CN106289145A - A kind of cylindricity On-machine Test method - Google Patents
A kind of cylindricity On-machine Test method Download PDFInfo
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Abstract
本发明涉及机械加工及检测领域,具体涉及一种圆柱度在机检测方法,本发明包括底座、第一转轴、第二转轴、圆箍、卡扣、第一半环以及第二半环;所述第一半环通过第一转轴设置在圆箍上,所述第二半环通过卡扣与第一半环连接,所述圆箍通过第二转轴设置在底座上,所述圆箍与第一半环下端面设有支脚,本发明通过将三坐标测量机在圆柱体上采集的三维测点投影至平面,通过迭代的方法搜索最小区域圆的圆心,大大简化了搜索的计算量;本发明投影后的测点通过最小二乘法确定圆心的初始值,使确定姿态下的搜索过程更加快捷,通过选取移心方向和移心步长,降低了搜索次数,提高了搜索精度。
The invention relates to the field of mechanical processing and detection, in particular to an on-machine detection method for cylindricity. The invention includes a base, a first rotating shaft, a second rotating shaft, a hoop, buckles, a first half ring and a second half ring; The first half-ring is arranged on the hoop through the first rotating shaft, the second half-ring is connected with the first half-ring through buckles, the round hoop is arranged on the base through the second rotating shaft, and the round hoop is connected to the first half-ring through the second rotating shaft. The lower end surface of the half ring is provided with supporting feet. The present invention projects the three-dimensional measuring points collected by the three-dimensional coordinate measuring machine on the cylinder to the plane, and searches for the center of the smallest area circle through an iterative method, which greatly simplifies the calculation amount of the search; The measured point after invention projection determines the initial value of the circle center by the least square method, which makes the search process faster under the determined attitude, and reduces the number of searches and improves the search accuracy by selecting the center-shifting direction and center-shifting step.
Description
技术领域technical field
本发明涉及机械加工及检测领域,具体涉及一种圆柱度在机检测方法。The invention relates to the field of mechanical processing and detection, in particular to an on-machine detection method for cylindricity.
背景技术Background technique
圆柱面是机械零件设计与加工中应用非常广泛的一种几何要素,圆柱度公差是对这种几何要素的形状提出的精度要求,是精密加工中需要进行检测和控制的主要几何形状误差之一。工件的圆柱度是该圆柱面包容在两个同轴的圆柱面内的最小距离。生产中一般常用圆柱截面的圆度公差和素线(或轴线)的直线度公差来控制圆柱度误差,或用径向跳动公差来控制圆柱度误差,这两种控制方法都不能实际测量和计算出圆柱度误差的大小。国际标准ISO/1101和国家标准GB/T1958-2004规定,形状误差值用包容实际被测要素且具有最小宽度E或最小直径φE的包容区域来表示,并以此为仲裁方法。实际生产中测量圆柱度误差的设备有圆柱度仪、三坐标测量机等,圆柱度仪测量精度高,但价格昂贵,对测量环境要求高而使其应用受到一定限制;实验室、工厂中常用三坐标测量机测量圆柱度误差,使用三坐标测量机测量圆柱度误差时得到的是一系列离散测点的坐标值,需要经过数据处理求解圆柱度误差,但目前的三坐标测量机只是给出最小二乘拟合的圆柱度误差,而不能给出最小区域法的圆柱度误差,此外目前的圆柱度测量装置只能进行离线测量,需要定位,精度差,效率低,反复装夹定位又会引入新的测量误差,给测量带来不便。Cylindrical surface is a geometric element that is widely used in the design and processing of mechanical parts. The cylindricity tolerance is the accuracy requirement for the shape of this geometric element, and it is one of the main geometric errors that need to be detected and controlled in precision machining. . The cylindricity of the workpiece is the minimum distance between the cylindrical surface contained in two coaxial cylindrical surfaces. In production, the roundness tolerance of the cylindrical section and the straightness tolerance of the prime line (or axis) are generally used to control the cylindricity error, or the radial runout tolerance is used to control the cylindricity error. These two control methods cannot be actually measured and calculated. The size of the cylindricity error. The international standard ISO/1101 and the national standard GB/T1958-2004 stipulate that the shape error