Fig. 6, the embodiment of the present invention also provides a positioning and marking system for the internal parts of the rotary housing, including: an inkjet printer, a laser scanner 7 and the positioning of the internal parts of the rotary housing provided by the embodiment of the present invention marking device;

The laser scanner 7 is used to scan the inner surface of the rotary housing 3 to obtain laser scanning data, and send the obtained data to the positioning marking device;

The inkjet printer is used for receiving the positioning marking instruction sent by the positioning marking device, and performing positioning marking according to the positioning marking instruction.

The calibration system provided by the embodiment of the present invention obtains the inner surface model of the housing by laser scanning the inner surface of the revolving housing, adjusts the preset assembly model according to the obtained inner surface model, obtains the actual assembly model, and determines whether the part is rotating according to the actual assembly model. According to the position data in the casing, the parts are positioned and marked in the rotary casing according to the position data, which realizes the automatic positioning and marking of the parts. The whole marking process is completed by the operator on the computer, without manual mechanical measurement and other physical labor .

The positioning and marking system for the internal parts of the rotary housing provided by the embodiment of the present invention also includes: a numerical control turntable 1, a positioning disc 2, a zero point positioning system and a robot 4;

The positioning disc 2 is connected with the numerical control turntable 1 through the zero point positioning system. The positioning disc 2 is used to fix the rotary shell, and the numerical control turntable 1 is used to drive the rotary shell 3 to rotate with a preset rotation strategy. The robot 4 is hoisted Or the cantilever is suspended above the numerically controlled turntable 1, and the robot 4 is provided with a clamping mechanism 6 for clamping the jetting terminal 8 and/or the laser scanner 7; the input end of the robot 4 and the input end of the numerically controlled turntable 1 are both It is connected with the positioning marking device of the built-in parts of the rotary housing 3 .

Specifically, in order to facilitate the acquisition of laser scanning data in the revolving housing, the embodiment of the present invention uses a six-axis robot that can be hoisted or cantilevered. In other embodiments, other forms of robots can also be used, which is not limited in the present invention.

The positioning marking device of the parts in the revolving housing 3 controls the movement of the robot in the revolving housing 3, and obtains the laser scanning data of the inner surface of the revolving housing through the laser scanner 7 held by the robot; according to the laser scanning data , establish the shell inner surface model; compare the established shell inner surface model with the theoretical shell inner surface model in the preset assembly model, and obtain the shell inner surface error data, and the preset assembly model includes the theoretical shell inner surface model and at least one part model assembled in the theoretical shell inner surface model; according to the shell inner surface error data, adjust the preset assembly model to obtain an actual assembly model; according to the actual assembly model, calculate the The position data of the part corresponding to the at least one part model in the revolving housing 3; according to the calculated position data, the displacement of the robot is controlled, and the nozzle head 8 held by the robot is placed in the revolving housing 3 Positioning marks are performed on the parts corresponding to the at least one part model.

Through the linkage between the CNC turntable 1 and the robot 4, the CNC turntable 1 realizes the rotary motion of the rotary shell, thereby ensuring the positioning accuracy of the circumferential rotation angle, and the robot 4 performs displacement and small rotation along the axial direction of the rotary shell, thereby Improve the positioning accuracy of the robot to the greatest extent, and provide guarantee for the high-precision spraying of the part position line.

In an optional embodiment of the present invention, the zero point positioning system includes at least three sets of matching positioning joints 10 and positioners 11; the lower surface of the positioning disc 2 is connected to the positioning joints 10, and each positioning joint 10 is located at On the circumference consistent with the center of the positioning disc 2; the positioner 11 is set on the CNC turntable 1, and each positioner 11 is located on the circumference consistent with the center of the CNC turntable 1; the locking force of the positioning joint 10 and the positioner 11 is ≥ 3000N.

The present invention ensures the coaxiality of the positioning disc and the numerical control turntable through the arrangement of the positioner and the positioning joint, so that the high-precision positioning of the rotary housing and the numerical control turntable is realized through the positioning disc.

