CN106989706B - A kind of center of circle measuring method and device for high precision cylindrical suit - Google Patents

A kind of center of circle measuring method and device for high precision cylindrical suit Download PDF

Info

Publication number
CN106989706B
CN106989706B CN201710148871.1A CN201710148871A CN106989706B CN 106989706 B CN106989706 B CN 106989706B CN 201710148871 A CN201710148871 A CN 201710148871A CN 106989706 B CN106989706 B CN 106989706B
Authority
CN
China
Prior art keywords
circle
point
measuring
measuring probe
mobile platform
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201710148871.1A
Other languages
Chinese (zh)
Other versions
CN106989706A (en
Inventor
姚世选
李论
张旭
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dalian Jiaotong University
Original Assignee
Dalian Jiaotong University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Dalian Jiaotong University filed Critical Dalian Jiaotong University
Publication of CN106989706A publication Critical patent/CN106989706A/en
Application granted granted Critical
Publication of CN106989706B publication Critical patent/CN106989706B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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

Landscapes

  • 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

The object of the present invention is to provide one kind in, the high-precision center of circle measuring method and device that large-scale circular workpiece is needed to operate the heart on large-size numerical control machine, measuring device includes pedestal mobile platform (1), limit switch (2), Y-axis mobile platform (3), X-axis mobile platform (4), mechanical handwheel (5), rotary shaft (6), servo motor (7), it measures axis (8), contact type measurement pops one's head in (9), controller 10, there are two freedom degrees for pedestal mobile platform (1), 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 pedestal, workpiece effectively can be moved to any position, measuring axis (8), there are two freedom degrees, direction is as pedestal mobile platform, to carry out the measurement of measuring point coordinate；Rotary shaft can move up and down, so that measuring probe can be deep to down on the inside of round piece；Controller (10) is used to control the motion profile of measuring probe, is mounted on upright post base surface, the intersection in pedestal mobile platform (1) and column, bus is connected to servo motor (7) along column.

