CN101907455B - Three-coordinate measuring method for positioning pin not vertical to reference surface - Google Patents

Three-coordinate measuring method for positioning pin not vertical to reference surface Download PDF

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Publication number
CN101907455B
CN101907455B CN 201010046565 CN201010046565A CN101907455B CN 101907455 B CN101907455 B CN 101907455B CN 201010046565 CN201010046565 CN 201010046565 CN 201010046565 A CN201010046565 A CN 201010046565A CN 101907455 B CN101907455 B CN 101907455B
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China
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digital
analogue
coordinate
cylinder
register pin
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CN 201010046565
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Chinese (zh)
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CN101907455A (en
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张无忧
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奇瑞汽车股份有限公司
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00Measuring arrangements or details thereof in so far as they are not adapted to particular types of measuring means of the preceding groups
    • G01B21/02Measuring arrangements or details thereof in so far as they are not adapted to particular types of measuring means of the preceding groups for measuring length, width, or thickness
    • G01B21/04Measuring arrangements or details thereof in so far as they are not adapted to particular types of measuring means of the preceding groups for measuring length, width, or thickness by measuring coordinates of points

Abstract

The invention aims to provide a three-coordinate measuring method for a positioning pin not vertical to a reference surface. The method has the advantages of simpleness, practicality, convenience and rapidness, and comprises the following steps that: measuring software is provided and a corresponding digital model is imported into the measuring software, wherein the measuring software is used for comparing the measured data and theoretical data in real time so as to obtain an offset value of the measured object; during measurement, a plane is pierced by a cylinder, because the cylinder belongs to a linear element, the software defaults that the plane is pierced by the central axis of the cylinder, regardless of the obtained circle or ellipse, a center coordinate value of the circle or ellipse is obtained finally and is consistent with the directly obtained point coordinate, the special coordinate position of the point is evaluated, and the angle between the cylinder and the plane is evaluated so as to determine whether the angle is in an allowed tolerance range. The measuring method by constructing the point has the advantages of simpleness, practicality, convenience and rapidness.

Description

Three-coordinate measuring method with the reference field positioning pin not vertical

Technical field

The invention belongs to the technical field of three-dimensional coordinates measurement in the metrology, be specifically related to a kind of manual three-coordinate measuring method, equally also can use for reference use when the using method when namely joint arm measuring machine is measured and the three coordinate measuring engine measurement of other type.

Background technology

At present in the measurement of each positioning object of Cab Welding Jig, the wherein measurement of register pin, no matter vertical with reference field, or with the reference field off plumb, the element of its measurement all is a two-dimentional element---circle, this is the work characteristics according to this area, and technician or related personnel are simple in order to increase work efficiency, and have become those skilled in the art's custom now.There is not any problem in this kind measuring method at register pin vertical with reference field of measurement, because the register pin vertical with reference field, on the length direction of pin, its locus is not affect the sheet metal component assembling, so three directions in its space are as long as consider that two positions are just passable.But, measuring one and reference field off plumb register pin, many defectives that its measuring method obviously exists inconvenience that testee is adjusted, but also be subject to providing the restriction of object being measured digital-to-analogue, accurately whether the result of its measurement is difficult to be verified, because when measuring with reference field off plumb register pin, the position of actual measurement and theoretical position be probably just in same position, one by one corresponding comparison that the data that cause measurement and theoretical data can't be correct.In addition, if the product digital-to-analogue of vehicle body is the sheet metal component digital-to-analogue, in fact this is exactly the gross data that is compared elephant, above-mentioned measuring method is clearly just inapplicable, the data that measured data need artificial and digital-to-analogue to carry out complexity are relatively calculated, just can obtain the deviate of tested element, be subject to the impact of extraneous factor, result more out is uncertain accurately.And the time of the result who measures and the comparison of theoretical numerical value is long, and efficient is very low, the needs that the measurement of the suitable on-the-spot anchor clamps of its method is adjusted afterwards.From the anchor clamps operating position at scene, very pessimistic with the actual operating position of fixture datum positioning pin not vertical, its reason is exactly the larger deviation of locus existence of register pin, is difficult to realize the intact assembling of Metal Sheets for Body-manufacturing and register pin.There is larger deviation in the locus of register pin, what refer to is exactly the volume coordinate of register pin, with respect to other register pins vertical with reference field, and the deviation that the most basic still measuring method causes, machining deviation also exists, but finally still will determine by three-dimensional coordinates measurement.