The positioning disc 2 is provided with a plurality of positioning pins 9 holes along the circumferential direction, and the positioning disc 2 is fixedly connected with the rotary housing 3 through the positioning pins 9 pierced in the positioning pins 9 holes. The coaxiality of the axis and the rotary shaft of the CNC turntable 1 is ≤ф0.1mm, and the positioning accuracy is ≤0.05mm.

By ensuring the coaxiality and positioning accuracy of the circle where the positioning pin is located and the numerical control turntable, the high-precision positioning of the rotary housing and the numerical control turntable is further ensured.

Specifically, in the embodiment of the present invention, the positioning disc 2 is provided with 4-8 positioning pins 9 holes, and the corresponding position of the rotary housing 3 also has the same holes, and the rotary housing 3 and the positioning disc 2 are positioned by the positioning pins 9. . The positioning disc 2 can also be provided with a plurality of pressing plates along the circumferential direction to compress the rotary housing 3 and fix it above the positioning disc 2 .

The present invention realizes the high-precision positioning of the rotary housing and the numerical control turntable 1 through the positioning disc 2 . By positioning the disc 2, key feature points on the rotary housing can be located without alignment. It not only eliminates the alignment error of the traditional shell installation method on the numerical control turntable 1, but also greatly saves the time of continuous alignment with the traditional dial indicator.

The positioning marking system provided by the embodiment of the present invention is used according to the following method:

(1) The rotary housing 3 is placed on the positioning disc 2, and the positioning disc 2 is fixedly connected to the rotary housing 3 through the positioning pin 9;

(2) Install the positioning disk 2 together with the rotary housing 3 on the numerical control turntable 1 through the zero point positioning system;

(3) The six-axis robot 4 returns to zero, and fixes the laser scanner 7 and the jetting terminal 8 of the inkjet printer on the end clamping mechanism 6 at the end of the robot. The jetting terminal 8 and the laser scanner 7 can be executed through the rotating pair automatic replacement of bodies;

(4) Input the three-dimensional digital assembly model of the rotary housing 3 into the positioning marking device;

(5) Start the operation on the computer, complete the scanning of the actual model of the rotary housing 3 and the automatic correction of the position of the parts to be installed by the positioning marking device;

(6) After the correction is correct, the robot automatically replaces the inkjet terminal 8 of the inkjet printer as the actuator, completes the spraying of the fitting position line between the internal parts of the shell and the shell, and sprays the code of the part in the 3D model or the two-dimensional code of the part at the same time ;

(7) After the spraying is completed, unload the laser scanner 7 and the spraying terminal 8 of the inkjet printer, and the robot 4 returns to zero.

Using the present invention to position and mark the parts inside the shell has a high position accuracy, and the error points of the whole device include the rotation error of the CNC turntable 1 itself, the robot motion error, and the error caused by the spray line width, all of which are inherent errors of the hardware equipment, and the calibration error of the entire part position line No more than 0.4mm. In addition, various reinforcing ribs and thickened areas on the inner surface of the shell have little influence on the entire device, that is, the applicability of the device is relatively high.

The present invention can be used for rotary shells with thickened areas of different shapes and thicknesses, mesh reinforcement or other ribs on the inner surface, and can also be used for shells with smooth inner surfaces. The diameter range of the rotary shell is between 800mm-2000mm. Between 200-1600mm in height, it is especially suitable for composite material rotary shells where the inner surface of the rotary shell is a non-processed surface, there are manufacturing errors, there are many internal parts, the assembly accuracy is high, and assembly interference is easy to occur.

The following is a specific embodiment of the present invention:

The device comprises a numerical control turntable 1, a positioning disc 2, a robot 4 (joint arm robot), an auxiliary tooling 5, a robot end clamping mechanism 6, a laser scanner 7, and a jetting dock 8. Among them, the rotary housing 3 is fixed on the positioning disc 2 through the positioning pin 9, and the positioning joint 10 is installed on the positioning disc 2, and the positioning disc 2 is installed on the numerical control turntable 1 through the positioning joint 10, and the positioning is realized by the positioner 11. Disc positioning, tension. Thereby, the coaxiality between the rotary housing 3 and the numerically controlled turntable 1 is ensured, and alignment in this way is high in efficiency and simple in operation, and there is no need to continuously adjust the position of the rotary housing 3 on the numerically controlled turntable 1 by using a traditional dial indicator.

