CN106989706A - Center of circle measuring method that a kind of large-scale circular workpiece is operated to the heart and to heart operation device - Google Patents

Center of circle measuring method that a kind of large-scale circular workpiece is operated to the heart and to heart operation device Download PDF

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Publication number
CN106989706A
CN106989706A CN201710148871.1A CN201710148871A CN106989706A CN 106989706 A CN106989706 A CN 106989706A CN 201710148871 A CN201710148871 A CN 201710148871A CN 106989706 A CN106989706 A CN 106989706A
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circle
point
measuring
measuring probe
mobile platform
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CN106989706B (en
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姚世选
李论
张旭
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Dalian Jiaotong University
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Dalian Jiaotong University
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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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Automation & Control Theory (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

It is an object of the invention to provide one kind in, the high-precision center of circle measuring method and device operated to the heart is needed on large-size numerical control machine to large-scale circular workpiece, measurement apparatus includes base mobile platform (1), limit switch (2), Y-axis mobile platform (3), X-axis mobile platform (4), mechanical handwheel (5), rotary shaft (6), servomotor (7), measure axle (8), contact type measurement pops one's head in (9), controller 10, base mobile platform (1) has two frees degree, the X-axis mobile platform (4) of the X-direction of i.e. parallel mechanical pedestal, with the Y-axis mobile platform (3) of the Y direction of vertical mechanical base, workpiece effectively can be moved to optional position, measurement axle (8) has two frees degree, direction is as base mobile platform, to carry out the measurement of measuring point coordinate；Rotary shaft can be moved up and down so that measuring probe can be deep to down on the inside of round piece；Controller (10) is used for the movement locus for controlling measuring probe, and installed in upright post base surface, in the intersection of base mobile platform (1) and column, its bus is connected to servomotor (7) along column.

Description

Center of circle measuring method that a kind of large-scale circular workpiece is operated to the heart and to heart operation device
Technical field
The present invention relates to a kind of center of circle measuring method and device being set with for high precision cylindrical, more particularly to for filling With in high precision cylindrical workpiece, large-size numerical control machine.
Background technology
In numerical control field, center alignment method when needing to operate the heart to two large-scale circular workpiece is:From seeking border Touch on one of them hollow circular inside workpiece at any 3 points, the mechanical coordinate of these three points is stored in digital control system variable In, a circle can be determined due to 3 points, the function being internally integrated by digital control system calculates central coordinate of circle.The above method Although central coordinate of circle can be determined, in practical application, the error between the coordinate and true coordinate in the center of circle obtained by calculating is very Greatly, it is that 3 points of distributions can not be optimal Spreading requirements first, the central coordinate of circle so asked for has larger error；Its subsystem The data of internal magnanimity cause committed memory very big, it is difficult to meet the higher center of circle measuring and calculating of real-time；Finally in, large-sized numerical control Application when lathe is assembled using seeking border progress center of circle positioning is very few, uses seeking border to carry out the center of circle and positions more offices It is limited to machining center.
The content of the invention
In view of the above-mentioned problems, it is an object of the invention to provide one kind to large-scale circular workpiece in, on large-size numerical control machine Need the high-precision center of circle measuring method and device operated to the heart.
