CN108253906B - A kind of axle housing circularity cylindricity detection device axis of workpiece location error compensation method - Google Patents
A kind of axle housing circularity cylindricity detection device axis of workpiece location error compensation method Download PDFInfo
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- CN108253906B CN108253906B CN201810230058.3A CN201810230058A CN108253906B CN 108253906 B CN108253906 B CN 108253906B CN 201810230058 A CN201810230058 A CN 201810230058A CN 108253906 B CN108253906 B CN 108253906B
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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
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/2408—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring roundness
Abstract
The invention discloses a kind of axle housing circularity cylindricity detection device axis of workpiece location error compensation methods, belong to detection field.The 1st, 2,3 sections are arranged on the mold, is gradually corrected by the 2nd, 3 sections to the 1st section by establishing axle housing location model by the present invention.Specifically, object section is on the basis of O to O1The circle contour at place carries out spatial translation, carries out eccentric axis compensation, the section S after obtaining eccentricity correction1, axis L and S1Section rotates θ angle about the z axis, obtains S2Section；Axis L and S2Section is overlapped axis L with Z axis, obtains S around Y-axis rotation alpha3Section；By S3Section and axis L revolution-θ about the z axis, obtain section S4.To S4Section, which carries out error evaluation, must reject the true deviation from circular from of axis of workpiece location eccentricity heeling error, and provide constraint condition β.The present invention can compensate for deviation from circular from and cylindricity error due to caused by axis of workpiece location eccentricity and axis of workpiece positioning tilt, increase the detection accuracy of axle housing, adapt to Ultra-precision Turning requirement.
Description
Technical field
The present invention relates to axle housing circularity cylindricity detection technique field, in particular to a kind of axle housing circularity cylindricity detection dress
Set axis of workpiece location error compensation method.
Background technique
Axle housing is the critical component in heavy truck chassis, and the nearly 2m of axial span, circularity, cylindricity have become influence product
The key factor of quality and reliability.It is mainly adopted in previous enterprise's production for form errors such as axle housing surface roundness, cylindricities
Manually dial gauge contact measurement needs calibration dial gauge table bar and workpiece surface verticality before detection, and precision not can guarantee,
Detection efficiency is low, can only meet sampling Detection in production.
Based on problem above, this seminar has developed a kind of circularity of heavy truck axle housing, cylindricity detection device, and structure is as schemed
Shown in 1, in figure, 1 is transmission mould group, and 2 be feed shaft servo motor, and 3 be laser displacement sensor, and 4 be heavy truck axle housing, and 5 be biography
Sensor fixture, 6 be V-type support frame, and 7 be rotary shaft servo motor.In the measuring device, heavy truck axle housing 4 is by two V-type support frames
6 supports；After heavy truck axle housing 4 is placed in two V-type support frames 6, the rotary shaft servo motor 7 in device drives laser displacement sensor
3 rotate in a circumferential direction, and feed shaft servo motor 2 drives laser displacement sensor 3 to move axially；In the circumferential rotation of laser displacement sensor 3
Turn the detection that heavy truck axle housing circularity and cylindricity are completed during with axial movement.However, in Precision measurement and ultrahigh precision
In detection, the factor for influencing error precision is mainly derived from the following: (1) each section component precision of detecting instrument is formed,
Such as mechanical mould group repetitive positioning accuracy, mobile accuracy.(2) relative positioning error (3) of measurement sensor and detected workpiece is examined
Survey the error in instrument by generations such as the processing technology of each machine components and the accuracies of manufacture.
