CN102042819B - Method for calibrating lengths of connecting rods of parallel double-joint coordinate measuring machine - Google Patents
Method for calibrating lengths of connecting rods of parallel double-joint coordinate measuring machine Download PDFInfo
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- CN102042819B CN102042819B CN201010570648A CN201010570648A CN102042819B CN 102042819 B CN102042819 B CN 102042819B CN 201010570648 A CN201010570648 A CN 201010570648A CN 201010570648 A CN201010570648 A CN 201010570648A CN 102042819 B CN102042819 B CN 102042819B
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- connector
- bar
- length
- horizontal
- gauge head
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Abstract
The invention relates to a technology for calibrating the lengths of connecting rods of a parallel double-joint coordinate measuring machine. For effectively calibrating the lengths of the connecting rods of the parallel double-joint coordinate measuring machine, the invention adopts the technical scheme that a rotating shaft arranged between a large connecting rod and a small connecting rod doesrotary motion, a rotating shaft at the other end of the large connecting rod is fixed, and then the length of the small connecting rod can be measured; the rotating shaft arranged between the large connecting rod and the small connecting rod is fixed, the rotating shaft at the other end of the large connecting rod does rotary motion, the length of the small connecting rod is used as a known quantity, meanwhile, the large connecting rod and the small connecting rod are on the same straight line, and then the sum of the lengths of the large connecting rod and the small connecting rod can be measured, thus the length of the large connecting rod is obtained. The technology is mainly used for calibrating the lengths of the connecting rods.
Description
Technical field
The present invention relates to the calibration technique of parallel double articulated type coordinate measuring machine connecting link length, utilize the basic thought of methods such as parametric measurement method and reversal process, designed the demarcation scheme of parallel double articulated type coordinate measuring machine connecting link length.Belong to measuring technology and instrument field.Specifically relate to parallel double joint coordinates measuring machine connecting link calibrating length method.
Background technology
Parallel double joint coordinates measuring machine belongs to a kind of nonopiate coordinate measurment instrument.Nonopiate coordinate measuring system has advantages such as cost is low, motion is flexible, measurement space is open, suitable in-site measurement than the quadrature coordinate measuring system, obtained development rapidly in recent years.Parallel double joint coordinates measuring machine based on nonopiate coordinate measuring system as herein described is as shown in Figure 1; Mainly form by two rotary joints and a linear joint; The Dalian fishplate bar connects rotary joint I and rotary joint II; Little web joint connects rotary joint II and linear joint, and the linear joint bottom has been installed one and triggered gauge head, is used to gather reading.
The measuring accuracy that improves measuring machine is an important topic in the coordinate measuring machine technical development always.It is very difficult reaching than high measurement accuracy through raising making precision, strictly controlled environment and service condition fully, even technical possibility also will pay through the nose economically.Therefore, error analysis and calibration technique have obtained using widely in the coordinate measuring machine system.But the precision of nonopiate coordinate measuring system is lower than the normal coordinates measuring system, and the coordinate transformation relation is complicated.Therefore, the error compensation link of nonopiate coordinate measuring machine is most important to improving The measuring precision.
In fact, carry out that the measuring accuracy of coordinate measuring machine still can't reach anticipate accuracy after the error correction.Be all to certainly exist error in measurement model or the actual error testing process, so the kinematics parameters demarcation is essential.
Each error source of instrument has coupling between each error source when reducing the error of six-freedom degree direction, with the process that the error of each coupling is separated through various detection methods and measure, promptly be the calibration process of error.After each error source demarcated out, can bring in the error compensation model, the measured value of instrument is compensated.The relation of error correction and instrumental calibration is: error correction is according to mathematical model, finds the instrument error item, through round-off error constantly the error amount of each error term is reduced as far as possible, reaches the unified purpose of instrument gauge head theoretical position and physical location; Calibration technique is to utilize at first measurement standard spare of measuring machine; According to the intrinsic function rule between error source and the coordinate measuring machine error; Use methods such as least square, pick out each error source size, at last through adopting additional algorithm to compensate the error of coordinate measuring machine.