value is represented by the containment area that contains the actual measured elements and has the minimum width E or minimum diameter φE, and this is used as the arbitration method. The equipment for measuring cylindricity error in actual production includes cylindricity meter, three-coordinate measuring machine, etc. The cylindricity meter has high measurement accuracy, but is expensive, and has high requirements on the measurement environment, so its application is limited; commonly used in laboratories and factories The cylindricity error is measured by a three-coordinate measuring machine. When the three-coordinate measuring machine is used to measure the cylindricity error, a series of coordinate values of discrete measuring points are obtained. Data processing is required to solve the cylindricity error, but the current three-coordinate measuring machine only gives The cylindricity error of the least squares fitting, but the cylindricity error of the minimum area method cannot be given. In addition, the current cylindricity measurement device can only perform offline measurement, which requires positioning, poor accuracy, low efficiency, and repeated clamping and positioning. Introduce a new measurement error, which brings inconvenience to the measurement.
发明内容Contents of the invention
本发明所要解决的技术问题是提供一种在机检测、无需重复定位、提高检测精度和效率的圆柱度在机检测方法。The technical problem to be solved by the present invention is to provide an on-machine detection method for cylindricity that does not require repeated positioning and improves detection accuracy and efficiency.
为解决以上技术问题,本发明采用如下技术方案:In order to solve the above technical problems, the present invention adopts the following technical solutions:
本发明步骤如下:The steps of the present invention are as follows:
①利用旋转装置对被测圆柱体进行装夹,并基于三坐标测量机建立工件坐标系;① Use the rotating device to clamp the measured cylinder, and establish the workpiece coordinate system based on the three-coordinate measuring machine;
101启动三坐标测量机,移动设置在工作台上的立柱对测头的半径进行校准;101 Start the three-coordinate measuring machine, move the column set on the workbench to calibrate the radius of the probe;
102将圆柱体设置在旋转装置内,所述旋转装置包括:底座、第一转轴、第二转轴、圆箍、卡扣、第一半环以及第二半环;所述第一半环通过第一转轴设置在圆箍上,所述第二半环通过卡扣与第一半环连接,所述圆箍通过第二转轴设置在底座上,所述圆箍与第一半环下端面设有支脚,所述底座底部设有固定孔,所述工作台上设有螺纹孔;所述旋转装置通过固定孔设置在工作台上;以底座底部的固定孔为基准确定O-X-Y-Z工件坐标;102 Set the cylinder in the rotating device, and the rotating device includes: a base, a first rotating shaft, a second rotating shaft, a hoop, buckles, a first half-ring and a second half-ring; the first half-ring passes through the second half-ring A rotating shaft is arranged on the hoop, the second half ring is connected with the first half ring through buckles, the round hoop is arranged on the base through the second rotating shaft, and the lower end surface of the hoop and the first half ring is provided with Support feet, the bottom of the base is provided with a fixing hole, and the worktable is provided with a threaded hole; the rotating device is arranged on the workbench through the fixing hole; the O-X-Y-Z workpiece coordinates are determined based on the fixing hole at the bottom of the base;
②确定圆柱体初始位姿,将测点投影至x-o-y平面,确定其最小二乘拟合圆心;②Determine the initial pose of the cylinder, project the measuring point to the x-o-y plane, and determine its least square fitting circle center;
201确定圆柱体初始位姿,φα=0°,φβ=0°,利用测头对圆柱体进行接触式采点得到测点Pi,其中i=1,2,...n;201 Determine the initial pose of the cylinder, φ α = 0°, φ β = 0°, use the probe to collect points in contact with the cylinder to obtain the measurement point P i , where i=1,2,...n;