(2) point in the above three point tolerances factor, the in the ideal situation laser beam (axis) of laser displacement sensor
Should should be vertical with axle housing axis by the detection sectional plane center of circle, sensor axis, i.e., perpendicular to axle housing contour surface.It is actually detected to answer
It is influenced because of sensor installation error and detecting tool equipment by mechanical processing technique with middle, it is difficult to guarantee that above-mentioned error component is complete
It eliminates and larger interference can be caused to axle housing deviation from circular from testing result.Sensor axis, which does not pass through the measured section center of circle, to be generated
Eccentric error tilts a certain angle irradiation axle housing contour surface, can generate axis if sensor axis is not orthogonal to axle housing axis
Heeling error.Certain oval shape characteristic will be incorporated by the collected cross section profile data of laser displacement sensor, causes to examine
Cross-section data distortion is surveyed, the true shape error of measured section can not be reacted, influences the form errors such as circularity, cylindricity detection essence
Degree and error assessment result.With the circularity of the heavy truck axle housing of this seminar research and development shown in Fig. 1, automatic detection device of cylindricity
For: since the two V-type support frames 6 in left and right can not accomplish that height is identical, the axis of two V-type support frames 6 also can not
The axis that can rotate in a circumferential direction with laser displacement sensor 3 is completely overlapped.Precisely due to these machine errors, laser displacement sensor and quilt
It detects workpiece and relative positioning error occurs, for sensor with respect to the error in mounting position that axle housing positions, which includes axle housing axis
Location eccentricity error and axle housing axis location heeling error.
(3) point in error influence factor, detector component part are limited by mechanical processing technique and the accuracy of manufacture
It is extremely difficult to desirable, such as guarantees sensor axis perpendicular to the frock clamp position of related features of axle housing axis, axle housing places base
Flatness of plinth etc..The phase of sensor and axle housing of such geometric tolerance by accumulative final influence (2) point tolerance factor
To positional relationship, reaction is on sensor is eccentric and axis tilts.It is needed so improving detector shape error measuring precision
The most significant problems of solution are to reject sensor axis bias and tilt influence of the error generated to detection data, to react
The true shape error of measured section.Realize that the compensation of sensor axis bias heeling error is examined to measured workpiece form error is improved
The accuracy for surveying precision and its error assessment is significant.
Current existing either roundness measuring equipment, cylindricity instrument or workpiece and sensor relative position have regulatory function
Error detecting facility, when measurement, are required to drive workpiece revolution detection with precision rotating platform.Although existing circularity, cylindricity instrument
Equal equipment precisions are higher can to tilt workpiece bias caused error limitation in a certain range, but axle housing quality is big, axial
Span is big, far more than revolving platform carrying limit and instrument itself measurement range, does not meet testing conditions, and according to current heavy truck bridge
The design structure of shell circularity, cylindricity detection device, sensor and axle housing positioning relative position be it is fixed, axle housing end does not have
Standby that mobile carrying platform is adjusted, roundness measuring equipment, the cylindricity instrument prior art not can be used directly.Such versatility detection simultaneously
Equipment price is expensive, uses technical conditions height, it is difficult to be suitable for workshop and detect.Therefore axle housing axis location eccentric error and axle housing
The compensation of axis location heeling error is particularly important.
Summary of the invention
In order to make up for the deficiencies of the prior art, the present invention provides a kind of axle housing circularity cylindricity detection device axis of workpiece
Location error compensation method, so that the detection accuracy of axle housing is further increased, to adapt to Ultra-precision Turning requirement.
