CN103737433B - Large-size components combined type accuracy measurement method - Google Patents
Large-size components combined type accuracy measurement method Download PDFInfo
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- CN103737433B CN103737433B CN201310643529.0A CN201310643529A CN103737433B CN 103737433 B CN103737433 B CN 103737433B CN 201310643529 A CN201310643529 A CN 201310643529A CN 103737433 B CN103737433 B CN 103737433B
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- 238000000691 measurement method Methods 0.000 title claims abstract description 17
- 238000005259 measurement Methods 0.000 claims abstract description 74
- 238000001514 detection method Methods 0.000 claims abstract description 27
- 238000009966 trimming Methods 0.000 claims abstract description 13
- 239000002131 composite material Substances 0.000 claims description 18
- 238000000034 method Methods 0.000 claims description 11
- 239000011159 matrix material Substances 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000003746 surface roughness Effects 0.000 claims description 3
- 238000013519 translation Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 4
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/20—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring workpiece characteristics, e.g. contour, dimension, hardness
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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
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
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- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention provides a kind of large-size components combined type accuracy measurement method, including setting up electronic theodolite measuring system as follows；Set up on-line checking trimming device and measure system；Use electronic theodolite measuring system and on-line checking trimming device to measure system respectively and the measurement of common reference ball is obtained measurement data；The machine tool measuring coordinate system measuring system according to the measurement data transit survey coordinate system by electronic theodolite measuring system and on-line checking trimming device converts unified to a coordinate system.Present invention resides in line detection trimming device and measure system and electronic theodolite measuring system, by measurement in a closed series technology, successfully solve the measurement demand of Satellite Product assembling stage, certainty of measurement and measurement performance and meet requirement all preferably；The present invention, by contactless and contact type measurement technological incorporation, realizes under combined type measurement system as entirety, has a wide range of applications at space industry.
Description
Technical Field
The invention relates to the technical field of industrial measurement, in particular to a large-size component combined type precision measurement method.
Background
The space coordinate measurement of the large-size workpiece of the spacecraft mainly adopts two measurement methods, namely contact measurement and non-contact measurement. The contact type measuring equipment takes on-line detection finishing equipment or three-coordinate as a representative; non-contact measurement is represented by an optical electronic theodolite. However, when these two measuring devices work independently, there are some inevitable disadvantages due to the limitations of the inherent functions of the devices:
(1) contact-type measuring method
The method takes on-line detection of finishing equipment or three-coordinate as a representative, has the advantages of large measurement range and strong universality, can generate a numerical control machining program in real time according to a measurement result to correct the workpiece, but has the following defects:
due to the position limitation of the measuring head, the profile of a workpiece with a special configuration, such as a hole, a hole and the like, cannot be measured;
the measuring arm is limited by the size of the processing shaft and mechanical interference of a space structure, and measurement on the internal structure of the truss or the internal structure of the platform cabin cannot be implemented.
(2) Non-contact measuring method
The optical electronic theodolite is taken as a representative, has the advantages of high measurement precision and flexible measurement azimuth angle, can measure the inside of a truss or a platform cabin, but has the following defects:
limited by the intersection measurement principle of theodolites, a target or a prism must be adhered to the position of a measured point;
the accuracy of the measured space distance dimension is not as good as that of online detection correction equipment or three-coordinate measurement;
the workpiece cannot be processed and corrected in real time based on the measurement result.
In view of the above practical problems, the existing contact and non-contact measurement methods must be combined, so as to exert respective technical advantages to the maximum extent, make up for the deficiencies, and obtain more comprehensive and accurate precision data of the measured workpiece, which is of great significance for ensuring the precision measurement of large platform satellites in the future.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a composite type precision measurement method for a large-size component.
The invention relates to a large-size combined precision measurement system for a satellite, which comprises a theodolite measurement device, online detection and trimming equipment, a high-precision reference target ball, special software for the combined measurement system and the like.
The invention aims to solve the technical problem that a contact type measuring device takes a three-coordinate as a representative and a non-contact type measuring device and takes a theodolite as a representative to independently work, and cannot meet the measuring requirement. The invention provides a large-size combined type precision measurement construction method aiming at the problem, can exert the technical advantages of each measurement system, make up for the deficiencies, and solve the problem of precision measurement in the processes of satellite shell assembly, truss assembly, large structural member assembly and the like.