202将测点投影至x-o-y平面,得到平面上的投影点其中i=1,2,...n;求出的最小二乘拟合圆圆心坐标为Oz1(a,b),其中 202 Project the measurement points to the xoy plane to obtain the projection points on the plane Where i=1,2,...n; find The coordinates of the center of the least square fitting circle are O z1 (a,b), where
③通过移动圆心Oz1(a,b)确定投影测点的最小包容圆,求得当前位姿下圆柱度值;③ Determine the projected measuring point by moving the center of the circle O z1 (a,b) The minimum enclosing circle of , and obtain the cylindricity value under the current pose;
301确定所有投影点距最小二乘圆心Oz1的距离,记为ri,其中i=1,2,...n;并找出ri的最大值rmax和最小值rmin,分别记所对应的投影点为H1、L1,即为外接触点和内接触点;301 Determine all projected points The distance from the least square center O z1 is recorded as r i , where i =1,2,...n; and find the maximum value r max and minimum value r min of ri, and record the corresponding projection points respectively are H 1 and L 1 , that is, the external contact point and the internal contact point;
302确定∠H1Oz1L1的角度α1(α1<π),及其角平分线Oz1Q1,确定γ1i=∠Pi zOz1Q1,i=1,2,...n;计算和求得el1i和eh1i的最小值e1,以e1为步长沿方向移动圆心Oz1至Oz2,找出另外一个内接触点L2;302 Determine the angle α 1 of ∠H 1 O z1 L 1 (α 1 <π), and its angle bisector O z1 Q 1 , determine γ 1i = ∠P i z O z1 Q 1 , i=1,2,.. .n; calculate with Find the minimum value e 1 of e l1i and e h1i , take e 1 as the step length along the Move the center of circle O z1 to O z2 in the direction to find another inner contact point L 2 ;
303确定∠L1Oz2L2的角度α2(α2<π),及其角平分线Oz2Q2,确定γ2i=∠Pi zOz2Q2;计算和求得el2i和eh2i的最小值e2,以e2为步长,沿方向移动圆心Oz2至Oz3,当出现内接触点时,则令其为L2,重复执行步骤303;当出现外接触点时,令其为H1,继续执行步骤304;303 Determine the angle α 2 of ∠L 1 O z2 L 2 (α 2 <π), and its angle bisector O z2 Q 2 , determine γ 2i = ∠P i z O z2 Q 2 ; calculate with Find the minimum value e 2 of e l2i and e h2i , take e 2 as the step size, along the Move the center of circle O z2 to O z3 in the direction, when an inner contact point appears, let it be L 2 , and repeat step 303; when an outer contact point appears, let it be H 1 , and continue to execute step 304;
304记锐角∠L2Oz3H1的角度为α3(α3<π),及其角平分线Oz3Q3,确定γ3i=∠Pi zOz3Q3;计算和求得el3i和eh3i的最小值e3,以e3为步长,沿方向移动圆心Oz3至Oz4,当出现内接触点时,则令其为L2,重复步骤304;当出现外接触点时,则令其为H2,继续执行步骤305;304 Record the angle of acute angle ∠L 2 O z3 H 1 as α 3 (α 3 <π), and its angle bisector O z3 Q 3 , determine γ 3i =∠P i z O z3 Q 3 ; calculate with Find the minimum value e3 of e l3i and e h3i , take e3 as the step size, along the Move the center of circle O z3 to O z4 in the direction, when an inner contact point appears, let it be L 2 , and repeat step 304; when an outer contact point appears, let it be H 2 , and continue to execute step 305;
305判断线段L1L2、H1H2是否在被提取轮廓内有交点,当存在交点时,继续执行步骤306;否则,舍去H1,并令H2=H1,执行步骤304;305 judge whether the line segment L 1 L 2 , H 1 H 2 has an intersection point in the extracted contour, if there is an intersection point, proceed to step 306; otherwise, discard H 1 , set H 2 =H 1 , and execute step 304;
306在求得最小包容圆心的条件下,确定所有二维投影点Pi z到最小包容圆心的距离ri′,其中i=1,2,...n,计算圆柱度f=max{ri′}-min{ri′},i=1,2,...,n,即为当前位姿状态下的圆柱度值;306 Under the condition of finding the minimum contained circle center, determine the distance r i ′ from all two-dimensional projected points P i z to the minimum contained circle center, where i=1, 2,...n, and calculate the cylindricity f=max{r i ′}-min{r i ′}, i=1,2,...,n, which is the cylindricity value in the current pose state;