In addition, utilize the function of " only dot pattern " and " automatically searching theoretical value " in the Survey Software as shown in Figure 2, also can realize the measurement with the reference field positioning pin not vertical, namely the outside surface at register pin is the single-point of the outside surface measurement some of cylinder, realizes the deviate that more also can obtain object being measured in real time of point and point.The method namely adopts first joint arm measuring machine that measurand is carried out the real data that Entity measurement obtains its position, then Survey Software goes to search the theoretical value of this testee according to the measurement point of reality, in fact these two processes are carried out simultaneously, the data of measuring out, itself and the theoretical value deviation after relatively is also just out.

Analyze for the shortcoming that three-coordinate measuring method traditional and the reference field positioning pin not vertical exists: through investigating the automobile body welding clamp manufacturing plant of domestic several families, measurement for each setting element of weld jig, what anchor clamps manufacturing firm provided all is the anchor clamps digital-to-analogue that self designs, these anchor clamps digital-to-analogues are exactly that anchor clamps manufacturing firm designs according to the gross data that Metal Sheets for Body-manufacturing designs, has one to one relation with material object, measurement is exactly on the length direction of register pin with the method for fixture datum positioning pin not vertical, it is the position of key seat on the plane vertical with register pin, point 1 among Fig. 1,2, three points of 3 position measurements, these 3 material object is measured, then in Survey Software, construct a plane, and as the projecting plane of measured circle, the peak of the face of cylinder material object on register pin and measure respectively cross section circle near the position of key seat again, shown in the point 4 among Fig. 1 and point 5 positions, then in Survey Software, two cross sections circle projected to respectively on the same plane i.e. figure mid point 1,2, a plane of 3 structures, revalue the locus of justifying after its projection, can draw the deviate of object being measured, we are referred to as the cross section circule method this method.Mark 4,5 is cross section circles of two measurements among Fig. 1, and mark 6 is the reference fields on the anchor clamps.As if this kind method is at first sight quite reasonable, is that each measurement result is not unique but there is randomness in this method, result's repeatability was relatively poor when the repdocutbility of measurement result was namely measured again, and there is very large objection in the result who clearly measures.Otherwise, import again after measured result will being derived in the Survey Software in other the three-dimensional software with the product digital-to-analogue that is positioned carry out loaded down with trivial details data relatively after, could really find out the deviate of register pin, it is very low clearly to do like this efficient, is not suitable for very much the need of work of adjusting again after the measurement of on-the-spot automobile body welding clamp setting element.

Two kinds of above-mentioned three-coordinate measuring methods all are to provide the design digital-to-analogue of anchor clamps just can realize measuring the afterwards comparison of data in Survey Software, if providing is the product digital-to-analogue of vehicle body, said method is also just helpless, only way be exactly must the data importing of measuring is other three-dimensional software in, carry out after loaded down with trivial details data relatively calculate with the product digital-to-analogue, just can obtain the deviate of testee.

Summary of the invention

The object of the present invention is to provide a kind of and three-coordinate measuring method reference field off plumb register pin, the method is simple and practical, convenient and swift.

For achieving the above object, provided by the invention and three-coordinate measuring method reference field off plumb register pin comprises following content:

A, provide Survey Software, needs are measured the product digital-to-analogue of object or the design digital-to-analogue of anchor clamps imports in the Survey Software, this Survey Software obtains the deviate of object being measured with the real-time comparison of measurement data and gross data;

B, set up workpiece coordinate system, an assigned work plane or current working face working face being set to give tacit consent to then, in Survey Software, it is cylinder that element is measured in order, then measuring actual register pin with joint arm measuring machine is cylinder;

C, measure at needs to appoint near the digital-to-analogue of cylinder position and get plane of 3 structures, this plane the key seat structure of register pin or near sheet metal component digital-to-analogue hole that register pin is located structure;

D, in the digital-to-analogue of Survey Software, find out register pin on the corresponding anchor clamps or the theoretical coordinate position in the hole that is positioned on the sheet metal component again, with its theoretical coordinate position as institute's survey register pin;

E, the plane of cylinder and structure is pierced through, construct a point, this point that pierces through has direction vector, and estimates the locus coordinate figure of this point, the real work position that this point is exactly register pin;

Data are carried out relatively in register pin on F, the point that will construct and the anchor clamps or the theoretical coordinate position in the hole that is positioned on the sheet metal component, just can draw actual deviate; Then estimate the angle on this cylinder and plane, see whether its angle satisfies the tolerance of design.

