基于三维视觉测量的航空发动机低压涡轮轴自动装配
Automatic assembly of aero engine low pressure turbine shaft based on 3D vision measurement
摘要：
针对航空发动机涡轮轴装配自动化程度低、非接触高精度测量困难的问题，提出了一种航空发动机关键部件结构光双目测量技术。结合三维点云数据处理和装配位置匹配算法，实现了汽轮机轴对接过程中轴孔装配姿态的高精度测量。首先，基于PCA投影和边缘点云聚类对螺栓表面的螺纹曲线进行分割，并利用Hough变换对三维螺纹曲线进行模型拟合。然后构造预处理后的二维凸包对关键孔位置特征进行分割，并基于RANSAC方法对分割得到的安装面和孔位置进行拟合。最后，利用几何特征匹配建立涡轮轴装配体的评价指标，对涡轮轴装配体进行位姿优化。安装面匹配的最终测量精度小于0.05mm，基于最小角度优化的安装孔匹配的测量精度小于0.1 °。在某型航空发动机低压涡轮转子自动装配试验台上实现了该测量算法。在狭小的安装空间内，实现了轴孔自动找正对接、安装缝自动加热测温、两枪自动拧紧等涡轮轴总成装配过程在狭小的安装空间内的引导、实时检测和装配结果评估。
英文摘要：
In order to solve the problem of low automation of Aero-engine Turbine shaft assembly and the difficulty of non-contact high-precision measurement, a structured light binocular measurement technology for key components of aero-engine is proposed in this paper. Combined with three-dimensional point cloud data processing and assembly position matching algorithm, the high-precision measurement of shaft hole assembly posture in the process of turbine shaft docking is realized. Firstly, the screw thread curve on the bolt surface is segmented based on PCA projection and edge point cloud clustering, and Hough transform is used to model fit the three-dimensional thread curve. Then the preprocessed two-dimensional convex hull is constructed to segment the key hole location features, and the mounting surface and hole location obtained by segmentation are fitted based on RANSAC method. Finally, the geometric feature matching is used the evaluation index of turbine shaft assembly is established to optimize the pose. The final measurement accuracy of mounting surface matching is less than 0.05mm, and the measurement accuracy of mounting hole matching based on minimum ance optimization is less than 0.1 degree. The measurement algorithm is implemented on the automatic assembly test-bed of a certain type of aero-engine low-pressure turbine rotor. In the narrow installation space, the assembly process of the turbine shaft assembly, such as the automatic alignment and docking of the shaft hole, the automatic heating and temperature measurement of the installation seam, and the automatic tightening of the two guns, are realized in the narrow installation space Guidance, real-time inspection and assembly result evaluation.
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