④变化圆柱体的位姿,确定不同位姿下圆柱度值的最小值;④ Change the pose of the cylinder and determine the minimum value of cylindricity under different poses;
401确定位姿变换步长e0,令φα=φα+e0(i-1),φβ=φβ+e0(j-1),i,j=0,1,2,...n,利用工件坐标系确定圆柱体新的位姿态,进行接触式采点,执行步骤③,并计算fi,j;401 Determine the pose transformation step size e 0 , set φ α =φ α +e 0 (i-1), φ β =φ β +e 0 (j-1), i,j=0,1,2,. ..n, use the workpiece coordinate system to determine the new position and posture of the cylinder, perform contact point collection, perform step ③, and calculate f i,j ;
402当f1,1不是fi,j的最小值时,i,j=0,1,2,...n,找出fi,j的最小值记为fi',j',i′,j′=0,1,2,...n令φα=φα+e0(i'-1),φβ=φβ+e0(j'-1),并依此转动旋转机构的位置,确定圆柱体(14)新的位姿态,进行接触式采点,执行步骤③,并计算fi,j,重复执行步骤401;当f1,1为fi,j的最小值时,停止位姿变化,f1,1即为圆柱体的圆柱度值。402 When f 1,1 is not the minimum value of f i,j , i,j=0,1,2,...n, find the minimum value of f i,j and record it as f i',j' , i ′,j'=0,1,2,...n Let φ α =φ α +e 0 (i'-1), φ β =φ β +e 0 (j'-1), and rotate accordingly Rotate the position of the mechanism, determine the new position and posture of the cylinder (14), perform contact point collection, perform step ③, and calculate f i,j , repeat step 401; when f 1,1 is the minimum value of f i,j When the value is , the pose change is stopped, and f 1,1 is the cylindricity value of the cylinder.
所述支脚端部截面呈椭圆形,所述支脚下端设有橡胶垫。The cross-section of the end of the leg is oval, and the lower end of the leg is provided with a rubber pad.
所述位姿角度φα、φβ的变化范围均为-90°~90°。The variation ranges of the pose angles φ α and φ β are both -90° to 90°.
所述第一半环与圆箍同轴设置,所述支脚的个数为5个或以上。The first half ring is arranged coaxially with the hoop, and the number of the legs is 5 or more.
本发明的积极效果如下:本发明通过调节旋转装置,利用工件坐标系与步长确定不同的位姿角度,避免了多次装夹,提高了操作的适应性;本发明利用卡扣连接的第二半环可以在第一半环上进行伸缩调节,极大地扩展了旋转机构的装夹范围,方便了测量;本发明通过第一转轴和第二转轴的转动完成两个垂直平面内角度的确定,各个位姿角通过支脚在底座上滑移确定并通过橡胶垫最终固定,为后续测头取点奠定基础;本发明通过将三坐标测量机在圆柱体上采集的三维测点投影至平面,通过迭代的方法搜索最小区域圆的圆心,大大简化了搜索的计算量;本发明投影后的测点通过最小二乘法确定圆心的初始值,使确定姿态下的搜索过程更加快捷,通过选取移心方向和移心步长,降低了搜索次数,提高了搜索精度,最终所求圆柱度误差更为精确。The positive effects of the present invention are as follows: the present invention uses the workpiece coordinate system and the step length to determine different pose angles by adjusting the rotating device, avoids multiple clamping, and improves the adaptability of the operation; the present invention utilizes the first buckle connection The second half ring can be telescopically adjusted on the first half ring, which greatly expands the clamping range of the rotating mechanism and facilitates measurement; the invention completes the determination of the angles in two vertical planes through the rotation of the first rotating shaft and the second rotating shaft , each pose angle is determined by the sliding of the feet on the base and finally fixed by the rubber pad, which lays the foundation for the subsequent measuring head to take points; the present invention projects the three-dimensional measuring points collected by the three-dimensional measuring machine on the cylinder to the plane, Searching for the center of the circle in the smallest area by an iterative method greatly simplifies the amount of calculation of the search; the projected measuring point of the present invention determines the initial value of the center of the circle through the least square method, which makes the search process faster under the determined attitude. The direction and center-shifting step size reduce the number of searches and improve the search accuracy, and finally the cylindricity error obtained is more accurate.