In parallel double joint coordinates measuring machine, the gauge head coordinate is according to the length of the corner of the sensor of each joint of measuring machine or each bar of displacement indicating value combination, utilizes measure equation to calculate.Therefore, the actual effective length of each section is a basic problem in the accurate calibration measurements machine.
Traditional way is the known master body of parameter that measuring machine is measured some; Parameter and error thereof in conjunction with each joint; It is long that the normal equations that goes out least square method with the Derivation of Mathematical Model of the band error of setting up is tried to achieve each bar; But the error term that this method is introduced is more, and the precision of demarcation is lower.
Summary of the invention
For overcoming the deficiency of prior art, realize effective demarcation to the connecting link length of parallel double joint coordinates measuring machine, the technical scheme that the present invention adopts is that parallel double joint coordinates measuring machine connecting link calibrating length method comprises the steps:
Make the turning axle between major connector and connector bar do gyration, the turning axle of the major connector other end is fixed, record connector bar length;
Turning axle between major connector and connector bar is fixed; Make the turning axle of the major connector other end do gyration, the length of connector bar is as known quantity, and major connector and connector bar are on same straight line simultaneously; Record major connector and connector bar length with, promptly get major connector length.
The said connector bar length step that records further is refined as:
(1) fixing two horizontal metroscopes make it point-blank, and the angle of conllinear is not less than 0.5 degree;
(2) use master bar to calibrate two air line distances between the horizontal metroscope, the length of establishing master bar is L, and when master bar contacted with two horizontal metroscopes, the reading of two horizontal metroscopes was respectively Δ a1 and Δ b1;
(3) turning axle of the major connector other end is fixed;
(4) make the turning axle between major connector and connector bar do gyration, trigger gauge head on the connector bar and rotate to the B position;
Trigger gauge head on (5) horizontal metroscopes and the connector bar and contact, make and trigger gauge head and produce trigger pip, the data of horizontal metroscope are read in this signal Synchronization triggering, and the value of taking reading is made as Δ b2;
(6) with connector bar Rotate 180 degree, to the A position;
(7) trigger gauge head on another horizontal metroscope and the connector bar and contact, make and trigger gauge head and produce trigger pip, the data of horizontal metroscope are read in this signal Synchronization triggering, and the value of taking reading is made as Δ a2;
(8) pass through formula:
promptly can obtain the length data of connector bar.
The said major connector length step that records further is refined as:
(1) fixing two horizontal metroscopes make it point-blank, and the angle of conllinear is not less than 0.5 degree;
(2) use master bar to calibrate two air line distances between the horizontal metroscope, the length of establishing master bar is L, and when master bar contacted with two horizontal metroscopes, the reading of horizontal metroscope A and horizontal metroscope B was respectively Δ a1 and Δ b1;
(3) joint between the fixing large and small connecting link makes it and can not rotate, and simultaneously through the angular transducer on this joint, guarantees major connector and connector bar on same straight line, and writing down altogether simultaneously, the angular error of straight line is Δ θ;
(4) the triggering gauge head of parallel double joint coordinates measuring machine joint arm rotates to the B position;
(5) trigger gauge head on horizontal metroscope and the connector bar and contact, make and trigger gauge head and produce trigger pip, the data of horizontal metroscope are read in this signal Synchronization triggering, and the value of taking reading is made as Δ b2;
(6) with joint arm Rotate 180 degree, to the A position;
(7) trigger gauge head on another horizontal metroscope and the connector bar and contact, make and trigger gauge head and produce trigger pip, the data of horizontal metroscope are read in this signal Synchronization triggering, and the value of taking reading is made as Δ a2;
(8) pass through formula:
promptly can obtain the length data of major connector a1.
The present invention has following technique effect:
1, adopt the horizontal metroscope device, thereby the present invention can overcome the lower shortcoming of precision that traditional scaling method is demarcated;
2, fixing respectively corresponding turning axle is demarcated in the depth of parallelism process, has isolated the influence of other system error to demarcating;
3, can the error in length of parallel double joint coordinates measuring machine connecting link be compensated.