According to one aspect of the invention, a composite precision measurement method for a large-size component is provided, which comprises the following steps:
step 1: establishing a theodolite measuring system;
step 2: establishing an online detection finishing equipment measuring system;
and step 3: respectively measuring a common reference ball by using a theodolite measuring system and an on-line detection finishing equipment measuring system to obtain measuring data;
and 4, step 4: and converting and unifying a theodolite measuring coordinate system of the theodolite measuring system and a machine tool measuring coordinate system of the on-line detection finishing equipment measuring system into a coordinate system according to the measuring data.
Preferably, the step 1 comprises the steps of:
step 1.1: precisely leveling a plurality of theodolites;
step 1.2: carrying out double-sided mutual aiming on the internal targets of the theodolite so as to eliminate shafting errors of the theodolite and installation errors of the internal targets;
step 1.3: and (3) using more than two theodolite measuring reference scales to observe the left side and the right side of the plate.
Preferably, step 4 is followed by the following steps:
and 5: connecting a theodolite measuring system and an on-line detection finishing equipment measuring system with a main controller to form a composite measuring system;
step 6: and measuring the coordinates of the measured object by using the composite measuring system.
Preferably, the online detection dressing device measuring system comprises a machine tool data transmitter and a machine tool controller, and the step 2 comprises the following steps:
step 2.1: connecting two ends of the machine tool data transmitter to the main controller and the machine tool controller respectively;
step 2.2: and transmitting the measurement data of the machine tool controller to the main controller through the USB interface.
Preferably, the following steps are included in step 3:
step 3.1: measuring longitude and latitude coordinates of a common reference ball in a theodolite measurement coordinate system;
step 3.2: the machine coordinates of the common reference sphere are measured in a machine measurement coordinate system.
Preferably, step 3.1 comprises the steps of:
step 3.1.1: setting a mode of single-point coordinate measurement as a circle center measurement mode;
step 3.1.2: the cross wire in the fourth quadrant of a theodolite is used to cut the upper and left edges of a common reference sphere, and the horizontal angle value and zenith distance are recorded as (Hz)11，V11)；
Step 3.1.3: the second quadrant of the theodolite is cut to the right lower edge of the common reference sphere again, and the horizontal angle value and the zenith distance are recorded as (Hz)12，V12)；
Step 3.1.4: the calculated angle value and the zenith distance of the sphere center of the common reference sphere are respectively (Hz)1，V1) In particular, Hz1=(Hz11+Hz12)/2
V1=(V11+V12)/2；
Step 3.1.5: measuring the common reference sphere by using a second theodolite, and respectively calculating the angle value and the zenith distance of the sphere center of the common reference sphere to be (Hz)2，V2)；
Step 3.1.6: and (3) utilizing the coordinate intersection measurement principle of the space points to obtain longitude and latitude coordinates of the sphere center of the common reference sphere through intersection.
Preferably, step 3.2 comprises the steps of:
step 3.2.1: measuring coordinates of a plurality of points on the surface of the common reference sphere;
step 3.2.2: and fitting the coordinates of a plurality of points on the surface of the common reference sphere by using a least square method to obtain the machine tool coordinates of the center of the common reference sphere.
Preferably, three common reference point coordinates are obtained in step 3.
Preferably, step 4 comprises the steps of:
step 4.1: converting the theodolite measuring coordinate system into the machine tool measuring coordinate systemThe body is that the theodolite measurement coordinate system O-XYZ is set to translate firstly (X)0，Y0，Z0) Then rotate (x，y，z) After the scaling is carried out by k times, the coordinate system is converted into a machine tool measurement coordinate system O ' -X ' Y ' Z ', and then the coordinate of the common reference point in O-XYZ is (X, Y, Z) and the coordinate in O ' -X ' Y ' Z ' is (X ', Y ', Z ');
step 4.2: calculating a matrix equation after the coordinate conversion,
wherein, converting the matrix parameters;
step 4.3: and (4) substituting the coordinates of the three common reference points into the matrix equation in the step (4.2) to calculate the parameter relation between the theodolite measurement coordinate system and the machine tool measurement coordinate system.
