CN103743338B - There is sphere revolution runout error and compensate laser tracking measurement system and the compensation method thereof of function - Google Patents
There is sphere revolution runout error and compensate laser tracking measurement system and the compensation method thereof of function Download PDFInfo
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- CN103743338B CN103743338B CN201310718319.3A CN201310718319A CN103743338B CN 103743338 B CN103743338 B CN 103743338B CN 201310718319 A CN201310718319 A CN 201310718319A CN 103743338 B CN103743338 B CN 103743338B
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Abstract
The invention discloses a kind of laser tracking measurement system with sphere revolution runout error compensation function and compensation method thereof, including: horizontal revolving stage, support is installed on horizontal revolving stage, sphere slew gear is installed on support, described sphere slew gear includes standard ball, the gripper shoe of central opening, first displacement transducer, second displacement sensor, and laser head, standard ball is arranged at the center of support, the central opening of gripper shoe is installed on support after standard ball, first displacement transducer and the second sensor are positioned on the reverse extending line of the penetrated laser beam of laser head, and it is positioned at the both sides of standard ball.Owing to standard ball is arranged at the center of sphere slew gear, do not contact with gripper shoe, and the distance of the centre of sphere and impact point is accurately obtained by measurement amount and scalar quantity, and then the sphere revolution runout error of sphere laser tracking mechanism is compensated, thus in the case of laser tracking mechanism revolution is beated greatly, reach the certainty of measurement arrived very much.
Description
Technical field
The present invention relates to laser tracking measurement field, particularly relate to one and there is sphere revolution runout error benefit
Repay the laser tracking measurement system of function.
Background technology
During the manufacturing of the Large-Scale Equipments such as aircraft, the hydraulic turbine, wind turbine and solar panel,
The accessory size during it is produced and the pose etc. during assembling is needed accurately to measure.
In currently used large-scale metrology equipment, laser tracking measurement equipment is due to its high accuracy and surveys
The advantages such as weight range is wide, have been widely used in field of industrial production, and laser tracking measurement mainly has ball
Coordinate survey and polygon distance method, the angular error during wherein measuring in spherical coordinates measurement method can be with
The proportional amplification of increase measuring distance；Polygon distance measurement method uses method of least square etc. optimize to calculate
Method, is optimized target to the distance value of multiple stage transmitter, obtains the coordinate of impact point, does not have angle
The introducing of degree error.In the case of but interferometry precision determines during Multi lateration measurement, change and swash
The sphere revolution runout error of the follower that light beam points to can introduce bigger error and survey to last distance
In amount.Sphere rotating accuracy requirement to laser tracking measurement mechanism in traditional laser tracking measurement equipment
Height, processing and manufacturing difficulty is big, cost is high.
Summary of the invention
For drawbacks described above or deficiency, it is an object of the invention to provide and there is sphere revolution runout error benefit
Repay the laser tracking measurement system of function, it is possible in the feelings of the processing and manufacturing difficulty reducing laser tracking mechanism
Under condition, make the certainty of measurement that laser tracking measurement system holding is high.
For reaching object above, the technical scheme of this reality invention is:
A kind of laser tracking measurement system with sphere revolution runout error compensation function, including: place
Horizontal revolving stage on desktop, horizontal revolving stage is provided with support, and support is provided with sphere slew gear,
Described sphere slew gear include standard ball, the gripper shoe of central opening, the first displacement transducer, second
Displacement transducer, and laser head, wherein, standard ball is arranged at the center of support, the center of gripper shoe
Opening is installed on support after standard ball, the first displacement transducer, the second sensor, and laser
Head is installed in gripper shoe, and wherein, the first displacement transducer and the second sensor are positioned at laser head and are penetrated sharp
On the reverse extending line of light beam, and it is positioned at the both sides of standard ball.
Connect on described support and have the motor for driving holder pivots.
Including marking the first standard ball fixed mount, the first standard ball fixed mount is arranged on desktop, and standard ball is solid
Dingan County is loaded on the first standard ball fixed mount.
