CN102288115B - Method for precisely measuring roller geometric dimension on line - Google Patents

Abstract

The invention provides a method for precisely measuring roller geometric dimension on line to solve the problems of low efficiency and slightly low precision of the conventional method for measuring the roller geometric dimension. The method for precisely measuring the roller geometric dimension on line is high in measurement precision and is suitable for industrial high-speed online detection. Two three-dimensional laser scanners which are arranged opposite to each other are used for acquiring point cloud data of rollers to be measured; and a computer data processing system processes the point cloud data so as to judge whether the geometric dimension of the rollers is qualified or not according to acquired geometric parameters of the rollers and error requirements.

Description

The accurate online test method of roller physical dimension

Technical field:

The invention belongs to measuring technique device technique field, relate to the high speed On-line Measuring Method of roller physical dimension.

Background technology:

Bearing is extremely important in the machinery industry and uses very widely mechanical part that its production lot is large, accuracy requirement is high.At present, China most bearings manufacturer still relies on the surveying instruments such as mechanical type, optical profile type to carry out in the context of detection of bearing roller dimensional accuracy, means are relatively backward, and the random sampling detection method detection efficiency of this dependence manpower is low, precision is low, be easy to cause personal error; Along with the development of modern manufacturing industry, traditional detection technique can not satisfy its needs.Detect the requirement of target in order to adapt to the bearing manufacturing production lot is large, quality requirements is strict, Detection task is heavy characteristics and automatic assembly line operation, realize product " zero rejection rate ".

The geometric parameter of roller is to judge whether qualified important evidence of roller physical dimension, and the geometric parameter of roller mainly comprises: the radius of a certain height section of roller, corresponding to certain any radius error on this cross-sectional periphery.The at present detection of roller physical dimension also rests on the detection mode of craft or contact at home substantially, and major part adopts milscale or differential transformer transducer carries out contact measurement.The manual measurement method of this traditional type is strong to operating personnel's dependence, labor strength is larger, efficient is low, the more important thing is that Product Precision can not get effective guarantee, also may produce a lot of artificial errors, so just be difficult to satisfy in enormous quantities, fast pace, high-precision product testing requirement.Because the general precision of process equipment of China's roller is not high, consistance is poor, and the precision major part of roller is to grade by checkout equipment, the Quality and yield that is restricting China's bearing products that this is serious.The high-speed research that detects also is in the blank stage at present for bearing roller external diameter contactless high-precision.

The processing of external bearing roller and detection mode and China Bearing Factory are different.Because the forging bed of external processing rolling body and the machining precision of cylindrical grinder generally are higher than China, the roller that therefore processes can guarantee precision and consistance preferably.But price is very expensive, can not be accepted by most of domestic Mechanical Manufacturing Enterprises.Can adopt the mode of sampling observation well to control its product quality by the roller precision is carried out regular monitoring, the testing apparatus of its sampling observation also be to adopt the metering system of contact.Can not realize production scene large-scale application and real-time online detection, the state that can not fall behind from changing in essence detection means.

Summary of the invention:

The objective of the invention is to propose a kind of roller physical dimension high speed online test method in order to solve the existing problem that roller physical dimension measuring method efficient is not high, precision is on the low side, measuring accuracy is high, is applicable to industrial high speed and detects online.

The objective of the invention is to realize by following measures:

1) selects two high-precision three-dimensional laser scanners;

2) two three-dimensional laser scanners are staggered relatively;

3) target is set:

4) three-dimensional laser scanner scans the roller on the scanning platform, obtains the cloud data under the roller arbitrary system, the form of cloud data be (

)

5) according to the target that arranges, the cloud data of two scanners is mated;

6) according to testing conditions, extract the cloud data of bottom of roller, its coordinate be (

)

, ( ) be on same circle, its equation is:

, wherein

Be radius of a circle,

For the point (

) central angle of institute's out position, according to (

) solution asks

Concrete solution asks method to be:

Establish an equation:

Wherein,

,

Design load for this place's radius of circle;

For the point (

) the central angle initial value of position, regulation from X-direction clockwise for just,

Wherein:

，

，

，

Wherein Representing matrix

The transposition computing.

Solve an equation, can get

Optimal value

At this moment,

Error for roller real radius value and radial design value;

7) basis

Can get:

Wherein:

Represent on a certain height face corresponding to point (

) radius error, [] expression summation.

According to

,

,

And error requirements judges whether the bottom of roller size is qualified.