Preferably, the number of the common reference spheres is more than 3, the sphericity of each common reference sphere is better than 8 μm, and the surface roughness of the spheres is better than 1.6 μm.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention comprises an on-line detection trimming equipment measuring system and a theodolite measuring system, successfully solves the measuring requirement of a satellite product in an assembly stage by combining a measuring technology, and has better measuring precision and measuring performance to meet the requirement;
2. the invention provides a common reference point through the reference ball, converts and unifies a machine tool coordinate system and a theodolite coordinate system into one coordinate system, realizes data resolving and processing of the same coordinate system, obviously improves the measurement precision through system error correction, and has good application under special conditions;
3. the invention integrates non-contact and contact measurement technologies, is realized under a combined measurement system as a whole, and has wide application prospect in the field of aerospace.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic diagram of a large-sized composite precision measurement system according to the present invention;
FIG. 2 is a schematic diagram of a data transmission and processing architecture of the hybrid measurement system of the present invention;
FIG. 3 is a flow chart of the steps of the present invention.
In the figure:
1 is a computer;
2, online detection and finishing equipment;
3 is a theodolite;
4 is a common reference sphere;
5 is a target to be detected;
6 is the analyte.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in the figure, the invention mainly comprises a theodolite measuring device, an on-line detection finishing equipment device, a reference ball, a data transmitter, a data processing device and the like. The theodolite measuring device comprises a TM5100A electronic theodolite, a reference ruler, a power supply controller, a mark target and the like, three-dimensional point coordinates are solved by collecting target point information pasted on a part to be measured, GSI (geodetic Serial interface) instructions are adopted for measuring data, and data and instruction communication between a computer and the instrument is realized in an RS-232C communication mode. The on-line detection and trimming equipment mainly comprises an industrial control computer, a triggering type measuring head, a signal transmission and interface circuit and other hardware parts and measuring system control software. The online detection and trimming equipment automatically establishes a visual complete machine precision trimming model for detection data through an industrial control computer, determines trimming allowance of each subsystem and a single machine installation surface, feeds back relevant process parameters to the online detection and trimming equipment or automatically generates a numerical control processing program, and the measurement data can be transmitted to external equipment through a self-reserved USB interface. The common reference rotation is a common reference for converting coordinate systems of the theodolite and the online detection finishing equipment, the number of the common reference balls is required to be more than 3, the sphericity of each common reference ball is better than 8 mu m, and the surface roughness of each common reference ball is better than 1.6 mu m. The data transmitter transmits the measurement data of the machine tool to the computer in real time and is received by the measurement software; the data processing system is a combined type measuring software integrated system, is compiled by adopting an object-oriented programming language and is divided into a theodolite measuring module, a data management module, a theodolite orientation module, a data resolving module, a machine tool measuring module, a coordinate system module and the like.
As shown in fig. 2 and 3, the present invention includes the following steps:
step 1: and establishing a theodolite measuring system.
After precisely leveling a plurality of theodolites, connecting the theodolites with a T-LINK controller through cables, and connecting the T-LINK controller with a computer through a network cable; carrying out double-sided mutual aiming on the internal targets of the theodolite so as to eliminate shafting errors of the theodolite and installation errors of the internal targets; and then using two theodolite measuring reference scales to carry out left and right observation, and using software to carry out system calculation to establish a theodolite intersection measuring system.
Step 2: and establishing an online detection trimming equipment measuring system.
The two ends of the machine tool data transmitter are respectively connected to the computer and the machine tool controller, the switch is switched to one end of the machine tool controller, and after the machine tool controller displays the prompt of finding the U disk, the data file in the format of ARC or MPF of the machine tool is transmitted to the composite measuring system database through the USB interface.
And step 3: and respectively measuring the common reference ball by using a theodolite measuring system and an on-line detection finishing equipment measuring system to obtain measuring data.
In the composite measurement software, when the theodolite measures the common reference sphere, the mode of single-point coordinate measurement is set as 'circle center measurement', the upper left edge of the reference target sphere is cut by the cross wire of the fourth quadrant of the 1 st theodolite, and the horizontal angle value and the zenith distance are recorded as (Hz)11，V11) Then the right lower edge of the reference target ball is cut by the second quadrant of the theodolite, and the horizontal angle value and the zenith distance are respectively recorded as (Hz)12，V12) Averaging the observed values and ordering;
Hz1=(Hz11+Hz12)/2
V1=(V11+V12)/2
angle value and zenith distance (Hz)1，V1) Passing through the center of sphere, the angle value and zenith distance (Hz) of the passing through center of sphere of the second theodolite can be obtained in the same way2，V2) And by using the coordinate intersection measurement principle of the space points, the coordinates (x, y, z) of the target sphere center can be obtained through intersection.