Description of drawings
Fig. 1 is a parallel double joint coordinates measuring machine structural drawing.Among the figure, 1-rotary joint Z1,2-Dalian fishplate bar a1,3-rotary joint Z2, the little web joint a2 of 4-, 5-linear joint Z3, the 6-arm, 7-triggers gauge head.
Fig. 2 is the calibration principle synoptic diagram.
Fig. 3 master bar is demarcated the distance between two horizontal metroscopes.
Fig. 4 demarcates the length of connecting link a2.
Fig. 5 demarcates the length of connecting link a1+a2.
Embodiment
The object of the present invention is to provide a cover to be used to demarcate the connecting link length technology of parallel double joint coordinates measuring machine, improve stated accuracy the connecting link length of parallel double joint coordinates measuring machine.
In order to solve error problem, the present invention proposes the experimental technique that a cover is used to demarcate the connecting link length of parallel double joint coordinates measuring machine, some bar is fixed the undetermined parameter of demarcation respectively step by step.Systematic error parameter to instrument is effectively demarcated.
Calibrating length at parallel double joint coordinates measuring machine connecting link has aspect individual two:
1. connect turning axle Z
2With linear joint Z
3Connector bar a
2Calibrating length.
2. connect turning axle Z
1With Z
2Major connector a
1Calibrating length.
The present invention proposes a kind of technology of demarcating two connecting link length of parallel double joint coordinates measuring machine through the method for experiment.
Connecting link a
2The ultimate principle of calibrating length is as shown in Figure 4, with Z
1The rotary joint of axle is fixed.To ending, the part that can move has only Z
2The rotary joint of axle.Bar a
2With linear joint together around Z
2Rotate ± 90 °, make O
3Forward O to
32Or O
31Point then has:
Connecting link a
1The ultimate principle of calibrating length is as shown in Figure 4, demarcates connecting link length a
1The time, be with connecting link a
2As known quantity, simultaneously, connecting link a
2Be positioned at the zero-bit of instrument coordinates, i.e. connecting link a
1With connecting link a
2On same straight line, (at first to calibrate the error of zero), fixedly Z
2The rotation of axle and the motion of linear joint.Measure a
2+ a
1Value, can try to achieve connecting link a
1Value.
Be summarised as by last example:
(1) with a Z
1Axle rotary joint and linear joint are fixed, and make the part that can move have only Z
2The rotary joint of axle, bar a
1With linear joint around Z
2Rotate ± 90 ° and measure bar a
2The twice of length is demarcated rod a
2Length;
(2) utilize the bar a that has calibrated
2Length, make bar a simultaneously
1And a
2On same straight line, fixing Z
2Axle rotary joint and linear joint are measured a
2+ a
1Value, can demarcate rod a
1Length.
Below in conjunction with accompanying drawing and embodiment, further explain the present invention.
Structural drawing shown in Figure 1 is simplified to Fig. 2, wherein, Z
1The axis of rotation of representing first turning axle, Z
2The axis of rotation of second turning axle of expression, Z
3The line of motion of expression linear joint, D representes to trigger gauge head.A1 and a2 represent the length of major connector and connector bar respectively.
Parallel double joint coordinates measuring machine connects turning axle Z
2With linear joint Z
3Connector bar a
2The calibrating length step:
(1) fixing two horizontal metroscopes make it point-blank, and the angle of conllinear is not less than 0.5 degree.
(2) use master bar to calibrate two air line distances between the horizontal metroscope, as shown in Figure 3, the length of establishing master bar is L, and when master bar contacted with two horizontal metroscopes, the reading of horizontal metroscope A and horizontal metroscope B was respectively Δ a1 and Δ b1.
(3) fixing Z1 joint makes it and can not rotate.
(4) the triggering gauge head of parallel double joint coordinates measuring machine joint arm rotates to the B position;
(5) horizontal metroscope B contacts with triggering gauge head on the joint arm, makes to trigger gauge head and produce trigger pip, and this signal Synchronization triggers the data that read horizontal metroscope, and the value of taking reading is made as Δ b2;
(6) with joint arm Rotate 180 degree, to the A position;
(7) horizontal metroscope A contacts with triggering gauge head on the joint arm, makes to trigger gauge head and produce trigger pip, and this signal Synchronization triggers the data that read horizontal metroscope, and the value of taking reading is made as Δ a2;
(8) pass through formula:
promptly can obtain the length data of connector bar.