After the rotary housing 3, the positioning disk 2 and the numerically controlled turntable 1 are fixed, the laser scanner 7 and the jetting terminal 8 are installed on the clamping mechanism 6 at the end of the robot. Input the three-dimensional assembly model of the rotary housing 3 on the industrial computer, and start the program. The articulated arm robot 4 will drive the laser scanner 7 to complete the scanning of the inner surface of the revolving housing 3 . The point cloud data is formed, and the built-in algorithm of the computer completes the point cloud data stitching and compares it with the theoretical 3D model to obtain the manufacturing error, and corrects and compensates the actual installation position of the parts. After the compensation is completed, the robot 4 will pass through the end clamping mechanism 6 Switch the jetting terminal 8 to the actuator of the six-axis robot 4, plan the robot movement path according to the corrected actual position, move to the position of the parts to be installed, and spray out the part position lines and part codes or QR codes until all parts are in position All marked complete. Robot 4 can get back to zero point position, and takes off laser scanner 7, jetting terminal 8.

In this embodiment, the revolving shell structure is cylindrical, with a diameter of 2.0m and a height of 1.2m. Therefore, the selected robot 4 is the Yaskawa six-axis robot MOTOMAN-MH12, with an arm span of 1.6m. The robot cantilever is used to complete the internal parts. Position line calibration.

In this embodiment, the laser scanner is Gocator-2030 laser scanner, and the length of each laser line is 100mm. For a 1.5m shell, the turntable needs to rotate 14 to 19 circles to complete the scanning of the full shell solid model. Since each scan needs to overlap with the last scan, it is ensured that all positions on the inner surface of the entire shell are tested.

In this embodiment, the inkjet printer of this embodiment is selected as the Keyence inkjet printer MK-U6000 to ensure that the width of the part position line does not exceed 0.3mm, thereby ensuring the positioning accuracy of the product.

In this embodiment, in addition to spraying the contour line of the part and the shell, the two-dimensional code of the part is also sprayed to identify the feature information of the part.

Claims (9)

1. a kind of positioning and marking method of the built-in part of revolving shell characterized by comprising

Obtain the laser scanning data of revolving shell inner surface；

According to the laser scanning data, shell inner surface model is established；

The shell inner surface model of foundation is compared with the theoretical shell inner surface model in default assembling model, obtains shell Internal surface error data, the default assembling model include the theoretical shell inner surface model and are assemblied in the theoretical shell An at least part model in internal surface model；

According to the shell inner surface error information, the theoretical shell inner surface model is adjusted；

When the part model generates interference to theoretical shell inner surface model adjusted, determine the part model be to Adjust part model；

The position for adjusting the part model to be adjusted makes the part model to be adjusted be located at the theoretical shell adjusted In inner surface model, practical set model is obtained；

According to the practical set model, the position of the corresponding part of an at least part model in the revolving shell is calculated Set data；

According to the position data being calculated, send telltale mark instruction, in the revolving shell to described at least 1 The corresponding part of part model carries out telltale mark.

2. scaling method according to claim 1, which is characterized in that the laser scanning for obtaining revolving shell inner surface Data, comprising:

Laser scanner is controlled according to default shift strategy along the axial movement of revolving shell inner surface, and controls the revolution shell Body obtains the laser scanning data of revolving shell inner surface with default rotation strategy rotation.

