CN104457640A - Common virtual geometrical characteristic standard component used for calibration of joint-class coordinate measuring machine - Google Patents
Common virtual geometrical characteristic standard component used for calibration of joint-class coordinate measuring machine Download PDFInfo
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- CN104457640A CN104457640A CN201410453673.2A CN201410453673A CN104457640A CN 104457640 A CN104457640 A CN 104457640A CN 201410453673 A CN201410453673 A CN 201410453673A CN 104457640 A CN104457640 A CN 104457640A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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Abstract
The invention discloses a common virtual geometrical characteristic standard component used for calibration of a joint-class coordinate measuring machine. The common virtual geometrical characteristic standard component comprises a cube serving as a standard component main body, a plurality of conical concaves are machined in all the surfaces of the cube respectively, the conical angle selection range of each conical concave is 60-120 degrees, and the conical concaves in all the surfaces are the same in conical angle and depth. The calibration result is high in accuracy, and errors introduced in the measurement process of environmental temperature, machining accuracy, fitting errors and distribution of sampling points can be effectively reduced in the use process. The common virtual geometrical characteristic standard component calibrates the joint-class coordinate measuring machine to be calibrated based on some common geometrical characteristics, improves the calibration efficiency of the joint-class coordinate measuring machine, and has the advantages of being convenient and rapid to use and low in cost.
Description
Technical field
The present invention relates to standard component field, specifically a kind of common dummy geometric properties standard component demarcated for joint type coordinate measuring machine.
Background technology
Joint type coordinate measuring machine to be connected corresponding rotary joint or displacement of the lines joint by each gage beam usually, thus forms fisher's formula structure, and the end of fisher's formula structure is the gauge head of joint type coordinate measuring machine.Joint can around the rotation of himself axis or around its axis direction translation.For record joint variable quantity, angular transducer or linear movement pick-up are all equipped with in each relative motion joint.When using measuring machine to carry out measurement of coordinates, the functional value that the gauge head coordinate of measuring machine is is variable with measuring machine structural parameters and each joint angles or displacement of the lines.Very large error is had between the probe location of the joint type coordinate measuring machine do not demarcated and ideal value.In order to ensure the measuring accuracy of joint type coordinate measuring machine, needing to demarcate the structural parameters of measuring machine, and being revised.Namely calibration process is treated by the process of demarcating joint type measuring machine and high precision measuring instrument or standard component comparison, obtains joint type measuring machine optimum structure parameter.
At present, the scaling method that joint type coordinate measuring machine is common has two classes: based on the scaling method of comparison single-point coordinate, with normal coordinates measuring machine standardization for representative; Based on the scaling method of comparison space length, with gauge block, high-accuracy standard ball etc. for representative.Each scaling method and corresponding shortcoming as follows:
1. normal coordinates measuring machine single-point calibration method: first the attitude of joint type coordinate measuring machine fixed, applies more high-class normal coordinates measuring machine and provides its accurate coordinate, himself provide the coordinate figure of the gauge head under same attitude.Change its attitude, repeat above-mentioned work.By these two kinds of gauge head coordinates of comparison, utilize least square method Converse solved go out the geometric parameter of joint type coordinate measuring machine.The shortcoming of the method is that peg model is complicated, and calibration result error is larger; Need to design special fixture simultaneously, add cost.
2. gauge block standardization: two end faces measuring high precision gauge block with joint type coordinate measuring machine to be calibrated, compares with the nominal value of the length and gauge block that obtain gauge block.Gauge block pose in measurement space can be changed, to obtain the control information of more measuring position simultaneously.Undertaken by these data calculating the geometric parameter obtaining joint type coordinate measuring machine.The shortcoming of the method is that thermal deformation errors is larger; The requirement on machining accuracy of workplace is very high simultaneously; And gauge block in use, error of fitting is inevitable.
3. high-accuracy standard ball is demarcated: carry out data point collection and carry out ball matching showing that the radius of ball or the nominal value of diameter and high-accuracy standard ball are compared on ball surface, also can change its position in space, to obtain the more control information measuring pose simultaneously.Gauss-Newton method is utilized to calculate the structural parameters of joint type coordinate measuring machine.The shortcoming of the method is that the processing cost of high-accuracy standard ball is high; In measuring process, sampling point distributions can introduce error simultaneously.