Because the error after the anchor clamps manufacturing is certainly will next will manage to eliminate by measuring to weigh judgement, surveying instrument displacement can occur after using a period of time, so three coordinate measuring machine must periodic calibration.Therefore, the measuring method of seeking a kind of automobile body welding clamp register pin that is fit to be welded seems very necessary, technical scheme disclosed by the invention is exactly a kind of measuring method of solution and reference field off plumb register pin, Survey Software at first is provided, and with in the corresponding digital-to-analogue importing Survey Software, this Survey Software is used for the real-time comparison of measurement data and gross data, obtains the deviate of object being measured; During measurement, pierce through a plane with cylinder, because cylinder is to belong to linear element, the central axis with cylinder of giving tacit consent in software pierces a plane, what be not in control is a circle or an ellipse, still circle or the oval centre coordinate value that finally obtain, this is consistent with the coordinate figure that directly obtains a little, estimate the volume coordinate position of its point, and the angle on evaluation cylinder and plane, see it whether in the margin tolerance that allows, that the measuring method of this structure point method has is simple and practical, conveniently significantly have a few; Especially to the anchor clamps user, often do not have the design digital-to-analogue of anchor clamps, the product design digital-to-analogue of oneself then is indispensable, and this implements to measure to actual practical anchor clamps and compares with the product design digital-to-analogue of oneself, and it is very convenient to operate.

The method need not manually to carry out the work relatively of loaded down with trivial details data with importing other three-dimensional software after the measurement data derivation again again.What measurement data referred to is exactly with measuring equipment testee to be measured shown numerical value out, can be understood as at this is exactly the data that joint arm measuring machine is measured the actual measurement acquisition of testee, these data have only reflected the virtual condition of object, what differ with theoretical key element, whether qualified judge, or want the support of Survey Software just can or to need the support of other three-dimensional software." other three-dimensional software " refers to have the graphic operation software of data-handling capacity, such as the PR0/E that uses in commonly used CATIA, the UG of automobile industry and Machine Design industry etc., personnel's participation beyond need not to measure, can directly be calculated the deviate of testee by Survey Software, efficient is high, convenient and swift, alleviated greatly the difficulty of labour intensity and operation.

Description of drawings

Fig. 1 is the synoptic diagram of measuring two cross section circles in the prior art;

Measurement point and some situation synoptic diagram relatively in Fig. 2 prior art;

Fig. 3 is the measuring method synoptic diagram of the digital-to-analogue when utilizing jig Design;

Measuring method synoptic diagram when Fig. 4 provides the Metal Sheets for Body-manufacturing digital-to-analogue.

Mark 1,2, the 3rd among Fig. 1, the point of selecting, the 4, the 5th, measures first and second cross section and justify, 6 is 6 to be the reference fields on the anchor clamps; Mark 1 among Fig. 2 is key seat, the 2,3,4, the 5th, and the point of selecting, the 6th, the reference field on the anchor clamps;

Description of symbols among Fig. 3,4: the 1, the 2, the 3rd, the point of selecting, the 4th, the register pin that need to measure, the 5th, by the positions, plane of point 1,2,3 structures, the 6th, the reference field on the anchor clamps, the 7th, Metal Sheets for Body-manufacturing, 7a are the pilot holes on the Metal Sheets for Body-manufacturing.