To achieve the above object, the invention discloses following technical scheme：It is a kind of be used in, large-size numerical control machine it is large-scale The center of circle measuring method that round piece is operated to the heart, the round piece internal diameter is r, calculates the round piece central coordinate of circle O (x, y) The step of include：
1) any two points P on round piece is measured using measuring probe1, P2Coordinate be respectively (x1, y1), (x2, y2)；
2) selection is with P1The starting point measured as line-of-sight course, ∠ P1OP2 are θ1, according to line-of-sight course, 3 points of distributions are according to just Triangle-Profile, i.e. each two point and the angle in the center of circle are 120 °, then first effective measuring point D1With OP2Between angle be θ 2, thenFoundation is moved to first Individual measuring point D1The locus circle O that detours1, OP2It is round O1In P2 tangent line, circle O1RadiusAccording to P2Point coordinates With the radius r for detouring roundO1, determine the track of detouring of measuring probeFor with O1It is r for center of circle radiusO1Be located at circle O in Circular arcMeasuring probe is along circular arcMotion, until measuring probe stops after touching the edge of round piece, institute The position of stopping is D1Point, now, can measure D1Coordinate (the x of pointD1, yD1)；
3) set up from D1It is moved to second effective measuring point D2The locus circle O that detours2, circle O radius OD1It is round O2In D1Point Tangent line, according to equilateral triangle be distributed three point coordinates,Circle O2RadiusAccording to D1Point coordinates and the round O that detours2Radius rO2, just can determine that the track of detouring of measuring probeFor with O2It is r for center of circle radiusO2Be located at circle O in arc trackMeasuring probe is along arc trackMotion, until measurement Probe stops after touching the edge of round piece, the position stopped as D2Point, now, can measure D2The coordinate of point
3) set up from D2It is moved to the 3rd effective measuring point D3The locus circle O that detours3, circle O radius OD2It is round O3In D2Point Tangent line, according to equilateral triangle be distributed three point coordinates,Obtain round O3RadiusAccording to D2Point coordinates and the round O that detours3Radius rO3, just can determine that the track of detouring of measuring probeFor with O3It is r for center of circle radiusO3Be located at circle O in arc trackMeasuring probe is along arc trackMotion, until measurement Probe stops after touching the edge of round piece, the position stopped as D3Point, now, can measure D3The coordinate of point (xD3, yD3)；
4) 6 parametric variables a, b, c, d, e, f are set up：A=2 × (xD2-xD1), b=2 × (yD2-yD1), c=xD2 2+yD2 2- xD1 2-yD1 2, d=2 × (cD3-xD2), e=2 × (yD3-yD2), f=xD3 2+yD3 2-xD2 2-yD2 2, the coordinate O (x, y) of center of circle O points For：
Measuring method as described above, measuring probe is in P2Point X-direction may have positive and negative, 0 three kinds of direction of displacement, its In " 0 " for left and right can not advance, the direction of circling of measuring probe is by the direction of displacement and θ2Positive and negative values determine：The first Situation：Work as θ2For positive number or 0, and direction of displacement is just or 0, measuring probe is around O1Rotate counterclockwise；Second of situation：Work as θ2For Positive number or 0, and direction of displacement is negative, measuring probe is around O1Turn clockwise；The third situation：Work as θ2For negative, and direction of displacement For positive number or 0, measuring probe is around O1Turn clockwise；4th kind of situation：Work as θ2For negative, and direction of displacement is negative：Measuring probe Around O1Rotate counterclockwise.
Measuring method described above, measuring probe is in D1The direction of circling of point：The first situation：Work as θ2For positive number or 0, survey Amount probe direction of circling is identical with first time direction of circling；Second of situation：Work as θ2For negative, measuring probe direction of circling and One time direction of circling is opposite.
A kind of center of circle measurement apparatus of circular suit, includes base mobile platform 1, limit switch 2, Y-axis mobile platform 3, X Axle mobile platform 4, mechanical handwheel 5, rotary shaft 6, servomotor 7 measures axle 8, contact type measurement probe 9, controller 10, base Mobile platform 1 has the Y of two frees degree, i.e., the X-axis mobile platform 4 of the X-direction of parallel mechanical pedestal, and vertical mechanical base The Y-axis mobile platform 3 of direction of principal axis, effectively can be moved to optional position, measurement axle 8 has two frees degree, direction by workpiece As base mobile platform, to carry out the measurement of measuring point coordinate；Rotary shaft can be moved up and down so that measuring probe can descend depth On the inside of to round piece；Controller 10 is used for the movement locus for controlling measuring probe, installed in upright post base surface, is moved in base The intersection of moving platform 1 and column, its bus is connected to servomotor 7 along column.
It is characterized in that：The measurement apparatus measures the circle of circular suit using measuring method as claimed in claim 1 The heart.