8) for arbitrary height face

Locate the detection of roller physical dimension, can extract the cloud data of roller on this height face

, judge this height face of this roller according to error requirements

Whether upper physical dimension is qualified, and its specific algorithm is with step 6.

The present invention has following advantage compared to existing technology:

1, detects online at a high speed

Existing detection method mainly adopts the mode of sampling observation, and efficient is low, can not satisfy the requirement that part spare detects.

Detection method of the present invention, every product detect only needs 10s, can detect 6 products in one minute, one hour 360, can reach one day 24 hours uninterrupted detections, can detect 8640 in one day.As seen its detection efficiency is high.

2, precision of the present invention reaches as high as 0.02mm.And prior art does not generally reach this precision.

Description of drawings:

Fig. 1 is the part of data acquisition synoptic diagram of apparatus of the present invention.

Fig. 2 is the rectangular coordinate system synoptic diagram of setting up.

Among the figure: 1 is three-dimensional laser scanner, and 2 is three-dimensional laser scanner, and 3 is roller to be detected, and 4-is target, and 5 is target.

Embodiment:

Method of the present invention can realize the online detection of bearing roller production line.

As shown in Figure 1 and Figure 2, be the online detection of cylindrical roller.The present invention can realize the measurement of conical roller equally.

The three-dimensional laser scanner that the present invention can use can adopt: foreign brand name such as come card, open up Pu Kang, Tian Bao, and domestic brand such as the Shenzhen bright scientific and technological company limited of China, the scanner that the permanent letter of the rich dimension in Beijing development in science and technology company limited produces all can use.Concrete model requires to determine according to accuracy of detection.

Among Fig. 1, measure roller physical dimension precision detecting system, can comprise scanning system and computer data processing system; Scanning system is comprised of the three-dimensional laser scanner that scanning platform and Liang Tai are oppositely arranged, and its effect is the cloud data that obtains roller to be detected; Computer data processing system is comprised of data acquisition module and data processing module, and its effect is that cloud data is processed, and judges whether the roller physical dimension is qualified.

Detecting step of the present invention is summarized as follows:

Step 1: roller 3 to be detected is imported into scanning platform;

Step 2: target 4, target 5 are set;

Step 3, three- dimensional laser scanner 1,2 pairs of rollers 3 to be detected of three-dimensional laser scanner scan, and obtain the cloud data of roller to be detected;

The cloud data of the roller to be detected 3 that step 4, scanning system obtain imports computer data processing system into;

The data processing module of step 5, computer data processing system is processed (specifically process by front 6 and get final product) to cloud data, obtains a certain height face of roller to be detected On interrelated geometrical parameters, and with this height face of roller to be detected on the design load of geometric parameter compare, judge according to error requirements whether the roller physical dimension qualified.

Claims (3)

1. the accurate online test method of a roller physical dimension, the method may further comprise the steps:

1) selects two high-precision three-dimensional laser scanners;

2) two three-dimensional laser scanners are staggered relatively;

3) target is set:

4) three-dimensional laser scanner scans roller on the scanning platform, obtains the cloud data under the roller arbitrary system, and the form of cloud data is (x _i, y _i, z _i) i=0,1 ... m

5) according to the target that arranges, the cloud data of two scanners is mated;

6) according to testing conditions, extract the cloud data of bottom of roller, its coordinate be (x ' _i, y ' _i, z ' _i) i=0,1 ... n, (x ' _i, y ' _i) be on same circle, its equation is:

$\left\{\begin{array}{c}{x}_i^{\′}=R\·\cos {\mathrm{\α}}_i\\ y_i^{\′}=R\·\sin {\mathrm{\α}}_i\end{array}\right.,$ Wherein R is radius of a circle, α _iFor point (x ' _i, y ' _i) central angle of present position, according to (x ' _i, y ' _i) solution asks R;

Concrete solution asks method to be:

Establish an equation:

$\left\{\begin{array}{c}{v}_{x_i^{\′}}=\cos {\mathrm{\α}}^0\·\mathrm{\δR}-r\·\sin {\mathrm{\α}}_i^0\frac{\mathrm{\δ}{\mathrm{\α}}_i}{\mathrm{\ρ}}\text{-}{l}_{x_i\′}\\ v_{y_i^{\′}}\text{=sin}{\mathrm{\α}}^0\·\mathrm{\δR}+r\·\cos {\mathrm{\α}}_i^0\frac{\mathrm{\δ}{\mathrm{\α}}_i}{\mathrm{\ρ}}-l_{y_i^{\′}}\end{array}\right.$