Also include frame and the first roller axle ring and the second roller axle ring being installed in frame that intersect；
Support is installed in frame, the internal ring infall of the first roller axle ring and the second roller axle ring be provided with for
Promote gripper shoe rotate push rod, and the first roller axle ring and the second roller axle ring respectively with hollow moment
Motor connects, and is rotated by hollow torque motor and drives the first roller axle ring and the second roller axle ring to rotate,
And the position of sphere slew gear is adjusted by push rod.
Described support includes the second standard ball fixed mount being arranged on desktop, on the second standard ball fixed mount
Being arranged with bracing frame, bracing frame is installed in frame, and gripper shoe is installed on bracing frame upper end.
Described hollow torque motor is by the outer shroud of fixture and the first roller axle ring and the second roller axle ring even
Connect.
Described push rod is connected with the first roller axle ring and the second roller axle ring by bearing, and push rod
The centre of gyration that axis is positioned at.
A kind of have the error compensation side that sphere revolution runout error compensates the laser tracking measurement system of function
Method, comprises the following steps:
1) scalar quantity is obtained: distance D between two displacement transducers, the radius R of standard ball, laser
Eye point is to distance A of second displacement sensor1；
2) measurement amount is obtained: distance A of laser emitting point to target ball2, and the first displacement transducer
With distance B and the C that the second sensor arrives standard ball sphere respectively；
3) according to above-mentioned scalar quantity and measurement amount, ask target ball to arrive the distance of the standard ball centre of sphere, pass through mesh
Punctuate falls laser head beating relative to the centre of gyration, concrete calculating to the compensated distance of the standard ball centre of sphere
Formula is as follows:
Obtain impact point as follows to the computing formula of distance L of the standard ball centre of sphere:
Wherein, A is the second displacement sensor distance to target ball；
X is the standard ball sphere chord length that the first displacement transducer intercepts with second displacement sensor；
X1First displacement transducer orthocenter with second displacement sensor string is done to target for the standard ball centre of sphere
The distance of ball；
X2The standard ball sphere intercepted for the standard ball centre of sphere to the first displacement transducer and second displacement sensor
The distance of string.
Compared with the prior art, the invention have the benefit that
What the present invention provided has in the laser tracking measurement system that sphere revolution runout error compensates function,
Being arranged on mechanism's sphere centre of gyration by standard ball, two displacement transducers are arranged on shoot laser bundle
On reverse extending line, carry out the measurement that sphere revolution is transferred, owing to standard ball is arranged at sphere slew gear
Center, and do not contact with gripper shoe so that during mechanism kinematic displacement transducer not with standard ball
Move interference, reduce the measurement error of laser tracking mechanism, further, since this apparatus structure is simple
List, and then the distance of the centre of sphere and impact point can be accurately obtained by measurement amount and scalar quantity, and then to ball
The sphere revolution runout error of face laser tracking mechanism compensates, thus jumps in laser tracking mechanism revolution
Reach the certainty of measurement arrived very much in the case of dynamic big, reduce laser tracking mechanism processing and manufacturing difficulty and
Cost.
What the present invention provided has the mistake that sphere revolution runout error compensates the laser tracking measurement system of function
Difference compensation method, has sphere revolution runout error by acquisition and compensates the laser tracking measurement system of function,
Scalar quantity in acquisition system and measurement amount, and combine geometrical relationship and calculate, finally obtain impact point
To the distance of the standard ball centre of sphere, compensate laser head beating relative to the centre of gyration, improve system
Certainty of measurement.
Accompanying drawing explanation
Fig. 1 is the series laser tracing measurement system having sphere turn error runout compensation function in the present invention
Structural representation；
Fig. 2 is the laser tracking measurement system in parallel having sphere turn error runout compensation function in the present invention
Structural representation；
Fig. 3 is that sphere turns round runout error compensation method geometric representation；
Fig. 4 is the laser tracking measurement system in parallel having sphere turn error runout compensation function in the present invention
The structural scheme of mechanism of support.