Description

A kind of center of circle measuring method and device for high precision cylindrical suit
Technical field
The present invention relates to a kind of center of circle measuring methods and device for high precision cylindrical suit, more particularly to for filling With in high precision cylindrical workpiece, large-size numerical control machine.
Background technique
In numerical control field, center alignment method when operating to the heart is needed to two large-scale circular workpiece are as follows: select seeking border It touches on one of them hollow round 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, and central coordinate of circle is calculated by function that digital control system is internally integrated.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 It greatly, is that 3 points of distributions cannot be optimal Spreading requirements first, the central coordinate of circle sought in this way has large 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 The application for carrying out center of circle positioning using seeking border when lathe is assembled is very few, carries out the center of circle using seeking border and positions more offices It is limited to machining center.
Summary of the invention
In view of the above-mentioned problems, the object of the present invention is to provide one kind in, on large-size numerical control machine to large-scale circular workpiece 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 schemes: a kind of used in, the large size of large-size numerical control machine The center of circle measuring method that round piece operates the heart, the round piece internal diameter be r, calculate round piece central coordinate of circle O (x, Y) the step of includes:
1) using any two points P on measuring probe measurement round piece1, P2Coordinate be respectively (x1, y1), (x2, y2)；
2) selection is with P1As the starting point of line-of-sight course measurement, ∠ P1OP2 is θ1, according to line-of-sight course, 3 points of distributions are according to just Triangle-Profile, i.e. every 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 A measuring point D1Detour locus circle O1, OP2It is round O1In the tangent line of P2, circle O1Radius According to P2Point coordinate With the radius r for the circle that detoursO1, determine the detour track of measuring probeFor with O1It is r for center of circle radiusO1Be located at circle O in Circular arcMeasuring probe is along circular arcMovement stops, institute behind the edge that measuring probe touches round piece The position of stopping is D1Point, at this point, D can be measured1Coordinate (the x of pointD1, yD1)；
3) it establishes from D1It is moved to second effective measuring point D2Detour locus circle O2, the radius O of circle OD1It is round O2In D1Point Tangent line, according to equilateral triangle be distributed 3 coordinates,Circle O2RadiusAccording to D1Point coordinate and the circle O that detours2Radius rO2, can determine the detour track of measuring probeFor with O2It is r for center of circle radiusO2Be located at circle O in arc trackMeasuring probe is along arc trackMovement, until measurement Probe stops after touching the edge of round piece, and the position stopped is D2Point, at this point, D can be measured2The coordinate of point (xD2, yD2)；
3) it establishes from D2It is moved to third effectively measuring point D3Detour locus circle O3, the radius O of circle OD2It is round O3In D2Point Tangent line, according to equilateral triangle be distributed 3 coordinates,Find out round O3RadiusAccording to D2Point coordinate and the circle O that detours3Radius rO3, can determine the detour track of measuring probeFor with O3It is r for center of circle radiusO3Be located at circle O in arc trackMeasuring probe is along arc trackMovement, until measurement Probe stops after touching the edge of round piece, and the position stopped is D3Point, at this point, D can be measured3The coordinate of point (xD3, yD3)；
4) 6 parametric variable a, b, c, d, e, f:a=2 × (x are establishedD2-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 of center of circle O point (x, y) are as follows:
Measuring method as described above, measuring probe is in P2Point X-direction may have positive and negative, 0 three kinds of direction of displacement, In " 0 " be left and right cannot 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 positive or 0, and measuring probe is around O1Rotation counterclockwise；Second situation: work as θ2For Positive number or 0, and direction of displacement is negative, measuring probe is around O1It rotates clockwise；The third situation: work as θ2For negative, and direction of displacement For positive number or 0, measuring probe is around O1It rotates clockwise；4th kind of situation: work as θ2For negative, and direction of displacement is negative: measuring probe Around O1Rotation counterclockwise.
Such as above-mentioned measuring method, 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 as first time direction of circling；Second situation: work as θ2For negative, measuring probe direction of circling and One time direction of circling is opposite.
A kind of center of circle measuring device of round suit, includes pedestal mobile platform 1, limit switch 2, Y-axis mobile platform 3, X Axis mobile platform 4, mechanical handwheel 5, rotary shaft 6, servo motor 7 measure axis 8, contact type measurement probe 9, controller 10, pedestal There are two freedom degree, i.e., the X-axis mobile platform 4 of the X-direction of parallel mechanical pedestal and the Y of vertical mechanical pedestal for mobile platform 1 Workpiece effectively can be moved to any position by the Y-axis mobile platform 3 of axis direction, and there are two freedom degree, directions for measurement axis 8 As pedestal mobile platform, to carry out the measurement of measuring point coordinate；Rotary shaft can move up and down, so that measuring probe can descend depth On the inside of to round piece；Controller 10 is used to control the motion profile of measuring probe, is mounted on upright post base surface, moves in pedestal The intersection of moving platform 1 and column, bus are connected to servo motor 7 along column.
It is characterized by: the measuring device measures the circle of round suit using measuring method as described in claim 1 The heart.