These are all adopt single feature (ball, length etc.) for the standard component that joint type coordinate measuring machine is demarcated, and cannot realize joint type coordinate measuring machine institute to be calibrated accepted standard part similar with the basic geometric properties measured by joint type coordinate measuring machine.
summary of the inventionthe object of this invention is to provide a kind of common dummy geometric properties standard component demarcated for joint type coordinate measuring machine, to solve the standard component Problems existing that prior art is demarcated for joint type coordinate measuring machine.
In order to achieve the above object, the technical solution adopted in the present invention is:
For the common dummy geometric properties standard component that joint type coordinate measuring machine is demarcated, it is characterized in that: comprise the square as standard component main body, each face of described square is processed with multiple cone nest respectively, cone nest on each is respectively in square array column distribution, and square edge is parallel with the correspondence direction edge in the face at place, the cone angle choosing value scope of each cone nest is 60-120 °, and the cone angle of cone nest on each face is all identical with the degree of depth.
The described common dummy geometric properties standard component demarcated for joint type coordinate measuring machine, it is characterized in that: each, square is processed with respectively 25 cone nests, each upper 25 cone nests are square array column distribution, form the quadrate array of 5 × 5.
The described common dummy geometric properties standard component demarcated for joint type coordinate measuring machine, is characterized in that: described square material is aircraft aluminum.
The invention has the advantages that:
1. calibration result accuracy is high
The present invention is based on the scaling method of basic geometric properties, eliminate the ordinate transform problem in single-point coordinate calibrating method, in peg model, unnecessary parameter can not be increased; In square surface sample process, sampled point is evenly distributed on each, eliminates the error of fitting of skewness.
2. based on the standard component of common basic geometric feature
The present invention by virtual for the standard component of common geometric properties, square be main body in conjunction with equally distributed cone nest, the standard component such as straight line, circle, distance, ball, cylinder, circular cone that matching is common, novel unique; Can measure diverse location standard component in the work space being placed on joint type coordinate measuring machine, reproducible, ensure that the high accuracy of calibration result, high reliability.
3. the processing request of the present invention to standard component is low
Only need in process of the present invention to ensure that square epicone nest is evenly distributed, its cone angle, the degree of depth and tapering etc. meet design requirement.
4. the present invention selects aircraft aluminum, and it has the following advantages: the pyroconductivity etc. lightweight, machining is easy and dimensional stability is high, remarkable.
Accompanying drawing explanation
Fig. 1 standard component main body square of the present invention-cone nest structural representation.
Fig. 2 matching of the present invention several frequently seen virtual feature standard component schematic diagram, wherein:
Fig. 2 a be matching circular time schematic diagram, schematic diagram when Fig. 2 b is fitting circle cylindricality, schematic diagram when Fig. 2 c is fitting circle taper, Fig. 2 d be matching spherical time schematic diagram.
The nominal data sampling schematic diagram of the joint type coordinate measuring machine that Fig. 3 is to be calibrated.
Embodiment
As shown in Figure 1, for the common dummy geometric properties standard component that joint type coordinate measuring machine is demarcated, comprise the square 1 as standard component main body, each face of square 1 is processed with multiple cone nest 2 respectively, cone nest 2 on each is respectively in square array column distribution, and square edge is parallel with the correspondence direction edge in the face at place, the cone angle choosing value scope of each cone nest 2 is 60-120 °, and the cone angle of cone nest 2 on each face is all identical with the degree of depth.
Each of square 1 is processed with respectively 25 cone nests, each upper 25 cone nests are square array column distribution, form the quadrate array of 5 × 5.
Square 1 material is aircraft aluminum.
The present invention adopts square as standard component main body, each of square is all processed with cone nest, cone nest is distributed in each surface symmetrically and evenly, processing 25 cone nests are intended on each surface, cone angle is 60-120 °, the cone angle of each cone nest is all identical with the degree of depth, and has good conicity, and cone nest is for locating the gauge head of joint type coordinate measuring machine to be calibrated.Adopt joint type coordinate measuring machine to be calibrated to carry out in measuring process to described standard component, measure the cone nest of different distributions, the matching (straight line, circle, distance, ball, cylinder, circular cone etc.) of corresponding basic geometric feature can be realized.Can measure diverse location standard component in the work space being placed on joint type coordinate measuring machine.By comparison data, process calculates, and obtains the control information of more measuring position, to obtain the optimum structure parameter of joint type coordinate measuring machine to be calibrated.