Connect turning axle Z
1With another turning axle Z
2Major connector a
1Calibrating length, parallel double joint coordinates measuring machine is connected turning axle Z
2With linear joint Z
3Connector bar a
2Length as known quantity, major connector a simultaneously
1With connector bar a
2On same straight line.Fixing another turning axle Z
2A is measured in the rotation of axle and the motion of linear joint
2+ a
1Value, can try to achieve connecting link a
1Value;
Connect turning axle Z
1With another turning axle Z
2Major connector a
1Calibrating length, concrete demarcating steps is following:
(1) fixing two horizontal metroscopes make it point-blank, and the angle of conllinear is not less than 0.5 degree.
(2) use master bar to calibrate two air line distances between the horizontal metroscope, as shown in Figure 3, the length of establishing master bar is L, and when master bar contacted with two horizontal metroscopes, the reading of horizontal metroscope A and horizontal metroscope B was respectively Δ a1 and Δ b1.
(3) fixing Z2 joint makes it and can not rotate, and simultaneously through the angular transducer on the Z2 joint, guarantees major connector and connector bar on same straight line, and not to be total to the angular error of straight line be Δ θ to record simultaneously.
(4) the triggering gauge head of parallel double joint coordinates measuring machine joint arm rotates to the B position;
(5) horizontal metroscope B contacts with triggering gauge head on the joint arm, makes to trigger gauge head and produce trigger pip, and this signal Synchronization triggers the data that read horizontal metroscope, and the value of taking reading is made as Δ b2;
(6) with joint arm Rotate 180 degree, to the A position;
(7) horizontal metroscope A contacts with triggering gauge head on the joint arm, makes to trigger gauge head and produce trigger pip, and this signal Synchronization triggers the data that read horizontal metroscope, and the value of taking reading is made as Δ a2;
(8) pass through formula:
promptly can obtain the length data of major connector a1.
Claims (1)
1. a parallel double joint coordinates measuring machine connecting link calibrating length method is characterized in that, comprises the steps:
Make the turning axle between major connector and connector bar do gyration, the turning axle of the major connector other end is fixed, record connector bar length;
The said connector bar length step that records further is refined as:
(1) fixing two horizontal metroscopes make it point-blank, and the angle of conllinear is not less than 0.5 degree;
(2) use master bar to calibrate two air line distances between the horizontal metroscope, the length of establishing master bar is L, and when master bar contacted with two horizontal metroscopes, the reading of two horizontal metroscopes was respectively Δ a1 and Δ b1;
(3) turning axle of the major connector other end is fixed;
(4) make the turning axle between major connector and connector bar do gyration, trigger gauge head on the connector bar and rotate to the B position;
Trigger gauge head on (5) horizontal metroscopes and the connector bar and contact, make and trigger gauge head and produce trigger pip, the data of horizontal metroscope are read in this signal Synchronization triggering, and the value of taking reading is made as Δ b2;
(6) with connector bar Rotate 180 degree, to the A position;
(7) trigger gauge head on another horizontal metroscope and the connector bar and contact, make and trigger gauge head and produce trigger pip, the data of horizontal metroscope are read in this signal Synchronization triggering, and the value of taking reading is made as Δ a2;
(8) pass through formula:
promptly can obtain the length data of connector bar;
Turning axle between major connector and connector bar is fixed; Make the turning axle of the major connector other end do gyration, the length of connector bar is as known quantity, and major connector and connector bar are on same straight line simultaneously; Record major connector and connector bar length with, promptly get major connector length;
The said major connector length step that records further is refined as:
(1) fixing two horizontal metroscopes make it point-blank, and the angle of conllinear is not less than 0.5 degree;
(2) use master bar to calibrate two air line distances between the horizontal metroscope, the length of establishing master bar is L, and when master bar contacted with two horizontal metroscopes, the reading of horizontal metroscope A and horizontal metroscope B was respectively Δ a1 and Δ b1;