In figure, 1 is standard ball, and 1-1 is the first standard ball fixed mount, and 2 is the first displacement transducer, 3
For second displacement sensor, 4 is horizontal revolving stage, and 5 is motor, and 6 is laser head, and 7 is target mirror, 8
For laser emitting point, 9 is support, and 9-1 is the second standard ball fixed mount, and 9-2 is bracing frame, and 10 is sharp
Light beam, 11 is gripper shoe, and 12 is frame, and 13 is the first roller axle ring, and 14 is the second roller axle ring,
15 is push rod, and 16 is the first hollow torque motor, and 17 is the second hollow torque motor, and 18 is the first folder
Tool, 19 is the second fixture.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is described in detail.
As it is shown in figure 1, the invention provides a kind of series connection with sphere revolution runout error compensation function
Laser tracking measurement system, including: the horizontal revolving stage 4 being placed on, horizontal revolving stage 4 is installed
Have support 9, support 9 be provided with sphere slew gear, described sphere slew gear include standard ball 1,
Gripper shoe the 11, first displacement transducer 2, second sensor 3 of central opening, and laser head 6, its
In, standard ball 1 is arranged at the center of support 9, and the central opening of gripper shoe 11 is pacified after standard ball 1
It is loaded on support 9, first displacement transducer the 2, second sensor 3, and laser head 6 is installed on support
On plate 11, wherein, the first displacement transducer 2 and the second sensor 3 are positioned at laser head 6 shoot laser bundle
On the reverse extending line of 9, and it is positioned at the both sides of standard ball 1.Connect on described support 9 and have for carrying
The motor 5 that dynamic support 9 rotates, described motor 5 is for overlooking motor.The present invention includes the first standard ball
Fixed mount 1-1, the first standard ball fixed mount 1-1 are arranged on desktop, and standard ball 1 is fixedly installed in
On one standard ball fixed mount 1-1.
Standard ball 1 is arranged on sphere slew gear center, by by this series laser tracking measurement mechanism
One displacement transducer 2, second displacement sensor 3 are arranged on the reverse extending line of shoot laser bundle 10.
Horizontal revolving stage 4 and motor 5 lead agency rotate and ensure that laser beam points to target mirror 7, wherein laser head 6
In carry out interferometry and follow the tracks of signals collecting.First displacement transducer the 2, second sensor 3 and standard
Distance between ball 1 sphere should be within the finding range of displacement transducer, and during mechanism kinematic
Displacement transducer should not move interference with standard ball 1.
As in figure 2 it is shown, the invention provides a kind of parallel connection with sphere revolution runout error compensation function
Laser tracking measurement system, on the basis of series laser tracing measurement system, also include frame 12 and
The first roller axle ring 13 and the second roller axle ring 14 that intersection is installed in frame 12；Support 9 is installed on
In frame 12, support 9 is gimbal, and the internal ring of the first roller axle ring 13 and the second roller axle ring 14 is handed over
Push rod 15 for promoting gripper shoe 11 to rotate, the first roller axle ring 13 and the first empty power are installed at fork
Torque motor 16 connects, and the empty torque motor 17 of the second roller axle ring 14 second connects, empty by first and second
Torque motor 16,17 rotates and drives the first roller axle ring 13 and the second roller axle ring 14 to rotate, and passes through
Push rod 15 adjusts the position of sphere slew gear.
First hollow torque motor 16 is connected with the outer shroud of the first roller axle ring 13 by the first fixture 18,
Second hollow torque motor 17 is connected by the outer shroud of the second fixture 19 and the second roller axle ring 14.Described
Support 9 is gimbal.Described push rod 15 is by bearing and the first roller axle ring 13 and the second roller axle ring
14 are connected, and the centre of gyration that the axis of push rod 15 is by mechanism.In being arranged in frame 12
First and second empty torque motor 16,17 drives decussation roller axle ring to revolve by first and second fixture 18,19
Turn；Sphere slew gear gripper shoe 11 installation position displacement sensor and tracking measurement light path, it is achieved institute in invention
The backoff algorithm carried.This mechanism requires the axis centre of gyration by mechanism of push rod 4, it requires
The push rod being installed to intersect on ball axle ring by bearing has certain radial beat eccentricity, to ensure that axis leads to
Cross the centre of gyration；Standard ball 1 in mechanism is arranged on the centre of gyration and maintains static, owing to standard ball 1 is
By fixed they sup-port, and not by External force interference, so supporting the support bar of gimbal 9
Needing is hollow, and as shown in Figure 4, described support 9 includes that the second standard ball being arranged on desktop is solid
Determine frame 9-1, the second standard ball fixed mount 9-1 is arranged with bracing frame 9-2, bracing frame 9-2 and is installed on machine
On frame 12, gripper shoe 11 is installed on bracing frame 9-2 upper end, the second standard ball fixed mount 9-1 and support
Space is had between frame 9-2.