Base mobile platform 1 is responsible for loading circular hollow workpiece to be measured, when a measurement is started, and base mobile platform stops Any movement, can be moved to bushing device position and the heart is operated after being measured.Limit switch 2 base, column and To control the stroke and position limitation protection of motion on crossbeam.Column is fixed with base, and rotary shaft 6 is carried on column, from When base mobile platform 1 takes out large-scale circular workpiece or amplifier to base mobile platform 1, rotary shaft is rotated to other positions Put and avoid occurring wiping touching, when a measurement is taken, rotary shaft must in itself also can be in column with base keeping parallelism relation, rotary shaft Move up and down, so that being deep under measuring probe on the inside of round piece.Measurement axle 8 can carry out left and right directions on crossbeam Movement to measure the X-direction coordinate of round piece, contact type measurement probe 9 is carried inside measurement axle 8 with module can be with Fore-and-aft direction movement is carried out to measure the Y direction coordinate of round piece.Servomotor 7 is arranged in each motion, such as Base mobile platform, rotary shaft and measurement axle.Mechanical handwheel 5 is attached to measurement axle 8 to screw measuring probe, prevents from surveying Vibrations are come in contact during amount to cause error, are also attached to base mobile platform 1 to screw the circle of generation measurement Workpiece avoids shaking during measurement.
Controller 10 is calculated comprising acquisition module, Logic control module, motion-control module, coordinate registration module, data Module, alarm module, warning module.
Signal acquisition module is responsible for gathering the signal of measuring probe and is delivered to logic control mould after signal filtering is amplified Block.Substantial amounts of logic control algorithm has been deposited inside Logic control module, and other modules are controlled in real time according to feature, has been moved Control module is that control measurement axle is moved according to coordinate information and Motor execution program, and the current coordinate letter of Real-time Feedback Breath.Data computation module will handle the effective measuring point of initial data such as first for calculating and being obtained after measuring probe signal acquisition is returned D1With OP2Between angle theta2, exradius ro1、ro2、ro3, by the way that result data is passed into coordinate after the calculating of backstage algorithm Registration module.Coordinate registration module is used for the result data and reception motion-control module that registered data computing module is calculated The coordinate information of feedback, and coordinate information is passed into Logic control module in real time.Alarm drive module receives hardware, software Buzzer and LED light are driven after the signal that warning module is sent at once, and warning message is fed back into Logic control module In.
When measurement process starts, Logic control module sends signal and is delivered in motion-control module first, motion control Module, which is received, calls process of measurement after signal so that measurement axle drops to large-scale circular inside workpiece random site, i.e. P points position Put, proceed by Y-direction movement with rear base mobile platform, when measuring probe touches inwall, send signal at once Signal acquisition module, signal acquisition module receives first to filter signal after signal amplifies again, is then passed to Logic control module, Logic control module converts the signal into data message and is sent to numerical control computing module to be deposited in coordinate registration module again, afterwards instead It is fed in Logic control module and motion-control module, so can be obtained by P1Point coordinate data, base platform progress afterwards- Y-direction is moved, and P can be similarly obtained after measuring probe touches inwall2Point coordinate data, now data computation module is rear Platform calculates first effective measuring point D using respective algorithms1With OP2Between angle theta2With exradius ro1, and by data register In coordinate registration module；In planning D1Point, D2Point, D3During the measurement track of point, Logic control module Call Condition judges that signal is passed It is delivered in motion-control module, motion-control module, which sends signal, makes base mobile platform in P24 directions of point respectively carry out micro- The displacement of amount, now signal is passed to signal acquisition module by measuring probe, then is delivered to Logic control module, logic control mould Block sends signal after measurement track is internally determined in processor so that motion-control module calls circular arc path motor program, So that base mobile platform carries out picture circular motion inside round piece in the way of X, Y direction linkage, when measuring probe is touched To D can be obtained during inwall1Point coordinate data, now data computation module calculate exradius using respective algorithms on backstage ro2, and by data register in coordinate registration module.Rear base mobile platform continue above-mentioned measurement procedure, similarly D2, D3Coordinate Data can be obtained successively.Final data computing module is according to D1, D2, D3The coordinate data of point, calculates the origin of round piece O (x, y), and deposit into coordinate registration module.Measurement process terminate rear Logic control module send assembling signal to motion control In molding block, motion-control module, which is read, carries out X-axis and Y direction after round piece origin O (x, y) coordinate data Difference, which is mended, to be calculated so that base mobile platform carries round piece and is moved to rigging position, and makes the circle of two round pieces Heart coordinate data is equal.