Wherein, $l_{x_i^{\′}}=x_i^{\′}-r\·\cos {\mathrm{\α}}_i^0,$ $l_{y_i^{\′}}=y_i^{\′}-r\·\sin {\mathrm{\α}}_i^0;$

R is the design load of this place's radius of circle;

For point (x ' _i, y ' _i) the central angle initial value of position, regulation from X-direction clockwise for just,

$V=B\hat{X}-l$

Wherein:

$\underset{2n,1}{V}=\left[\begin{array}{c}{v}_{x_1^{\′}}\\ v_{y_1^{\′}}\\ \·\\ \·\\ \·\\ v_{x_n^{\′}}\\ v_{y_n^{\′}}\end{array}\right],$ $\underset{2n,1}{l}=\left[\begin{array}{c}{l}_{x_1^{\′}}\\ l_{y_1^{\′}}\\ l_{x_2^{\′}}\\ l_{y_2^{\′}}\\ \·\\ \·\\ \·\\ l_{x_n^{\′}}\\ l_{y_n^{\′}}\end{array}\right],$

$\underset{2n,n+1}{B}=\left[\begin{array}{ccccccccc}{\cos \mathrm{\α}}_1^0& \frac{-r\sin {\mathrm{\α}}_1^0}{\mathrm{\ρ}}& 0& 0& \·& \·& \·& 0& 0\\ \sin {\mathrm{\α}}_1^0& \frac{r\cos {\mathrm{\α}}_1^0}{\mathrm{\ρ}}& 0& 0& \·& \·& \·& 0& 0\\ \cos {\mathrm{\α}}_2^0& 0& \frac{-r\sin {\mathrm{\α}}_2^0}{\mathrm{\ρ}}& 0& \·& \·& \·& 0& 0\\ \sin {\mathrm{\α}}_2^0& 0& \frac{r\cos {\mathrm{\α}}_2^0}{\mathrm{\ρ}}& 0& \·& \·& \·& 0& 0\\ \·& \·& \·& \·& & & & \·& \·\\ \·& \·& \·& \·& \·& \·& \·& \·& \·\\ \·& \·& \·& \·& & & & \·& \·\\ \cos {\mathrm{\α}}_n^0& 0& 0& 0& \·& \·& \·& 0& \frac{-r\sin {\mathrm{\α}}_n^0}{\mathrm{\ρ}}\\ \sin {\mathrm{\α}}_n^0& 0& 0& 0& \·& \·& \·& 0& \frac{r\cos {\mathrm{\α}}_n^0}{\mathrm{\ρ}}\end{array}\right],$ $\underset{n+\mathrm{1,1}}{\overset{^}{X}}=\left[\begin{array}{c}\mathrm{\δR}\\ \mathrm{\δ}{\mathrm{\α}}_1\\ \·\\ \·\\ \·\\ \mathrm{\δ}{\mathrm{\α}}_n\end{array}\right]$

$\hat{X}={\left(B^{T}B\right)}^T{B}^{T}l$

B wherein ^TThe transposition computing of representing matrix B;

Solve an equation, can get the optimal value of R

At this moment, δ R is the error of roller real radius value and radial design value.

2. the accurate online test method of roller physical dimension according to claim 1, the method is further comprising the steps of:

According to ${\mathrm{\α}}_i={\mathrm{\α}}_i^0+\mathrm{\δ}{\mathrm{\α}}_i$

$\left\{\begin{array}{c}\mathrm{\Δ}{x}_i=R\·\cos {\mathrm{\α}}_i-x_i\\ \mathrm{\Δ}{y}_i=R\·\sin {\mathrm{\α}}_i-y_i\end{array}\right.,i=\mathrm{0,1}\·\·\·n$

Can get: ${\mathrm{\Δ}}_i=\sqrt{{\mathrm{\Δx}}_i^2+{\mathrm{\Δy}}_i^2}$

$\stackrel{\‾}{\mathrm{\Δ}}=\left[{\mathrm{\Δ}}_i\right]/n$

Wherein: Δ _iRepresent on a certain height face corresponding to point (x _i, y _i) radius error, [] expression summation.

According to the max Δ _i, the min Δ _i,

And error requirements judges whether the bottom of roller size is qualified.

3. the accurate online test method of roller physical dimension according to claim 1, the method is further comprising the steps of:

For arbitrary height face H _iThe detection of place's roller physical dimension, extract roller on this height face cloud data (x ' _2i, y ' _2i, z ' _2i) i=0,1 ... n _2i, judge this height face of this roller H according to error requirements _iWhether upper physical dimension is qualified, and its specific algorithm is with step 6.

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