(3) joint between the fixing large and small connecting link makes it and can not rotate, and simultaneously through the angular transducer on this joint, guarantees major connector and connector bar on same straight line, and writing down altogether simultaneously, the angular error of straight line is Δ θ;
(4) the triggering gauge head of parallel double joint coordinates measuring machine joint arm rotates to the B position;
(5) trigger gauge head on horizontal metroscope and the connector bar and contact, make and trigger gauge head and produce trigger pip, the data of horizontal metroscope are read in this signal Synchronization triggering, and the value of taking reading is made as Δ b2;
(6) with joint arm Rotate 180 degree, to the A position;
(7) trigger gauge head on another horizontal metroscope and the connector bar and contact, make and trigger gauge head and produce trigger pip, the data of horizontal metroscope are read in this signal Synchronization triggering, and the value of taking reading is made as Δ a2;
(8) pass through formula:
promptly can obtain the length data of major connector a1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010570648A CN102042819B (en) | 2010-12-02 | 2010-12-02 | Method for calibrating lengths of connecting rods of parallel double-joint coordinate measuring machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010570648A CN102042819B (en) | 2010-12-02 | 2010-12-02 | Method for calibrating lengths of connecting rods of parallel double-joint coordinate measuring machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102042819A CN102042819A (en) | 2011-05-04 |
| CN102042819B true CN102042819B (en) | 2012-09-05 |
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| CN201010570648A Expired - Fee Related CN102042819B (en) | 2010-12-02 | 2010-12-02 | Method for calibrating lengths of connecting rods of parallel double-joint coordinate measuring machine |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102636137B (en) * | 2012-04-13 | 2014-07-02 | 天津大学 | REVO (Resident Encrypted Variable Output) measuring head position posture calibrating method in joint arm type coordinate measuring machine |
| CN103278116A (en) * | 2013-05-07 | 2013-09-04 | 九江精密测试技术研究所 | Six-freedom joint type coordinate measurement machine calibration method |
| CN104390615B (en) * | 2014-11-24 | 2017-02-22 | 昆明理工大学 | Self-calibration system and method for articulated arm type coordinate measuring machine |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4945501A (en) * | 1987-01-20 | 1990-07-31 | The Warner & Swasey Company | Method for determining position within the measuring volume of a coordinate measuring machine and the like and system therefor |
| US6615112B1 (en) * | 1999-06-26 | 2003-09-02 | Kuka Schweissanlagen Gmbh | Method and device for calibrating robot measuring stations, manipulators and associated optical measuring devices |
| CN101216299A (en) * | 2007-12-28 | 2008-07-09 | 合肥工业大学 | Six-freedom degree articulated flexible COMERO high precision calibration method |
| EP2068114A1 (en) * | 2007-12-04 | 2009-06-10 | Metris IPR N.V. | Object measuring machine with optimised calibration system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10350861A1 (en) * | 2003-10-31 | 2005-06-02 | Steinbichler Optotechnik Gmbh | Method for calibrating a 3D measuring device |
-
2010
- 2010-12-02 CN CN201010570648A patent/CN102042819B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4945501A (en) * | 1987-01-20 | 1990-07-31 | The Warner & Swasey Company | Method for determining position within the measuring volume of a coordinate measuring machine and the like and system therefor |
| US6615112B1 (en) * | 1999-06-26 | 2003-09-02 | Kuka Schweissanlagen Gmbh | Method and device for calibrating robot measuring stations, manipulators and associated optical measuring devices |
| EP2068114A1 (en) * | 2007-12-04 | 2009-06-10 | Metris IPR N.V. | Object measuring machine with optimised calibration system |
| CN101216299A (en) * | 2007-12-28 | 2008-07-09 | 合肥工业大学 | Six-freedom degree articulated flexible COMERO high precision calibration method |
Non-Patent Citations (2)
| Title |
|---|
| 王学影,岩君芳,叶树亮,王晓娜.关节臂式坐标测量系统关键技术研究.《中国计量学院学报》.2010,第21卷(第1期),12-15. * |
| 鲁娜娜.平行双关节坐标测量机精度分析和标定技术的研究.《天津大学硕士学位论文》.2011,全文. * |
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