The present invention is due to taking above technical scheme, and it has advantages below：The measuring method has considered line-of-sight course Ask optimal 3 points of distributions and the tangentially oriented error of radius in the center of circle minimum, can direct of travel and measurement drift angle using measurement apparatus Judge, measurement apparatus, with digital control system platform, voluntarily plans the travel path of peak efficiency by the way of contact type measurement And the point coordinates of inwall three is accurately positioned, three point coordinates is in circle into equilateral triangle distribution, than any 3 points distribution measuring and calculating centers of circle More accurate strict, the central coordinate of circle calculated does comparative analysis with simulation result, in being then applied to, large scale industry circle set During installing is standby, the measuring method meets the validity and real-time that center of circle positioning is carried out based on geometric properties, is well positioned to meet High-precision center of circle positioning sleeve reload request in all kinds of actual production processing.
Brief description of the drawings
Fig. 1 is the measurement part that high precision cylindrical is set with mechanical device；
In Fig. 2；(a) it is point P1With point P2Position schematic diagram；(b) it is first effective measuring point D1Position schematic diagram；(c) it is Determine the first measuring point D1The schematic diagram for the track different situations that detour；(d) it is second effective measuring point D2Position schematic diagram；(e) it is true Fixed second measuring point D2The schematic diagram for the track different situations that detour；(f) it is the 3rd effective measuring point D3Position schematic diagram；(g) it is the 3rd Measuring point D3Preferable and actual figure
In figure：1st, mechanical pedestal, 2, limit switch, 3, Y-axis mobile platform, 4, X-axis mobile platform, 5, mechanical handwheel, 6, Rotary shaft, 7, servomotor, 8, measurement axle, 9, contact type measurement probe, 10, controller.
Embodiment
The present invention is described in detail with reference to the accompanying drawings and examples.
Center of circle measuring method and its mechanical measuring device that the present invention is set with including high precision cylindrical, as shown in figure 1, mechanical Measurement apparatus mainly includes base mobile platform and measurement axle, and base mobile platform has two frees degree, i.e., parallel mechanical pedestal X-direction, and vertical mechanical base Y direction, workpiece effectively can be moved to optional position；Measurement axle has two The free degree, direction is as base mobile platform, to carry out center of circle measurement；Measuring probe can be moved up and down, so that surveying It is deep under amount probe on the inside of round piece.
Measuring probe, which enters inside round piece, is designated as P points, and the motion track of measuring probe is observed with the angle of vertical view, is surveyed Amount probe asks for central coordinate of circle by the way of contact type measurement with line-of-sight course, with the one direction linear interpolation for jumping slightly function (it is that measurement axle touches and performs next program after object at once to jump slightly function to the movement of motion control measuring probe, and deposits and work as Preceding coordinate), first move down acquisition P1Point coordinates (x1, y1), with P1The starting point measured as line-of-sight course (is not first Point), it is mobile then up to obtain P2Point coordinates (x2, y2), obtain ∠ P1O P2For θ 1, as shown in figure a.
In the case of known to round piece internal diameter r, 3 points of distributions of central coordinate of circle are asked for according to positive three according to line-of-sight course Angular distribution (i.e. each two point and the angle in the center of circle is 120 °), the required higher principle of center of circle accuracy, according to following public affairs Formula, tries to achieve θ2(first point D of line-of-sight course1With centre point O line segment OD1With OP2Angle).
Measuring probe reaches P2To set up afterwards and be moved to first effective measuring point D1The locus circle O that detours1, measuring probe Using circular arc path rather than straight line path carry out line-of-sight course measurement be because of transducer probe assembly to the measurement angle of measurement point not Together, it is understood that there may be the sliding error of tangential direction, measurement result is influenceed.Circle O1Set up mode as figure b shown in；
Circle O radius OP2It is round O1In P2The tangent line of point, in known θ2Under conditions of circle O radiuses r, according to below equation Ask for justifying O1Radius rO1。
Known P2Point coordinates and the radius r for detouring roundO1, it may be determined that the track of detouring of measuring probeThis measurement track It is to move (i.e. cylindrical O along circle O radial directions1Tangential direction), with jump slightly function circular arc cutting path control measurement visit Head motion, so measures obtained coordinate value error minimum.The direction of circling of measuring probe is determined below.
Measuring probe is in P2Point does positive and negative two direction of X-axis and does micro displacement (the contact offset of measuring probe), feasible The direction entered is demarcated by X-axis, there is positive and negative and 0 three kinds of situations, wherein " 0 " can not advance for left and right.Further according to θ2Positive and negative values Judge the direction of circling after measuring probe (shown in figure c)：
The first situation：Work as θ2For positive number or 0, and can direct of travel be positive number or 0：Measuring probe is around O1Rotate counterclockwise.