Shown in Figure 3, present invention also offers and a kind of there is sphere revolution runout error compensate function
The error compensating method of laser tracking measurement system, it is characterised in that comprise the following steps:
1) scalar quantity is obtained: distance D between two displacement transducers, the radius R of standard ball, laser
Eye point is to distance A1 of second displacement sensor 3；
2) obtain measurement amount: distance A2 of laser emitting point 8 to target ball, and the first displacement passes
Sensor 2 and the second sensor 3 arrive distance B and the C of standard ball 1 sphere respectively；
3) according to above-mentioned scalar quantity and measurement amount, ask target ball to arrive the distance of standard ball 1 centre of sphere, pass through
Target ball falls laser head beating relative to the centre of gyration, specifically to the compensated distance of standard ball 1 centre of sphere
Computing formula as follows:
Obtain impact point as follows to the computing formula of distance L of standard ball 1 centre of sphere:
Wherein, A is the second displacement sensor 3 distance to target ball 7；
X is the standard ball 1 sphere chord length that the first displacement transducer 2 intercepts with second displacement sensor 3
Half；
X1 is that standard ball 1 centre of sphere does the orthocenter of the first displacement transducer 2 and second displacement sensor 3 string and arrives
The distance of target ball 7；
X2 is the standard that standard ball 1 centre of sphere intercepts to the first displacement transducer 2 with second displacement sensor 3
The distance of ball 1 sphere string.
The present invention is to solve to require in conventional laser tracing measurement system to turn precision height, manufacturing cost height
Difficult point, the sphere of laser tracking mechanism can turn round runout error and compensate by this system, thus
Laser tracking mechanism revolution reaches the certainty of measurement arrived very much in the case of beating greatly, reduce laser tracing machine
The processing and manufacturing difficulty of structure and cost.
Claims (8)
1. having sphere revolution runout error and compensate a laser tracking measurement system for function, its feature exists
In, including: the horizontal revolving stage (4) being placed on, horizontal revolving stage (4) is provided with support (9),
Being provided with sphere slew gear on support (9), described sphere slew gear includes standard ball (1), center
The gripper shoe (11) of opening, the first displacement transducer (2), second displacement sensor (3), and laser
Head (6), wherein, standard ball (1) is arranged at the center of support (9), the center of gripper shoe (11)
Opening is installed on support (9) after standard ball (1), the first displacement transducer (2), the second biography
Sensor (3), and laser head (6) is installed in gripper shoe (11), wherein, the first displacement transducer
(2) and the second sensor (3) is positioned on the reverse extending line of laser head (6) penetrated laser beam (10),
And it is positioned at the both sides of standard ball (1).
The laser with sphere revolution runout error compensation function the most according to claim 1 is followed the tracks of and is surveyed
Amount system, it is characterised in that the upper connection of described support (9) has the electricity for driving support (9) to rotate
Machine (5).
The most according to claim 1 and 2 have sphere revolution runout error compensate function laser with
Track measures system, it is characterised in that including the first standard ball fixed mount (1-1), the first standard ball is fixed
Frame (1-1) is positioned at the opposite side of horizontal revolving stage (4), and standard ball (1) is fixedly installed in the first standard ball
On fixed mount (1-1).