附图说明Description of drawings
图1为本发明结构示意图;Fig. 1 is a structural representation of the present invention;
图2为本发明支脚结构示意图;Fig. 2 is a schematic diagram of the structure of the supporting foot of the present invention;
图3为本发明底座结构示意图;Fig. 3 is a schematic diagram of the structure of the base of the present invention;
图4为本发明移动最小二乘圆心得最小包容圆心方法的示意图;Fig. 4 is a schematic diagram of the method for moving the least squares center of the present invention to obtain the minimum contained circle center;
图5为本发明判定最小包容圆交叉准则示意图;Fig. 5 is a schematic diagram of judging minimum enclosing circle intersection criterion in the present invention;
图6为本发明计算当前位姿下测量点圆柱度方法的流程图;Fig. 6 is the flow chart of the method for calculating the cylindricity of the measuring point under the present invention;
图7为本发明改变圆柱位姿得最小圆柱度的方法的流程图;Fig. 7 is a flow chart of the method for changing the minimum cylindricity of the cylindrical pose in the present invention;
图8为本发明工件坐标系示意图;Fig. 8 is a schematic diagram of the workpiece coordinate system of the present invention;
在图中:1底座、2第一转轴、3第二转轴、4圆箍、5卡扣、6第二半环、7支脚、8第一半环、9固定孔、10橡胶垫、11工作台、12测头、13螺纹孔、14圆柱体、15立柱。In the picture: 1 base, 2 first shaft, 3 second shaft, 4 hoop, 5 buckle, 6 second half ring, 7 feet, 8 first half ring, 9 fixing hole, 10 rubber pad, 11 work Taiwan, 12 probes, 13 threaded holes, 14 cylinders, 15 columns.
具体实施方式detailed description
下面结合附图和具体实例对本发明进行详细说明。The present invention will be described in detail below in conjunction with the accompanying drawings and specific examples.
如图1-8所示,本发明一种圆柱度在机检测方法,采用步骤如下:As shown in Figures 1-8, an on-machine detection method for cylindricity of the present invention adopts the following steps:
①利用旋转装置对被测圆柱体14进行装夹,并基于三坐标测量机建立工件坐标系;①Use the rotating device to clamp the measured cylinder 14, and establish the workpiece coordinate system based on the three-coordinate measuring machine;
101启动三坐标测量机,移动设置在工作台11上的立柱15对测头12的半径进行校准;101 Start the three-coordinate measuring machine, move the column 15 arranged on the workbench 11 to calibrate the radius of the probe 12;
102将圆柱体14设置在旋转装置内,所述旋转装置包括:底座1、第一转轴2、第二转轴3、圆箍4、卡扣5、第一半环8以及第二半环6;所述第一半环8通过第一转轴2设置在圆箍4上,所述第二半环6通过卡扣5与第一半环8连接,所述圆箍4通过第二转轴3设置在底座1上,所述圆箍4与第一半环8下端面设有支脚7,所述底座1底部设有固定孔9,所述工作台11上设有螺纹孔13;所述旋转装置通过固定孔9设置在工作台11上;以底座1底部的固定孔9为基准确定O-X-Y-Z工件坐标;所述支脚7端部截面呈椭圆形,所述支脚7下端设有橡胶垫10,所述位姿角度φα、φβ的变化范围均为-90°~90°,所述第一半环8与圆箍4同轴设置,所述支脚7的个数为5个或以上,本发明第二半环6材质为塑料,且在第二半环6的内壁上均布有平行浮点,用于固定被测圆柱体14,所述每行浮点的个数为6~8个,所述底座1呈半球形,所述支脚7底端与底座1相切,并能在底座1上自由滑动,所述支脚7上端铰接在第一半环8和圆箍4上;102 Set the cylinder 14 in the rotating device, the rotating device includes: a base 1, a first rotating shaft 2, a second rotating shaft 3, a hoop 4, a buckle 5, a first half ring 8 and a second half ring 6; The first half ring 8 is set on the hoop 4 through the first rotating shaft 2 , the second half ring 6 is connected with the first half ring 8 through the buckle 5 , and the hoop 4 is set on the