Second of situation：Work as θ2For positive number or 0, and can direct of travel be negative：Measuring probe is around O1Turn clockwise.
The third situation：Work as θ2For negative, and can direct of travel be positive number or 0：Measuring probe is around O1Turn clockwise.
4th kind of situation：Work as θ2For negative, and can direct of travel be negative：Measuring probe is around O1Rotate counterclockwise.
When measuring probe reaches first effective measuring point D1After obtain D1Point coordinates (xD1, yD1), then set up from D1It is mobile To second effective measuring point D2The locus circle O that detours2, circle O2Set up mode as figure d shown in.
Circle O radius OD1It is round O2In D1The tangent line of point, in order to ensure that measurement error is minimum, three are distributed according to equilateral triangle Point coordinates, in addition it is also necessary to meet：
Round O is obtained according to below equation2Radius rO2。
Known D1Point coordinates and the round O that detours2Radius rO2, just can determine that the track of detouring of measuring probeJumped and omited with band The circular arc cutting path control measuring probe motion of function, will determine measuring probe in D below1Direction of circling (the figure e institutes of point Show)：
The first situation：Work as θ2For positive number or 0, measuring probe direction of circling is identical with first time direction of circling.
Second of situation：Work as θ2For negative, measuring probe direction of circling is opposite with first time direction of circling.
When measuring probe reaches second effective measuring point D2After obtain D2Point coordinates (xD2, yD2), then set up from D2It is mobile To the 3rd effective measuring point D3The locus circle O that detours3, circle O3Set up mode as figure f shown in.
Detour locus circle O3Set up mode with circle O2It is identical, circle O radius OD2It is round O3In D2The tangent line of point, and meet：
Round O is obtained according to below equation3Radius rO3。
Known D2Point coordinates and the round O that detours3Radius rO3, just can determine that the track D that detours of measuring probe2D3, jumped and omited with band The circular arc cutting path control measuring probe motion of function, direction of circling is identical with secondary direction of circling, works as measuring probe Reach the 3rd effective measuring point D3After obtain D3Point coordinates (xD3, yD3), point D3In theory with point P1Overlap, but actually may There is deviation, as shown in figure g, if there is deviation, ask for point P1With point D3Deviation.
ΔxP=| xP1-xD3|
ΔyP=| yP1-xD3|
If Δ xPWith Δ yPAll meet deviation required precision, then point D3Even if not with point P1Overlap, also still conduct 3rd effective measuring point.According to above mathematical modeling, D is obtained1(xD1, yD1)、D2(xD2, yD2)、D3(xD3, yD3) after three point coordinates The coordinate of center of circle O points is calculated again：
First set up 6 parametric variables a, b, c, d, e, f：
A=2 × (xD2-xD1)
B=2 × (yD2-yD1)
C=xD2 2+yD2 2-xD1 2-yD1 2
D=2 × (xD3-xD2)
E=2 × (yD3-yD2)
F=xD3 2+yD3 2-xD2 2-yD2 2
The coordinate O (x, y) of center of circle O points is calculated again：
The center of circle measuring method carries Adaptive Routing control function, Automatic Optimal process, so as to reach raising life The purposes such as improved efficiency machined surface quality are produced, machine operation person need to only provide the underlying parameter information of raw material, the device system System just can intelligence selection using oplimal Location path calculate origin, be widely used in be set with different size circular work Part.