3. scaling method according to claim 1, which is characterized in that the position of the adjustment part model to be adjusted It sets, is located at the part model to be adjusted in the theoretical shell inner surface model adjusted, comprising:

Calculate the adjusting parameter of the part model to be adjusted；

Judge whether the adjusting parameter being calculated meets default adjustment standard；

If satisfied, then adjusting the position of the part model to be adjusted according to the adjusting parameter, make the part mould to be adjusted Type is located in the theoretical shell inner surface model adjusted；

If not satisfied, the adjusting parameter being manually entered then is obtained, it is described wait adjust according to the adjusting parameter adjustment being manually entered The position of whole part model is located at the part model to be adjusted in the theoretical shell inner surface model adjusted.

4. scaling method according to claim 1, which is characterized in that the position data that the basis is calculated is sent Telltale mark instruction, to carry out telltale mark, packet to the corresponding part of an at least part model in the revolving shell It includes:

According to the shell inner surface model of the foundation, determine that labelling apparatus is vertical with the revolving shell inner surface at work Straight distance；

According to the vertical range of the position data and determination that are calculated, telltale mark instruction is sent, to control the label dress It sets and telltale mark is carried out to the corresponding part of an at least part model in the revolving shell.

5. a kind of marking apparatus of the built-in part of revolving shell characterized by comprising

Data capture unit, for obtaining the laser scanning data of revolving shell inner surface；

Data processing unit, for establishing shell inner surface model according to the laser scanning data；

Theoretical shell inner surface model in comparing unit, shell inner surface model for that will establish and default assembling model into Row compares, and obtains shell inner surface error information, and the default assembling model includes the theoretical shell inner surface model and dress Fit over at least part model in the theoretical shell inner surface model；

Adjustment unit, for adjusting the theoretical shell inner surface model according to the shell inner surface error information；When described When part model generates interference to theoretical shell inner surface model adjusted, determine that the part model is part mould to be adjusted Type；The position for adjusting the part model to be adjusted makes the part model to be adjusted be located at the theoretical shell adjusted In inner surface model, practical set model is obtained；

Computing unit, for calculating the corresponding part of an at least part model described according to the practical set model Position data in revolving shell；

Positioning unit, for telltale mark instruction being sent, with right in the revolving shell according to the position data being calculated The corresponding part of at least part model carries out telltale mark.

6. a kind of telltale mark system of the built-in part of revolving shell characterized by comprising ink jet numbering machine, laser scanner and The marking apparatus of the built-in part of revolving shell described in claim 5；

The laser scanner obtains laser scanning data for scanning the revolving shell inner surface, and obtained data are sent out Give the marking apparatus；

The ink jet numbering machine is used to receive the telltale mark instruction that the marking apparatus is sent, and refers to according to the telltale mark It enables and carries out telltale mark.

7. the telltale mark system of the built-in part of revolving shell according to claim 6, which is characterized in that further include: number Control turntable, positioning disc, Zero-point positioning system and robot；

The positioning disc is connect by the Zero-point positioning system with the numerical control rotating platform, and the positioning disc is for fixing back Transcapsidation body, for driving the revolving shell with default rotation strategy rotation, the robot is suspended from described the numerical control rotating platform Above numerical control rotating platform, the robot is equipped with clamping device, for clamping the code spraying head and/or the laser scanner；Institute The input terminal of the input terminal and the numerical control rotating platform of stating robot is connect with the marking apparatus.

8. the telltale mark system of the built-in part of revolving shell according to claim 7, which is characterized in that the zero point is fixed Position system includes at least three groups of matched landing nipples and locator；The lower surface of the positioning disc and the landing nipple connect Connect, and each landing nipple be respectively positioned on on the consistent circumference in the positioning disc center of circle；The locator is located at the number Control turntable on, and each locator be respectively positioned on on the consistent circumference in the numerical control rotating platform center of circle；The landing nipple and institute State locators coupling mechanism force >=3000N.

9. the telltale mark system of the built-in part of revolving shell according to claim 7, which is characterized in that the setting circle Disk is along the circumferential direction equipped with multiple dowel holes, and the positioning disc passes through the positioning pin being arranged in the dowel hole and institute It states revolving shell to be fixedly connected, the concentricity of the rotating shaft of the axis and numerical control rotating platform of circle where the multiple dowel hole ≤ ф 0.1mm, positioning accuracy≤0.05mm.