Pedestal mobile platform 1 is responsible for loading circular hollow workpiece to be measured, and when a measurement is started, pedestal mobile platform stops Any movement can be moved to bushing device position and operate to the heart after being measured.Limit switch 2 pedestal, column and The stroke and position limitation protection of movement mechanism are controlled on crossbeam.Column is fixed with pedestal, and rotary shaft 6 is carried on column, from When pedestal mobile platform 1 takes out large-scale circular workpiece or amplifier to pedestal mobile platform 1, rotary shaft is rotated to other positions It sets and avoids occurring wiping touching, when a measurement is taken, rotary shaft must can also be in column with pedestal keeping parallelism relationship, rotary shaft itself It moves up and down, to be deep under measuring probe on the inside of round piece.Measurement axis 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 axis 8 with mould group can be with Carry out the mobile Y direction coordinate to measure round piece of front-rear direction.Servo motor 7 is mounted in each movement mechanism, such as Pedestal mobile platform, rotary shaft and measurement axis.The mechanical installation of handwheel 5 is used to screw measuring probe to measurement axis 8, prevents from surveying It is in contact vibration during amount to cause error, also installs to pedestal mobile platform 1 and is used to screw the circle of generation measurement Workpiece avoids shaking during measurement.
Controller 10 includes acquisition module, Logic control module, motion-control module, coordinate registration module, data calculating Module, alarm module, warning module.
Signal acquisition module is responsible for acquiring the signal of measuring probe and will be transmitted to logic control mould after signal filter and amplification Block.A large amount of logic control algorithm is deposited inside Logic control module, and according to other modules of functional real-time control, movement Control module be control measurement axis moved according to coordinate information and Motor execution program, and Real-time Feedback it is current coordinate letter Breath.Processing is calculated the initial data such as first effective measuring point obtained after measuring probe signal acquisition is returned by data computation module D1With OP2Between angle theta2, exradius ro1、ro2、ro3, by the way that result data is passed to coordinate after the calculating of backstage algorithm Registration module.Coordinate registration module is used to the result data that registered data computing module calculates and receives motion-control module The coordinate information of feedback, and by coordinate information real-time delivery to Logic control module.Alarm drive module receives hardware, software Buzzer and LED light are driven after the signal that warning module issues at once, and warning message is fed back to Logic control module In.
When measurement process starts, Logic control module issues signal first and is transmitted in motion-control module, motion control Module calls process of measurement after receiving signal, so that measurement axis drops to large-scale circular inside workpiece random site, i.e. P point Position starts to carry out Y-direction movement with rear base mobile platform, when measuring probe touches inner wall, at once send signal To signal acquisition module, signal acquisition module receives first to filter signal after signal amplifies again, is then passed to logic control mould Block, Logic control module, which converts the signal into data information and is sent to numerical control computing module, to be deposited again in coordinate registration module, it After feed back in Logic control module and motion-control module, can be obtained by P in this way1Point coordinate data, later base platform It is mobile to carry out -Y direction, similarly available P after measuring probe touches inner wall2Point coordinate data, data calculate mould at this time Block calculates first effective measuring point D using respective algorithms on backstage1With OP2Between angle theta2With exradius ro1, and will Data register is in coordinate registration module；In planning D1Point, D2Point, D3When the measurement track of point, Logic control module Call Condition is sentenced Break signal is transmitted in motion-control module, and motion-control module, which issues signal, makes pedestal mobile platform in P24 directions of point Micro displacement is respectively carried out, signal is passed to signal acquisition module by measuring probe at this time, then is transmitted to Logic control module, is patrolled It collects after control module determines measurement track in internal processor and issues signal, so that motion-control module calls circular arc path fortune Dynamic program works as measurement so that pedestal mobile platform carries out picture circular motion in a manner of X, Y direction linkage inside round piece Probe meets available D when inner wall1Point coordinate data, data computation module is outside backstage is calculated using respective algorithms at this time Radius of circle ro2, and by data register in coordinate registration module.Rear base mobile platform continue above-mentioned measurement procedure, similarly D2, D3Coordinate data can successively obtain.Final data computing module is according to D1, D2, D3The coordinate data of point, calculates the original of round piece Point coordinate O (x, y), and deposit into coordinate registration module.Logic control module issues assembly signal and gives after measurement process In motion-control module, motion-control module carries out X-axis and Y after reading round piece origin O (x, y) coordinate data The difference of axis direction, which is mended, to be calculated, so that pedestal mobile platform carries round piece and is moved to rigging position, and makes two circles The central coordinate of circle data of workpiece are equal.
The invention adopts the above technical scheme, which has the following advantages: the measuring method has comprehensively considered line-of-sight course Ask optimal 3 points of distributions and the tangentially oriented error of radius in the center of circle minimum, it can direction of travel and measurement drift angle using measuring device Determine, measuring device is by the way of contact type measurement, with digital control system platform, voluntarily plans the travel path of peak efficiency And 3 coordinates of inner wall are accurately positioned, which is distributed in circle at equilateral triangle, calculates the center of circle than any 3 points of distributions More accurate stringent, the central coordinate of circle and simulation result calculated does comparative analysis, be then applied in, large scale industry circle set During installing is standby, which meets the validity and real-time that center of circle positioning is carried out based on geometrical characteristic, is well positioned to meet High-precision center of circle positioning sleeve reload request in all kinds of actual production processing.
Detailed description of the invention
Fig. 1 is the measurement part of high precision cylindrical suit mechanical device；
In Fig. 2；It (a) is point P1With point P2Position schematic diagram；It (b) is first effective measuring point D1Position schematic diagram；(c) it is Determine the first measuring point D1The schematic diagram of detour track different situations；It (d) is second effective measuring point D2Position schematic diagram；It (e) is true Fixed second measuring point D2The schematic diagram of detour track different situations；It (f) is third effectively measuring point D3Position schematic diagram；It (g) is Three measuring point D3Ideal and practical figure