When the machine tool measures the common reference sphere, the center of the target sphere is indirectly obtained by measuring a plurality of points on the surface of the target sphere and utilizing a least square fitting method. The coordinate value of n (n is more than or equal to 4) measuring points on the surface of the measuring target ball is Pi（xi，yi，zi) Where i =1,2,3, …, n. The three-dimensional coordinates of the sphere center in the machine tool measuring system can be obtained through fitting.
And respectively collecting more than three common datum points according to the steps.
And 4, step 4: and converting and unifying a theodolite measuring coordinate system of the theodolite measuring system and a machine tool measuring coordinate system of the on-line detection finishing equipment measuring system into a coordinate system according to the measuring data.
Setting theodolite measuring coordinate system O-XYZ translation (X)0，Y0，Z0) Then rotate (x，y，z) And finally, after scaling by k times, converting the coordinate system into a machine tool coordinate system O '-X' Y 'Z'. The coordinate of the point P in O-XYZ is
(X, Y, Z) and the coordinates in O ' -X ' Y ' Z ' are (X ', Y ', Z '), by a matrix equation, when a common reference is made
Wherein, to transform the matrix parameters.
When the number of the points is more than 3, the parameter relation between the theodolite coordinate system and the machine tool coordinate system can be obtained, namely, the conversion between the theodolite measurement coordinate system and the machine tool coordinate system is realized.
And 5: and connecting the theodolite measuring system and the on-line detection finishing equipment measuring system with the main controller to form a composite measuring system.
Step 6: and measuring the coordinates of the measured object by using the composite measuring system.
In conclusion, the method integrates non-contact and contact measurement technologies, provides a common reference point by using a common reference ball, converts and unifies a machine tool coordinate system and a theodolite coordinate system into one coordinate system, and meets the requirement of large-size combined measurement of the satellite. The method provides powerful support for solving the problem of precision measurement in the processes of satellite shell assembly, truss assembly, large structural member assembly and the like.
The data transmission of the invention is shown as 2, the measured data of the theodolite 1 is transmitted to the T-LINK controller through the communication serial port 1 and the measured data of the theodolite n through the communication serial port n, and then transmitted to the computer. The machine tool measurement data are stored in the data storage device, then transmitted to the data transmitter through the USB communication interface, and transmitted to the computer by the data transmitter. The computer calculates the longitude and latitude coordinates of a common reference ball, namely a target ball, by the triangulation calculation of original measurement data of the theodolite, and calculates the machine coordinates by the original measurement data of the machine tool. And then, unifying and converting the coordinates, and finally, storing the data into an angle and coordinate database after data processing and resolving.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (9)
1. A large-size component combined type precision measurement method is characterized by comprising the following steps:
step 1: establishing a theodolite measuring system;
step 2: establishing an online detection finishing equipment measuring system;
and step 3: respectively measuring a common reference ball by using a theodolite measuring system and an on-line detection finishing equipment measuring system to obtain measuring data;
and 4, step 4: converting and unifying a theodolite measurement coordinate system of a theodolite measurement system and a machine tool measurement coordinate system of an on-line detection finishing equipment measurement system into a coordinate system according to measurement data;
the online detection trimming device measuring system comprises a machine tool data transmitter and a machine tool controller, and the step 2 comprises the following steps:
step 2.1: connecting two ends of the machine tool data transmitter to the main controller and the machine tool controller respectively;
step 2.2: and transmitting the measurement data of the machine tool controller to the main controller through the USB interface.
2. The large-size component combined type precision measurement method according to claim 1, wherein the theodolite measurement system comprises a plurality of theodolites, and the step 1 comprises the following steps:
step 1.1: precisely leveling a plurality of theodolites;
step 1.2: carrying out double-sided mutual aiming on the internal targets of the theodolite so as to eliminate shafting errors of the theodolite and installation errors of the internal targets;
step 1.3: and (3) using more than two theodolite measuring reference scales to observe the left side and the right side of the plate.
3. The large-size component composite precision measurement method according to claim 1, wherein the step 4 is followed by the steps of:
and 5: connecting a theodolite measuring system and an on-line detection finishing equipment measuring system with a main controller to form a composite measuring system;
step 6: and measuring the coordinates of the measured object by using the composite measuring system.
4. The large-size component composite precision measurement method according to claim 3, wherein the step 3 comprises the following steps:
step 3.1: measuring longitude and latitude coordinates of a common reference ball in a theodolite measurement coordinate system;
step 3.2: the machine coordinates of the common reference sphere are measured in a machine measurement coordinate system.