Embodiment

The three-coordinate measuring method of disclosed by the invention and reference field positioning pin not vertical comprises following content:

A, provide Survey Software, needs are measured the product digital-to-analogue of object or the design digital-to-analogue of anchor clamps imports in the Survey Software, this Survey Software obtains the deviate of object being measured with the real-time comparison of measurement data and gross data;

B, set up workpiece coordinate system, an assigned work plane or current working face working face being set to give tacit consent to then, in Survey Software, it is cylinder that element is measured in order, then measuring actual register pin with joint arm measuring machine is cylinder;

C, measure at needs to appoint near the digital-to-analogue of cylinder position and get plane of 3 structures, this plane the key seat structure of register pin or near sheet metal component digital-to-analogue hole that register pin is located structure;

D, in the digital-to-analogue of Survey Software, find out register pin on the corresponding anchor clamps or the theoretical coordinate position in the hole that is positioned on the sheet metal component again, with its theoretical coordinate position as institute's survey register pin;

E, the plane of cylinder and structure is pierced through, construct a point, this point that pierces through has direction vector, and estimates the locus coordinate figure of this point, the real work position that this point is exactly register pin;

Data are carried out relatively in register pin on F, the point that will construct and the anchor clamps or the theoretical coordinate position in the hole that is positioned on the sheet metal component, just can draw actual deviate; Then estimate the angle on this cylinder and plane, see whether its angle satisfies the tolerance of design.

Preferred scheme is: in steps A, importing Survey Software is the product digital-to-analogue of measuring object.In the B step, in Survey Software, if working face does not have appointed words, the plane that then is defaulted as Z positive dirction place is working face, adopts Spatial elements of joint arm measuring machine manual measurement---cylinder.

Specifically describe in detail below in conjunction with Fig. 3,4.

Consider that all tested elements all are the elements in space, just sometimes, some testee only need be seen two coordinate figures in its space, measure so a two-dimentional element just without any problem, but importantly, one and reference field off plumb register pin, three coordinate positions in space need all to consider that it is certainly just very unreasonable to measure a two-dimentional element.So, for reference field off plumb register pin, measure a Spatial elements---cylinder.Circle belongs to two-dimentional element, not that the present invention discusses, and cylinder belongs to three-dimensional element, in Survey Software, before the measurement, be cylinder as long as element is measured in order, then measure just passable, then on a plane of placement configurations at cylinder place, if the anchor clamps digital-to-analogue, in Survey Software, key seat position near cylindrical base, appoint and get three points, point 1,2 as shown in Figure 3,3 positions, then construct a plane with these three points in Survey Software, the recycling cylinder pierces through the plane, constructs a point.Piercing through is a kind of method of structure point in the Survey Software, its feature 1 must be linear element, feature 2 is elements of curved surface class, must be that feature 1 pierces feature 2, obtaining a point is the point of first on the direction vector, if feature 2 is planes, still pierce through with intersecting, be a habit problem.Cylinder pierces through a plane, because cylinder is to belong to linear element, the central axis with cylinder of giving tacit consent in software pierces a plane, software has just been omitted middle process, what be not in control is a circle or an ellipse, still circle or the oval centre coordinate value that finally obtain, this is consistent with the coordinate figure that directly obtains a little, estimate the volume coordinate position of its point, and the angle on evaluation cylinder and plane, see it whether in the margin tolerance that allows, we just are referred to as a structure point method this method.

A, this kind method only need the support of Survey Software.The function of Survey Software of today from strength to strength, can realize the shape of object and evaluation and online programming and the copying of position dimension, so the project of software support is also a lot, do not enumerate one by one at this, but, the most basic function as Survey Software is exactly to realize the real-time comparison of measurement data and gross data, obtains the deviate of object being measured, and Here it is, and we need to pay close attention to.Method provided by the invention does not need to increase any facility.At first only need in Survey Software, the digital-to-analogue of needs being measured object is that the product digital-to-analogue imports in the Survey Software, is providing in the design digital-to-analogue situation of anchor clamps, and this measuring method equally also can be used.Software imports digital-to-analogue and just only has two kinds of situations; if import simultaneously the design digital-to-analogue of product digital-to-analogue and anchor clamps; there is not that necessity yet; when measuring; if guarantee that the digital-to-analogue of jig Design is correct; importing the anchor clamps digital-to-analogue also is fine; but; the design of all parts all designs according to the product digital-to-analogue; continue again for fear of the mistake with jig Design, detect so preferred scheme imports the product digital-to-analogue, if the anchor clamps digital-to-analogue of design and product digital-to-analogue are issued to zero defect in theoretical situation assembling; with product digital-to-analogue or anchor clamps digital-to-analogue, use the inventive method measurement without any difference.