In figure: 1, mechanical pedestal, 2, limit switch, 3, Y-axis mobile platform, 4, X-axis mobile platform, 5, mechanical handwheel, 6, Rotary shaft, 7, servo motor, 8, measurement axis, 9, contact type measurement probe, 10, controller.
Specific embodiment
Of the invention is described in detail with reference to the accompanying drawings and examples.
The present invention includes the center of circle measuring method and its mechanical measuring device of high precision cylindrical suit, as shown in Figure 1, mechanical Measuring device mainly includes pedestal mobile platform and measurement axis, and there are two freedom degree, i.e., parallel mechanical pedestals for pedestal mobile platform X-direction and vertical mechanical pedestal Y direction, workpiece effectively can be moved to any position；It measures there are two axis Freedom degree, direction is as pedestal mobile platform, to carry out center of circle measurement；Measuring probe can move up and down, to make to survey It is deep on the inside of round piece under amount probe.
Measuring probe, which enters inside round piece, is denoted as P point, and the motion track of probe is observed and measured with the angle of vertical view, surveys Amount probe seeks central coordinate of circle with line-of-sight course by the way of contact type measurement, with the one direction linear interpolation for jumping slightly function Motion control measuring probe is mobile (to jump slightly function i.e. measurement axis and executes next program at once after touching object, and deposit and work as Preceding coordinate), it first moves down and obtains P1Point coordinate (x1, y1), with P1Starting point as line-of-sight course measurement (is not first Point), it is mobile then up to obtain P2Point coordinate (x2, y2), obtain ∠ P1O P2For θ1, as shown in figure a.
In the situation known to round piece internal diameter r, 3 points of distributions of central coordinate of circle are sought according to positive three according to line-of-sight course Angular distribution (i.e. every 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 acquires θ2(first point D of line-of-sight course1With the line segment OD of centre point O1With OP2Angle).
Measuring probe reaches P2It to establish later and be moved to first effective measuring point D1Detour locus circle O1, 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 influences measurement result.Circle O1Establish mode as figure b shown in；
The radius OP of circle O2It is round O1In P2The tangent line of point, in known θ2Under conditions of circle O radius r, according to the following formula Seek round O1Radius rO1。
Known P2The radius r of point coordinate and the circle that detoursO1, can determine the detour track of measuring probeThis measurement rail Mark is to move (i.e. outer circle O along circle O radial direction1Tangential direction), with jump slightly function circular arc cutting path control measurement It is minimum so to measure obtained coordinate value error for probe movement.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 Into direction demarcated by X-axis, have positive and negative and 0 three kinds of situations, wherein " 0 " be left and right cannot advance.Further according to θ2Positive and negative values Judge the direction of circling (shown in figure c) after measuring probe:
The first situation: work as θ2For positive number or 0, and can direction of travel be positive number or 0: measuring probe is around O1Rotation counterclockwise.
Second situation: work as θ2For positive number or 0, and can direction of travel be negative: measuring probe is around O1It rotates clockwise.
The third situation: work as θ2For negative, and can direction of travel be positive number or 0: measuring probe is around O1It rotates clockwise.
4th kind of situation: work as θ2For negative, and can direction of travel be negative: measuring probe is around O1Rotation counterclockwise.
When measuring probe reaches first effective measuring point D1After obtain D1Point coordinate (xD1, yD1), it then establishes from D1It is mobile To second effective measuring point D2Detour locus circle O2, circle O2Establish mode as figure d shown in.
The radius OD of circle O1It is round O2In D1The tangent line of point, in order to guarantee measurement error minimum, according to equilateral triangle distribution three Point coordinate, it is also necessary to meet:
Round O is found out according to the following formula2Radius rO2。
Known D1Point coordinate and the circle O that detours2Radius rO2, can determine the detour track of measuring probeIt is jumped and is omited with band The circular arc cutting path control measuring probe movement of function, will determine measuring probe in D below1Direction of circling (the figure e institute of point Show):
The first situation: work as θ2For positive number or 0, measuring probe direction of circling is identical as first time direction of circling.
Second 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 coordinate (xD2, yD2), it then establishes from D2It is mobile To third effectively measuring point D3Detour locus circle O3, circle O3Establish mode as figure f shown in.
Detour locus circle O3Establish mode and circle O2It is identical, the radius OD of circle O2It is round O3In D2The tangent line of point, and meet:
Round O is found out according to the following formula3Radius rO3。
Known D2Point coordinate and the circle O that detours3Radius rO3, can determine the detour track D of measuring probe2D3, jumped and omited with band The circular arc cutting path control measuring probe movement of function, direction of circling is identical as secondary direction of circling, works as measuring probe Reach third effectively measuring point D3After obtain D3Point coordinate (xD3, yD3), point D3Theoretically with point P1It is overlapped, but actually may There are deviations, if there is deviation, to seek point P as shown in figure g1With point D3Deviation.
ΔxP=| xP1-xD3|
ΔyP=| yP1-yD3|
If Δ xPWith Δ yPAll meet deviation required precision, then point D3Even if not with point P1It is overlapped, also still conduct The effective measuring point of third.According to the above mathematical model, D is obtained1(xD1, yD1)、D2(xD2, yD2)、D3(xD3, yD3) after 3 coordinates The coordinate of center of circle O point is calculated again:
First establish 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 point is calculated again:
The center of circle measuring method has Adaptive Routing control function, Automatic Optimal process, to reach raising life The purpose of producing improved efficiency machined surface quality, machine operation person need to only provide the underlying parameter information of raw material, the device system System can intelligence selection using oplimal Location path calculate origin, be widely used in be set with different size round work Part.