In the present invention, when using joint type coordinate measuring machine to be calibrated to carry out nominal data sampling, square standard component is placed in the work space of joint type coordinate measuring machine to be calibrated, to ensure that epicone den, square standard component surface can be measured.Den is bored by measuring described in different distributions, can the corresponding basic geometric feature of matching:
Matching distance: measure square standard component any two described cone dens on the surface.
Fitting circle 3,4: measure any not conllinear three in arbitrary surface of square standard component or in cross section and simulate a circle with epicone den, as shown in Figure 2 a.
Matching cylinder 5: measure arbitrarily not conllinear three and with epicone den in the arbitrary surface of square standard component, same position measures three and with epicone den on the surface in contrast, can realize cylinder fitting, as shown in Figure 2 b.
Matching circular cone 6: the same position on the diagonal line of three facings corresponding to arbitrary summit of square standard component measures two and with epicone den (totally six and with epicone den) respectively, matching circular cone, as shown in Figure 2 c.
Matching ball 7: the cone den measuring the center of each at square standard component, can simulate the inscribed sphere of square, as shown in Figure 2 d.
As shown in Figure 3, diverse location in work space square standard component being placed on joint type coordinate measuring machine to be calibrated, can obtain and demarcate the nominal data sampling in whole work space of joint type coordinate measuring machine.
Claims (3)
1. for the common dummy geometric properties standard component of joint type coordinate measuring machine demarcation, it is characterized in that: comprise the square as standard component main body, each face of described square is processed with multiple cone nest respectively, cone nest on each is respectively in square array column distribution, and square edge is parallel with the correspondence direction edge in the face at place, the cone angle choosing value scope of each cone nest is 60-120 °, and the cone angle of cone nest on each face is all identical with the degree of depth.
2. the common dummy geometric properties standard component demarcated for joint type coordinate measuring machine according to claim 1, it is characterized in that: each, square is processed with respectively 25 cone nests, each upper 25 cone nests are square array column distribution, form the quadrate array of 5 × 5.
3. the common dummy geometric properties standard component demarcated for joint type coordinate measuring machine according to claim 1, is characterized in that: described square material is aircraft aluminum.
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Cited By (6)
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| CN105066831A (en) * | 2015-09-09 | 2015-11-18 | 大族激光科技产业集团股份有限公司 | Calibration method of single or multi-robot system cooperative work coordinate system |
| CN105606046A (en) * | 2015-11-04 | 2016-05-25 | 苏州天准科技股份有限公司 | Integrated calibration device of composite coordinate measuring machine |
| CN106225743A (en) * | 2016-08-22 | 2016-12-14 | 合肥工业大学 | The O type standard component demarcated for portable articulated coordinate machine |
| CN107014329A (en) * | 2017-04-11 | 2017-08-04 | 合肥工业大学 | 3D Calibration Fields for portable articulated coordinate machine error calibration |
| CN112747702A (en) * | 2020-12-21 | 2021-05-04 | 杭州电子科技大学 | Multifunctional space standard component and calibration method thereof for joint coordinate measuring machine |
| CN112857215A (en) * | 2021-01-08 | 2021-05-28 | 河北工业大学 | Monocular 6D pose estimation method based on regular icosahedron |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105066831A (en) * | 2015-09-09 | 2015-11-18 | 大族激光科技产业集团股份有限公司 | Calibration method of single or multi-robot system cooperative work coordinate system |
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| CN112747702A (en) * | 2020-12-21 | 2021-05-04 | 杭州电子科技大学 | Multifunctional space standard component and calibration method thereof for joint coordinate measuring machine |
| CN112747702B (en) * | 2020-12-21 | 2022-05-03 | 杭州电子科技大学 | Multifunctional space standard component and calibration method thereof for joint coordinate measuring machine |
| CN112857215A (en) * | 2021-01-08 | 2021-05-28 | 河北工业大学 | Monocular 6D pose estimation method based on regular icosahedron |
| CN112857215B (en) * | 2021-01-08 | 2022-02-08 | 河北工业大学 | Monocular 6D pose estimation method based on regular icosahedron |
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