B, set up (its method of building coordinate system does not elaborate at this) behind the workpiece coordinate system, then a current working face working face being set to give tacit consent to.In Survey Software, if working face does not have appointed words, be working face with regard to the plane that is defaulted as Z positive dirction place so, its working face determines to measure the direction vector of object, and concrete condition is with reference to the setting of each Survey Software.Adopt the manual joint arm measuring machine of joint arm measuring machine to measure a Spatial elements---cylinder, as shown in Figure 3, Figure 4, other measuring machines equally also can be used for reference use.Be exactly in Survey Software, it is cylinder that element is measured in order, and then measuring actual register pin with joint arm measuring machine is cylinder.

C, near the digital-to-analogue of the cylinder position that needs are measured, appoint and get 3 points, such as Fig. 3, point 1 shown in Figure 4,2, plane of 3 structures, if the words of anchor clamps digital-to-analogue, this point is just at the great circle place of key seat and the regional location between the right cylinder, if product digital-to-analogue, exactly near being positioned the peripheral region in hole, but it is not too far away, had better not surpass the distance of surveying bulb diameter, general 6mm gets final product, and this plane sees that it provides jig Design digital-to-analogue or product digital-to-analogue, if the digital-to-analogue of jig Design, this plane can be constructed at the key seat of register pin, point 5 positions as shown in Figure 3; If the product digital-to-analogue of vehicle body is the sheet metal component digital-to-analogue of vehicle body, this plane just can be near sheet metal component digital-to-analogue hole that register pin is located structure, 8 positions as shown in Figure 4, there is note 8 position below figure, the 8 just effects of a mark, without any meaning, this plane must be into 90 ° angle with the axis of cylinder, as shown in Figure 3, Figure 4.Register pin is into 90 ° angle with the pilot hole of sheet metal component certainly in the situation of theory assembling.

D, finding out register pin in the be positioned theoretical coordinate position in hole of sheet metal component in the digital-to-analogue of Survey Software again, is the theoretical coordinate position of cylinder as institute's survey register pin with it.

E, utilize in the software function of structure point, the plane of cylinder and structure is pierced through, construct a point, its point that pierces through has direction vector, and estimate the locus coordinate figure of this point, the real work position that this point is exactly register pin, the physical location when namely register pin and sheet metal component assemble fully.

Data are carried out relatively in F, point and the theoretical coordinate position in the hole that is positioned that will construct, and just can draw actual deviate.Then estimate the angle on this cylinder and plane, see whether its angle satisfies the tolerance of design.Actual operation requirements according to anchor clamps, this angle tolerance can be set to ± and 5 °, this step is very easy to accomplish in Survey Software, such as softwares such as PC-DMIS, CAM2-Measure, PowerInspect, Metrology, as long as have the real-time comparing function of the most basic measurement data and gross data, obtain the Survey Software of object being measured deviate, the inventive method can be used.

In sum, this kind measuring method and cross section of the prior art circule method and only the dot pattern method have following difference: first, after deriving, the data that need not to measure import again other three-dimensional softwares, and then measurement data and gross data carried out loaded down with trivial details relatively calculating, just can obtain the hard work of the deviate of testee.Can obtain in real time position and angular deviation value, in time realize the adjustment to automobile body welding clamp.The second, except the three-dimensional coordinates measurement personnel, need not more personnel's participation.The 3rd, from the digital-to-analogue of initial importing to last measurement data, all data all are simply to process in Survey Software, are very easy to obtain the deviate of testee.The 4th, accurately in the situation, provide digital-to-analogue or the product digital-to-analogue of jig Design, also without any limitation in the digital-to-analogue that guarantees jig Design.The 4th, the method is easy to learn, understands easily, and is convenient and swift.