hoop 4 through the second shaft 3 On the base 1, the lower end surface of the hoop 4 and the first half ring 8 is provided with a leg 7, the bottom of the base 1 is provided with a fixing hole 9, and the workbench 11 is provided with a threaded hole 13; the rotating device passes through The fixing hole 9 is arranged on the workbench 11; the OXYZ workpiece coordinates are determined based on the fixing hole 9 at the bottom of the base 1; The variation ranges of attitude angles φ α and φ β are both -90°~90°, the first semi-ring 8 is arranged coaxially with the hoop 4, and the number of the legs 7 is 5 or more. The material of the second semi-ring 6 is plastic, and parallel floating points are evenly distributed on the inner wall of the second semi-ring 6, which are used to fix the measured cylinder 14. The number of floating points in each row is 6-8, so The base 1 is hemispherical, the bottom end of the support foot 7 is tangent to the base 1, and can slide freely on the base 1, and the upper end of the support foot 7 is hinged on the first half ring 8 and the hoop 4;
②确定圆柱体14初始位姿,将测点投影至x-o-y平面,确定其最小二乘拟合圆心;② Determining the initial pose of the cylinder 14, projecting the measuring points to the x-o-y plane, and determining the center of the least square fitting circle;
201确定圆柱体14初始位姿,通过调节旋转装置使φα=0°,φβ=0°,并利用支脚7下端的橡胶垫10进行固定,然后利用测头12对圆柱体14进行接触式采点得到三维测点Pi,其中i=1,2,...n;所述测点采用分层均匀分布形式,一般沿圆柱体14轴线方向分布3~4层测点,每层在圆柱体14切面圆周上等距均匀分布5~7个测点;201 Determine the initial pose of the cylinder 14, adjust the rotating device to make φ α = 0°, φ β = 0°, and use the rubber pad 10 at the lower end of the foot 7 to fix it, and then use the probe 12 to contact the cylinder 14 Points are collected to obtain three-dimensional measuring points P i , where i=1, 2,...n; the measuring points are uniformly distributed in layers, and generally 3 to 4 layers of measuring points are distributed along the axis of the cylinder 14, and each layer is in the 5 to 7 measuring points are evenly distributed on the circumference of the 14-section of the cylinder;
202将测点投影至机器坐标系X-O-Y平面,得到平面上的二维投影点其中i=1,2,...n;将二维投影点进行最小二乘圆拟合,求出的最小二乘拟合圆圆心坐标为Oz1(a,b),其中 202 Project the measuring point to the XOY plane of the machine coordinate system to obtain the two-dimensional projection point on the plane Where i=1,2,...n; the least squares circle fitting is performed on the two-dimensional projected points to obtain The coordinates of the center of the least square fitting circle are O z1 (a,b), where
③通过移动最小二乘圆心Oz1(a,b)确定投影测点的最小包容圆,求得当前位姿下圆柱度值;③ Determine the projected measuring point by moving the least square center O z1 (a,b) The minimum enclosing circle of , and obtain the cylindricity value under the current pose;