Claims (4)

1. a kind of center of circle measuring method of circular suit, its step includes：
1) any two points P1, P2 that are loaded onto using measuring probe measuring unit coordinate are respectively (x1, y1), (x2, y2), calculate set The center of circle of dress is point O (x, y), it is known that suit internal diameter is r；2) selection is with P1The starting point measured as line-of-sight course, ∠ P1OP2For θ1, according to line-of-sight course, 3 points of distributions are distributed according to equilateral triangle, i.e., each two point and the angle in the center of circle are 120 °, first Effective measuring point D1With OP2Between angle be θ2, then Foundation is moved to first measuring point D1The locus circle O that detours1, OP2It is round O1In P2 Tangent line, circle O1RadiusAccording to P2Point coordinates and the radius r for detouring roundO1, it may be determined that measuring probe Track of detouringThis track is moved along circle O radial directions, i.e., cylindrical O1Tangential direction, when measuring probe reach first Individual effective measuring point D1After can measure D1Coordinate (the x of pointD1, yD1)；
3) set up from D1It is moved to second effective measuring point D2The locus circle O that detours2, circle O radius OD1It is round O2In D1That puts cuts Line, three point coordinates are distributed according to equilateral triangle,Circle O2Radius According to D1Point coordinates and the round O that detours2Radius rO2, just can determine that the track of detouring of measuring probeThis track is along circle O half Footpath direction is moved, i.e., cylindrical O2Tangential direction, when measuring probe reach second effective measuring point D2After can measure D2The coordinate of point (xD2, yD2)；
3) set up from D2It is moved to the 3rd effective measuring point D3The locus circle O that detours3, circle O radius OD2It is round O3In D2That puts cuts Line, three point coordinates are distributed according to equilateral triangle,Obtain round O3 radiusAccording to D2Point coordinates and the round O that detours3Radius rO3, just can determine that the track of detouring of measuring probeThis Track is moved along circle O radial directions, i.e., cylindrical O3Tangential direction, when measuring probe reaches the 3rd effective measuring point D3After can Measure D3Coordinate (the x of pointD3, yD3)；
4) 6 parametric variables a, b, c, d, e, f are set up：A=2 × (xD2-xD1), b=2 × (yD2-yD1), c=xD2 2+yD2 2-xD1 2- yD1 2, d=2 × (xD3-xD2), e=2 × (yD3-yD2), f=xD3 2+yD3 2-xD2 2-yD2 2, the coordinate O (x, y) of center of circle O points：
2. measuring method as claimed in claim 1, its measuring probe is in P2Point does positive and negative two direction of X-axis and does micro displacement (survey Measure the contact offset of probe), the direction that can be advanced is demarcated by X-axis, there is positive and negative and 0 three kinds of situations, wherein " 0 " is equal for left and right It can not advance.Further according to θ2Positive and negative values judge direction of circling after measuring probe：The first situation：Work as θ2For positive number or 0, And can direct of travel be positive number or 0：Measuring probe is around O1Rotate counterclockwise；Second of situation：Work as θ2For positive number or 0, and it can advance Direction is negative：Measuring probe is around O1Turn clockwise；The third situation：Work as θ2For negative, and can direct of travel be positive number or 0： Measuring probe is around O1Turn clockwise；4th kind of situation：Work as θ2For negative, and can direct of travel be negative：Measuring probe is around O1It is inverse Hour hands rotate.
3. measuring method as claimed in claim 1 or 2, measuring probe is in D1The direction of circling of point：The first situation：Work as θ2For Positive number or 0, measuring probe direction of circling is identical with first time direction of circling；Second of situation：Work as θ2For negative, measuring probe around Line direction is opposite with first time direction of circling.
4. a kind of center of circle measurement apparatus of circular suit, includes base mobile platform (1), limit switch (2), Y-axis mobile platform (3), X-axis mobile platform (4), mechanical handwheel (5), rotary shaft (6), servomotor (7), measurement axle (8), contact type measurement probe (9), base mobile platform (1) has two frees degree, i.e., the X-axis mobile platform (4) of the X-direction of parallel mechanical pedestal, and hangs down The Y-axis mobile platform (3) of the Y direction of straight mechanical pedestal, effectively can be moved to optional position, measurement axle (8) by workpiece There are two frees degree, direction is as base mobile platform, to carry out center of circle measurement；Measuring probe can be moved up and down, so as to So that being deep under measuring probe on the inside of round piece, it is characterised in that：The measurement apparatus uses measuring and calculating as claimed in claim 1 Method measures the center of circle of circular suit.
CN201710148871.1A 2017-01-16 2017-03-14 A kind of center of circle measuring method and device for high precision cylindrical suit Expired - Fee Related CN106989706B (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114670179A (en) * 2022-03-16 2022-06-28 江西瑞祥智能装备有限公司 Robot workpiece coordinate system construction method and device, storage medium and terminal
CN116540516A (en) * 2023-05-10 2023-08-04 天王电子（深圳）有限公司 Watch automatic assembly method and watch assembly equipment

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