5. The large-size component composite precision measurement method according to claim 4, wherein the step 3.1 comprises the following steps:
step 3.1.1: setting a mode of single-point coordinate measurement as a circle center measurement mode;
step 3.1.2: the cross wire in the fourth quadrant of a theodolite is used to cut the upper and left edges of a common reference sphere, and the horizontal angle value and zenith distance are recorded as (Hz)11，V11)；
Step 3.1.3: the second quadrant of the theodolite is cut to the right lower edge of the common reference sphere again, and the horizontal angle value and the zenith distance are recorded as (Hz)12，V12)；
Step 3.1.4: the calculated angle value and the zenith distance of the sphere center of the common reference sphere are respectively (Hz)1，V1) In particular, Hz1＝(Hz11+Hz12)/2；
V1＝(V11+V12)/2；
Step 3.1.5: measuring the common reference sphere by using a second theodolite, and calculating the angle value and the zenith distance of the sphere center of the common reference sphere to be respectively (Hz)2，V2)；
Step 3.1.6: and (3) utilizing the coordinate intersection measurement principle of the space points to obtain longitude and latitude coordinates of the sphere center of the common reference sphere through intersection.
6. The large-size component composite precision measurement method according to claim 4, wherein the step 3.2 comprises the following steps:
step 3.2.1: measuring coordinates of a plurality of points on the surface of the common reference sphere;
step 3.2.2: and fitting the coordinates of a plurality of points on the surface of the common reference sphere by using a least square method to obtain the machine tool coordinates of the center of the common reference sphere.
7. The large-sized member composite precision measurement method according to claim 1, wherein three common reference point coordinates are obtained in step 3.
8. The large-size component composite precision measurement method according to claim 7, wherein the step 4 comprises the following steps:
step 4.1: converting the theodolite measurement coordinate system into a machine tool measurement coordinate system, specifically, setting O-XYZ translation (X) of the theodolite measurement coordinate system0，Y0，Z0) Then rotate (x，y，z) After the scaling is carried out by k times, the coordinate system is converted into a machine tool measurement coordinate system O ' -X ' Y ' Z ', and then the coordinate of the common reference point in O-XYZ is (X, Y, Z) and the coordinate in O ' -X ' Y ' Z ' is (X ', Y ', Z ');
step 4.2: calculating a matrix equation after the coordinate conversion,
wherein,converting the matrix parameters;
step 4.3: and (4) substituting the coordinates of the three common reference points into the matrix equation in the step (4.2) to calculate the parameter relation between the theodolite measurement coordinate system and the machine tool measurement coordinate system.
9. The large-sized member composite type precision measurement method according to claim 1, wherein the number of the common reference balls is required to be more than 3, the sphericity of each common reference ball is better than 8 μm, and the surface roughness of each common reference ball is better than 1.6 μm.
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| CN105290701B (en) * | 2014-06-06 | 2017-12-19 | 上海卫星装备研究所 | High pointing accuracy plane finishing method based on measurement process integration |
| CN104635747B (en) * | 2014-12-04 | 2017-05-03 | 上海卫星装备研究所 | Assembling precision measuring and adjusting device and method of complex truss structure |
| CN106021752B (en) * | 2016-05-27 | 2018-12-21 | 重庆长安汽车股份有限公司 | A kind of photo taking type scanning device skeleton establishes the verification method of precision |
| CN106863014B (en) * | 2017-02-24 | 2018-09-04 | 大连理工大学 | A kind of five-axle number control machine tool linear axis geometric error detection method |
| CN109238092A (en) * | 2018-09-14 | 2019-01-18 | 佛山市恒力泰机械有限公司 | Ceramic adobe thickness online automatic detection method and device |
| CN110017825B (en) * | 2019-04-03 | 2023-11-24 | 北京城建勘测设计研究院有限责任公司 | Double-sided target |
| CN112648956B (en) * | 2021-03-01 | 2022-10-14 | 北京卫星制造厂有限公司 | Spatial pose real-time measuring and adjusting method based on joint calibration |
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| CN1117264C (en) * | 2001-10-15 | 2003-08-06 | 天津大学 | In-line real-time collinating measurer with computer visulization technique and its calibration method |
| CN100495819C (en) * | 2005-10-21 | 2009-06-03 | 西安电子科技大学 | Large-scale high precision spherical antenna panel measuring and assemblage adjusting method |
| CN102305608B (en) * | 2011-05-13 | 2013-05-01 | 哈尔滨工业大学 | Error measurement and compensation method for multi-target two-dimensional cross motion simulation system |
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