The laser with sphere revolution runout error compensation function the most according to claim 1 is followed the tracks of and is surveyed
Amount system, it is characterised in that also include frame (12) and the be installed in frame (12) of intersecting
One roller axle ring (13) and the second roller axle ring (14)；Support (9) is installed in frame (12),
The internal ring infall of the first roller axle ring (13) and the second roller axle ring (14) is provided with for promotion
The push rod (15) that fagging (11) rotates, the first roller axle ring (13) and the first hollow torque motor (16)
Connecting, the second roller axle ring (14) is connected, by the first hollow with the second hollow torque motor (17)
Torque motor (16) rotates and drives the first roller axle ring (13) to rotate, by the second hollow torque motor
(17) rotate drive the second roller axle ring (14) to rotate, and turned round by push rod (15) adjustment sphere
The position of mechanism.
The laser with sphere revolution runout error compensation function the most according to claim 4 is followed the tracks of and is surveyed
Amount system, it is characterised in that described support (9) includes the second standard ball fixed mount being arranged on desktop
(9-1), the second standard ball fixed mount (9-1) is arranged with bracing frame (9-2), bracing frame (9-2)
Being installed in frame (12), gripper shoe (11) is installed on bracing frame (9-2) upper end.
The laser with sphere revolution runout error compensation function the most according to claim 4 is followed the tracks of and is surveyed
Amount system, it is characterised in that described first hollow torque motor (16) by the first fixture (18) with
The outer shroud of the first roller axle ring (13) connects, and the second hollow torque motor (17) passes through the second fixture (19)
It is connected with the outer shroud of the second roller axle ring (14).
The laser with sphere revolution runout error compensation function the most according to claim 4 is followed the tracks of and is surveyed
Amount system, described push rod (15) is by bearing and the first roller axle ring (13) and the second roller axle ring (14)
It is connected, and the centre of gyration that the axis of push rod (15) is positioned at.
8. one kind based on described in claim 1 have sphere revolution runout error compensate function laser with
Track measures the error compensating method of system, it is characterised in that comprise the following steps:
1) scalar quantity is obtained: distance D between two displacement transducers, the radius R of standard ball, laser
Eye point (8) is to distance A of second displacement sensor (3)1；
2) measurement amount is obtained: distance A of laser emitting point (8) to target ball (7)2, and first
Displacement transducer (2) and the second sensor (3) arrive distance B and the C of standard ball (1) sphere respectively；
3) according to above-mentioned scalar quantity and measurement amount, ask target ball (7) to standard ball (1) centre of sphere away from
From, fall laser head relative to revolution by the compensated distance of target ball (7) to standard ball (1) centre of sphere
Beating of center, concrete computing formula is as follows:
Obtain target ball (7) as follows to the computing formula of distance L of standard ball (1) centre of sphere:
Wherein, A is the second displacement sensor (3) distance to target ball (7)；
X is standard ball (1) ball that the first displacement transducer (2) intercepts with second displacement sensor (3)
Face chord length；
X1The first displacement transducer (2) and second displacement sensor (3) string is done for standard ball (1) centre of sphere
Orthocenter to the distance of target ball (7)；
X2Cut with second displacement sensor (3) for standard ball (1) centre of sphere to the first displacement transducer (2)
The distance of standard ball (1) the sphere string obtained.
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| CN201310718319.3A CN103743338B (en) | 2013-12-20 | 2013-12-20 | There is sphere revolution runout error and compensate laser tracking measurement system and the compensation method thereof of function |
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| CN105466320B (en) * | 2015-12-11 | 2017-11-10 | 中国计量学院 | Industrial robot track and position detecting device |
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| CN106094889B (en) * | 2016-07-27 | 2023-07-14 | 中国电子科技集团公司第三十八研究所 | Active self-adaptive adjusting device for laser reflection target ball |
| CN106352839B (en) * | 2016-10-14 | 2019-01-18 | 哈尔滨工业大学 | A kind of air-floating ball bearing 3 d pose measurement method |
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| CN110388862A (en) * | 2019-07-22 | 2019-10-29 | 上海理工大学 | A kind of method of simplicity positioning machine tool turntable rotation axis |
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