Facts have proved through actual measurement, the inventive method is namely constructed a method and is had following advantage: first, in the situation that is not subjected to any condition restriction, can realize the three-dimensional coordinates measurement with the reference field positioning pin not vertical, according to the relevant knowledge of cartesian geometry as can be known, the right cylinder that this kind method only need at first be measured in Survey Software, again provide the product digital-to-analogue be positioned the hole near plane of structure, then the plane that pierces that structure with cylinder obtains a point, taking out the theoretical coordinate value in the hole that is positioned again is the coordinate figure in the center of circle, the coordinate figure of structure point and the theoretical coordinate value in hole relatively must deviate, and estimate and then the angle of measured cylinder and institute's formation level.The application of this kind method just can very easily realize the measured value of actual testee and the comparison of theoretical value in Survey Software, obtain position and the angular deviation value of testee.The second, in the situation of the product digital-to-analogue that object being measured is provided, the mistake that can effectively avoid automobile body welding clamp to cause when design effectively stops mistake again to continue.No matter in the design digital-to-analogue that is anchor clamps, or the product digital-to-analogue of vehicle body, can realize without circumscribed measurement data relatively.Can effectively people be freed personnel's participation beyond also need not to measure from the work that loaded down with trivial details uninteresting measurement data is relatively calculated.Can measure in real time and object being measured be adjusted at the scene, workshop, really reach the function of adjusting in real time behind the three-dimensional coordinates measurement.The 3rd, be not subjected to the restriction of Survey Software, the software that possesses fundamental measurement in the market all is suitable for.The 4th, as the main engine plants of automobile making, from the design of initial all objects all be product digital-to-analogue take vehicle body as foundation, really accomplish the unification of standard.Therefore, the any testee that utilizes the product digital-to-analogue to detect other is necessary, and so not only can detect the accuracy of jig Design, can also save artificial loaded down with trivial details data and relatively work, thereby alleviated laborer's labour intensity, improved the work efficiency of measuring.The 5th, this kind measuring method has been passed through multiple authentication, can also be applied to similarly testee such as other and reference field off plumb register pin or pilot hole etc., also can be used as such register pin measurement result and whether arbitrates accurately foundation.

Claims (5)

1. three-coordinate measuring method with the reference field positioning pin not vertical comprises following content:
A, provide Survey Software, needs are measured the product digital-to-analogue of object or the design digital-to-analogue of anchor clamps imports in the Survey Software, this Survey Software compares measurement data and gross data in real time, obtains the deviate of object being measured;
B, set up workpiece coordinate system, an assigned work plane or current working face working face being set to give tacit consent to then, in Survey Software, it is cylinder that element is measured in order, then measuring actual register pin with joint arm measuring machine is cylinder;
C, measure at needs to appoint near the digital-to-analogue of cylinder position and get plane of 3 structures, this plane the key seat structure of register pin or near sheet metal component digital-to-analogue hole that register pin is located structure;
D, in the digital-to-analogue of Survey Software, find out register pin on the corresponding anchor clamps or the theoretical coordinate position in the hole that is positioned on the sheet metal component again, with its theoretical coordinate position as institute's survey register pin;
E, the plane of cylinder and structure is pierced through, construct a point, this point that pierces through has direction vector, and estimates the locus coordinate figure of this point, the real work position that this point is exactly register pin;
Data are carried out relatively in register pin on F, the point that will construct and the anchor clamps or the theoretical coordinate position in the hole that is positioned on the sheet metal component, just can draw actual deviate; Then estimate the angle on this cylinder and plane, judge whether its angle satisfies the tolerance of design.
2. the three-coordinate measuring method of according to claim 1 and reference field positioning pin not vertical, it is characterized in that: in steps A, importing Survey Software is the product digital-to-analogue of measuring object.
3. the three-coordinate measuring method of according to claim 1 and reference field positioning pin not vertical, it is characterized in that: in the B step, in Survey Software, if working face does not have appointed words, the plane that then is defaulted as Z positive dirction place is working face, adopts Spatial elements of joint arm measuring machine manual measurement---cylinder.
4. the three-coordinate measuring method of according to claim 1 and reference field positioning pin not vertical, it is characterized in that: step D is for find out the theoretical coordinate position of the pilot hole that cooperatively interacts on register pin and the sheet metal component in the digital-to-analogue of Survey Software, with its theoretical coordinate position as institute's survey register pin again.
5. the three-coordinate measuring method of according to claim 1 and reference field positioning pin not vertical is characterized in that: described angle tolerance is set to ± and 5 °.
CN 201010046565 2010-01-19 2010-01-19 Three-coordinate measuring method for positioning pin not vertical to reference surface CN101907455B (en)

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PCT/CN2010/080495 WO2011088729A1 (en) 2010-01-19 2010-12-30 Three coordinate measuring method for locating pin which is not perpendicular to reference plane

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