301确定所有二维投影点距最小二乘圆心Oz1的距离,记为ri,其中i=1,2,...n;并找出ri的最大值rmax和最小值rmin,分别记所对应的投影点为H1、L1,即为外接触点和内接触点;301 Determine all 2D projection points The distance from the least square center O z1 is recorded as r i , where i =1,2,...n; and find the maximum value r max and minimum value r min of ri, and record the corresponding projection points respectively H 1 , L 1 , that is, the external contact point and the internal contact point;
302确定∠H1Oz1L1的角度α1(α1<π),及其角平分线Oz1Q1,确定γ1i=∠Pi zOz1Q1,i=1,2,...n;计算和求得el1i和eh1i的最小值e1,以e1为步长沿方向移动初始最小二乘圆心Oz1至Oz2,找出另外一个内接触点L2;302 Determine the angle α 1 of ∠H 1 O z1 L 1 (α 1 <π), and its angle bisector O z1 Q 1 , determine γ 1i = ∠P i z O z1 Q 1 , i=1,2,.. .n; calculate with Find the minimum value e 1 of e l1i and e h1i , take e 1 as the step length along the Move the initial least square circle center O z1 to O z2 in the direction to find another inner contact point L 2 ;
303确定∠L1Oz2L2的角度α2(α2<π),及其角平分线Oz2Q2,确定γ2i=∠Pi zOz2Q2;计算和求得el2i和eh2i的最小值e2,以e2为步长,沿方向移动圆心Oz2至Oz3,当出现内接触点时,则令其为L2,重复执行步骤303;当出现外接触点时,令其为H1,继续执行步骤304;303 Determine the angle α 2 of ∠L 1 O z2 L 2 (α 2 <π), and its angle bisector O z2 Q 2 , determine γ 2i = ∠P i z O z2 Q 2 ; calculate with Find the minimum value e 2 of e l2i and e h2i , take e 2 as the step size, along the Move the center of circle O z2 to O z3 in the direction, when an inner contact point appears, let it be L 2 , and repeat step 303; when an outer contact point appears, let it be H 1 , and continue to execute step 304;
304记锐角∠L2Oz3H1的角度为α3(α3<π),及其角平分线Oz3Q3,确定γ3i=∠Pi zOz3Q3;计算和求得el3i和eh3i的最小值e3,以e3为步长,沿方向移动圆心Oz3至Oz4,当出现内接触点时,则令其为L2,重复步骤304;当出现外接触点时,则令其为H2,继续执行步骤305;304 Record the angle of acute angle ∠L 2 O z3 H 1 as α 3 (α 3 <π), and its angle bisector O z3 Q 3 , determine γ 3i =∠P i z O z3 Q 3 ; calculate with Find the minimum value e 3 of e l3i and e h3i , take e 3 as the step size, along the Move the center of circle O z3 to O z4 in the direction, when an inner contact point appears, let it be L 2 , and repeat step 304; when an outer contact point appears, let it be H 2 , and continue to execute step 305;
305判断线段L1L2、H1H2是否在被提取轮廓内有交点,当存在交点时,则满足最小包容圆的交叉准则,继续执行步骤306;否则,舍去H1,并令H2=H1,执行步骤304;305 Determine whether the line segment L 1 L 2 , H 1 H 2 has an intersection point in the extracted contour, if there is an intersection point, then the intersection criterion of the smallest enclosing circle is met, and proceed to step 306; otherwise, discard H 1 , and make H 2 = H 1 , execute step 304;
306在求得最小包容圆心的条件下,确定所有二维投影点Pi z到最小包容圆心的距离ri′,其中i=1,2,...n,计算圆柱度f=max{ri′}-min{ri′},i=1,2,...,n,即为圆柱体14当前位姿状态下的圆柱度值;306 Under the condition of finding the minimum contained circle center, determine the distance r i ′ from all two-dimensional projected points P i z to the minimum contained circle center, where i=1, 2,...n, and calculate the cylindricity f=max{r i ′}-min{r i ′}, i=1, 2,..., n, which is the cylindricity value of the cylinder 14 in the current pose state;
④变化圆柱体14的位姿,确定不同位姿下圆柱度值的最小值;④ change the pose of the cylinder 14, and determine the minimum value of the cylindricity value under different poses;