Claims (4)

1. a kind of center of circle measuring method of round suit, step include:
1) coordinate of any two points P1, P2 loaded onto using measuring probe measuring unit is 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 P1As the starting point of line-of-sight course measurement, ∠ P1OP2For θ1, according to line-of-sight course, 3 points of distributions are distributed according to equilateral triangle, i.e., every 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 D1Detour locus circle O1, OP2It is Circle O1In P2Tangent line, circle O1RadiusAccording to P2The radius r of point coordinate and the circle that detoursO1, can determine survey Measure the detour track of probeThis track is moved along circle O radial direction, i.e. outer circle O1Tangential direction, when measuring probe arrives Up to first effective measuring point D1After can measure D1Coordinate (the x of pointD1, yD1)；
2) it establishes from D1It is moved to second effective measuring point D2Detour locus circle O2, the radius OD of circle O1It is round O2In D1Point is cut Line is distributed 3 coordinates according to equilateral triangle,Circle O2RadiusAccording to D1Point coordinate and the circle O that detours2Radius rO2, can determine the detour track of measuring probeThis Track is moved along circle O radial direction, i.e. outer circle O2Tangential direction, when measuring probe reach second effective measuring point D2After can Measure D2Coordinate (the x of pointD2, yD2)；
3) it establishes from D2It is moved to third effectively measuring point D3Detour locus circle O3, the radius OD of circle O2It is round O3In D2Point is cut Line is distributed 3 coordinates according to equilateral triangle,Find out the radius of round O3According to D2Point coordinate and the circle O that detours3Radius rO3, can determine the detour track of measuring probeThis Track is moved along circle O radial direction, i.e. outer circle O3Tangential direction, when measuring probe reaches third effectively measuring point D3After can Measure D3Coordinate (the x of pointD3, yD3)；
4) 6 parametric variable a, b, c, d, e, f:a=2 × (x are establishedD2-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 point:
2. measuring method as described in claim 1, 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, has positive and negative and 0 three kinds of situations, wherein " 0 " is that left and right is equal It cannot advance.Further according to θ2Positive and negative values judge the direction of circling after measuring probe: the first situation: work as θ2For positive number or 0, And can direction of travel be positive number or 0: measuring probe is around O1Rotation counterclockwise；Second situation: work as θ2For positive number or 0, and can advance Direction is negative: measuring probe is around O1It rotates clockwise；The third situation: work as θ2For negative, and can direction of travel be positive number or 0: Measuring probe is around O1It rotates clockwise；4th kind of situation: work as θ2For negative, and can direction of travel be negative: measuring probe is around O1It is inverse Hour hands rotation.
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 are identical as first time direction of circling；Second 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 measuring device of round suit, includes pedestal mobile platform (1), limit switch (2), Y-axis mobile platform (3), X-axis mobile platform (4), mechanical handwheel (5), rotary shaft (6), servo motor (7) measure axis (8), contact type measurement probe (9), there are two freedom degree, i.e., the X-axis mobile platforms (4) of the X-direction of parallel mechanical pedestal for pedestal mobile platform (1), and hang down Workpiece effectively can be moved to any position, measured axis (8) by the Y-axis mobile platform (3) of the Y direction of straight mechanical pedestal There are two freedom degrees, and direction is as pedestal mobile platform, to carry out center of circle measurement；Measuring probe can move 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 measuring device uses measuring and calculating as described in claim 1 Method measures the center of circle of round 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)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201710030458 2017-01-16
CN2017100304585 2017-01-16

Publications (2)

Publication Number Publication Date
CN106989706A CN106989706A (en) 2017-07-28
CN106989706B true CN106989706B (en) 2019-08-06

Family

ID=59411615

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710148871.1A Expired - Fee Related CN106989706B (en) 2017-01-16 2017-03-14 A kind of center of circle measuring method and device for high precision cylindrical suit

Country Status (1)

Country Link
CN (1) CN106989706B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114670179B (en) * 2022-03-16 2024-08-23 江西瑞祥智能装备有限公司 Method and device for constructing robot workpiece coordinate system, storage medium and terminal
CN116540516B (en) * 2023-05-10 2024-07-19 天王电子（深圳）有限公司 Watch automatic assembly method and watch assembly equipment

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006114567A1 (en) * 2005-04-26 2006-11-02 Renishaw Plc Method for scanning the surface of a workpiece
CN101612713A (en) * 2009-07-15 2009-12-30 大连交通大学 A kind of pairing processing method of large-sized and irregular revolving molding surface member
CN102354157A (en) * 2011-08-01 2012-02-15 大连交通大学 Radius compensation algorithm for convex contour closed-angle linear and circular arc composite transitional cutting tool
WO2012131291A1 (en) * 2011-03-28 2012-10-04 Renishaw Plc Coordinate positioning machine controller
CN103116040A (en) * 2013-02-07 2013-05-22 浙江大学 On-site measuring device and scanning probe automatic centering method based on scanning tunneling effects

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006114567A1 (en) * 2005-04-26 2006-11-02 Renishaw Plc Method for scanning the surface of a workpiece
CN101612713A (en) * 2009-07-15 2009-12-30 大连交通大学 A kind of pairing processing method of large-sized and irregular revolving molding surface member
WO2012131291A1 (en) * 2011-03-28 2012-10-04 Renishaw Plc Coordinate positioning machine controller
CN102354157A (en) * 2011-08-01 2012-02-15 大连交通大学 Radius compensation algorithm for convex contour closed-angle linear and circular arc composite transitional cutting tool
CN103116040A (en) * 2013-02-07 2013-05-22 浙江大学 On-site measuring device and scanning probe automatic centering method based on scanning tunneling effects

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
凸轮轴磨床OEM软件的二次开发及算法设计;隋振等;《吉林大学学报（信息科学版）》;20100915;第28卷(第5期);第519-525页

Also Published As

Publication number Publication date
CN106989706A (en) 2017-07-28

Similar Documents

Publication Publication Date Title
CN103307977B (en) The field measurement apparatus of huge revolving class workpiece inner wall size, system and method
CN109357631B (en) Measuring system center calibration method based on laser displacement sensor
CN108917604B (en) Normal measuring device and calibration method thereof
CN104759945B (en) Mobile hole-making robot standard alignment method based on high precision industrial camera
US20110220621A1 (en) Determining Powder Feed Nozzle Misalignment
CN107144248B (en) A kind of scaling method of numerically-controlled machine tool turntable error
WO2021003928A1 (en) Constant linear velocity control method for detecting contour of workpiece
CN103921170B (en) The rotary table center positioning method of spindle swing Five-axis NC Machining Center
CN104985482B (en) A kind of Five-axis NC Machining Center On-machine Test complex profile method
CN106989706B (en) A kind of center of circle measuring method and device for high precision cylindrical suit
CN106989670B (en) A kind of non-contact type high-precision large-scale workpiece tracking measurement method of robot collaboration
CN108614519B (en) Online error measurement system and method based on laser dot matrix numerical control machine tool
CN203426822U (en) Grinding device of hard brittle plate
CN106289145A (en) A kind of cylindricity On-machine Test method
CN102229279A (en) Method for implementing multilevel high-accuracy sleeve-carving platemaking of special roller
CN1789901A (en) Three-coordinate calibrating and measuring instrument
CN114739344A (en) Roundness error online measurement method and system
TWI570313B (en) Apparatus for and method of processing a concrete pylon segment of a wind power installation
CN107457437A (en) The method that large-sized numerical control drilling machine processing annular forging piece looks for the center of circle
CN112985299B (en) Optical probe online detection method based on path planning
JP6971879B2 (en) Radius of curvature measuring device and radius of curvature measuring method
CN101439412A (en) Method and apparatus for automatically measuring error and processing semi-unit-type crank shaft main journal basic regular circle
CN108507447B (en) A kind of deviation from circular from off-line measurement method
CN110146014A (en) A kind of measuring head structure and measurement method measuring inner circle hole data
JP4859941B2 (en) Processing apparatus and processing method

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20190806

CF01 Termination of patent right due to non-payment of annual fee