401确定位姿变换步长e0,所述步长e0值分别取2°与5°进行迭代运算,为了保证取点精度,保证e05°以内,而后令φα=φα+e0(i-1),φβ=φβ+e0(j-1),i,j=0,1,2,...n,利用工件坐标系确定圆柱体14新的位姿态,进行接触式采点,所述测点采用分层均匀分布形式,一般沿圆柱体14轴线方向分布3~4层测点,每层在圆柱体14切面圆周上等距均匀分布5~7个测点,执行步骤③,并计算各位姿状态下圆柱体14的圆柱度值fi,j;401 Determine the pose transformation step size e 0 , the value of the step size e 0 is 2° and 5° respectively for iterative calculation, in order to ensure the accuracy of point selection, ensure that e 0 is within 5°, and then set φ α =φ α +e 0 (i-1), φ β = φ β + e 0 (j-1), i, j = 0, 1, 2,... n, use the workpiece coordinate system to determine the new position and posture of the cylinder 14, and proceed Contact point collection, the measuring points are uniformly distributed in layers, generally 3 to 4 layers of measuring points are distributed along the axis of the cylinder 14, and 5 to 7 measuring points are evenly distributed on each layer on the circumference of the cutting surface of the cylinder 14 , execute step ③, and calculate the cylindricity value f i,j of the cylinder 14 in each attitude state;
402当f1,1不是fi,j的最小值时,i,j=0,1,2,...n,找出各位姿状态下圆柱度值fi,j的最小值记为fi',j',i′,j′=0,1,2,...n令φα=φα+e0(i'-1),φβ=φβ+e0(j'-1),并依此转动旋转机构的位置,确定圆柱体14新的位姿态,进行接触式采点,所述测点采用分层均匀分布形式,一般沿圆柱体14轴线方向分布3~4层测点,每层在圆柱体14切面圆周上等距均匀分布5~7个测点,执行步骤③,并计算各位姿状态下圆柱体14的圆柱度值fi,j,重复执行步骤401;当f1,1为fi,j的最小值时,停止位姿变化,f1,1即为圆柱体14的圆柱度值。402 When f 1,1 is not the minimum value of f i,j , i,j=0,1,2,...n, find out the minimum value of cylindricity value f i,j in each posture state and record it as f i',j' , i',j'=0,1,2,...n let φ α =φ α +e 0 (i'-1), φ β =φ β +e 0 (j'- 1), and rotate the position of the rotating mechanism accordingly, determine the new position and posture of the cylinder 14, and carry out contact-type sampling. The measurement points adopt a layered and evenly distributed form, and generally distribute 3 to 4 layers along the axis of the cylinder 14 Measuring points, each layer distributes 5 to 7 measuring points equidistantly on the circumference of the tangent plane of the cylinder 14, execute step ③, and calculate the cylindricity value f i,j of the cylinder 14 in each attitude state, and repeat step 401; When f 1,1 is the minimum value of f i,j , the pose change is stopped, and f 1,1 is the cylindricity value of the cylinder 14 .
以上所述实施方式仅为本发明的优选实施例,而并非本发明可行实施的穷举。对于本领域一般技术人员而言,在不背离本发明原理和精神的前提下对其所作出的任何显而易见的改动,都应当被认为包含在本发明的权利要求保护范围之内。The implementation manners described above are only preferred embodiments of the present invention, rather than an exhaustive list of feasible implementations of the present invention. For those skilled in the art, any obvious changes made without departing from the principle and spirit of the present invention should be considered to be included in the protection scope of the claims of the present invention.
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