The technical solution of the present invention is as follows:
A kind of axle housing circularity cylindricity detection device axis of workpiece location error compensation method, comprising steps of
One) axle housing axis location eccentric error compensates
1) axle housing location model is established；
Georeferencing coordinate system is established on the basis of laser displacement sensor, laser displacement sensor plane of rotation is established
XOY coordinate plane, the centre of gyration are origin O, and the point ordinate on the XOY coordinate plane is 0；It is returned with laser displacement sensor
Turn to be centrally fed direction as Z axis positive direction, carries out mathematical modeling；The 1st section is respectively set on the axle housing location model established
Face, the 2nd section, the 3rd section；Wherein, the 1st section (that is, object section) center of circle O1Coordinate be (x1, y1, 0), the 2nd section circle
Heart mark O2Coordinate be (x2, y2, z2), O is marked in the 3rd section center of circle3Coordinate be (x3, y3, z3)；
2) eccentric axis compensation is carried out to the 1st section of axle housing location model；
The 2nd section center of circle O is solved using least square method fitting according to formula (1)2Coordinate and the 3rd section center of circle O3Coordinate；
The 1st section center of circle O with eccentric form is obtained according to formula (2)1Coordinate；
In formula (1), RijFor laser displacement sensor output Profile measurement data, i=2,3, be measured section
Serial number；J=1,2,3 ..., N, to measure point sequence, N is every section test point number；
3) to O on the basis of O1The circle contour at place carries out spatial translation, eccentric axis compensation is carried out, after obtaining eccentricity correction
Section S1；
Laser displacement sensor is circumferentially revolved one-turn around the 1st section, and acquisition several points coordinate data composition has inclined
The cross section profile matrix R of heart feature1j, by R1jMatrix S is obtained under conversion to rectangular coordinate system；
Spatial translation matrix T is constructed by formula (2)1；
Center of circle O1It is moved to coordinate origin O, the S after obtaining eccentricity correction1Cross section profile matrix, so that modifying factor installation is inclined
The error that the heart generates；
S1=T1×S(5)
Two) axle housing location model axis location heeling error compensates
A) after step 2) eccentricity compensation, the center of circle O in the 1st section1It falls on Z axis, axis L and Z axis intersect at the center of circle
O1, axis L is projected as OB XOY plane；
Axis L is calculated in the projection line OB on XOY plane and angle theta value between X-axis；By S1It is revolved about the z axis with axis L in section
Turn the angle θ, is overlapped projection line OB of the axis L on XOY plane with X-axis；S1Section obtains S after rotation2Section；
B) after step a) rotation, S2Section and Z axis space angle are always α；Axis L and S2Section around Y-axis rotation alpha,
It is overlapped axis L with Z axis, obtains S3Axle housing axis location heeling error is eliminated in section；
c)S3Cross section profile differs the angle θ with section S on circumferential XOY plane；By S3Section and axis L revolution-θ about the z axis,
Obtain section S4；
D) pair cross-section S4Error evaluation is carried out, the true circularity for obtaining rejecting axis of workpiece location eccentricity heeling error is missed
Difference.
Preferably, every section uniformly acquires 64 test points, that is, in formula (1), N value is 64；
Preferably, in step a), the calculation method of angle theta are as follows: make with the parallel lines Z ' of the axis L Z axis intersected
For auxiliary line, the intersection point of Z ' and axis L are A, and axis L and X-axis angle are θ1, angle is θ between axis L and XOY plane2, find out axis
The direction vector of line L obtains cos θ1、cosθ2Value, axis L meet formula (6) in XOY plane projection line OB and X-axis angle, pass through
Formula (6) calculates θ value；
Preferably, in step a), spin matrix T is constructed2；
S2Cross section profile matrix is S2=T2×S1(8)。
Preferably, in step b), eccentric amount e is calculated by formula (9) and to the inclination angle of Z axis；
Construct spin matrix T3；
S3Cross section profile matrix is S3=T3×S2(11)。
Preferably, in step c), spin matrix T is constructed4；
Construct spin matrix
S3Cross section profile matrix is S4=T4×S3(13)。
The invention has the benefit that
In order to facilitate observation control methods, graphic result, selection have biggish deviation from circular from and external waviness before and after the processing
The cross section profile function of error is spent, actually detected middle roundness error of workpiece is much smaller.Pass through simulating, verifying, the 1st section circularity
Error with through compensation method of the present invention processing after section deviation from circular from difference range be 0.56mm to 0.743mm, account for eccentric inclination
The 21.7% to 31% of section deviation from circular from after compensation, it is affected to deviation from circular from the Precision measurement of workpiece, if
Such error is not rejected in the detection process, tilts brought error by axle housing axis location bias and workpiece is inherently round
Degree error is fused together the detection qualification rate and detection accuracy for necessarily affecting axle housing finished product；And the method for the present invention can be rejected
The error.
Compensation method of the present invention can be rejected due to caused by axis of workpiece location eccentricity and axis of workpiece positioning tilt
Deviation from circular from and cylindricity error；Through the invention can true, high-precision reaction detection section circularity, cylindricity error,
Increase the detection accuracy of axle housing, adapts to Ultra-precision Turning requirement.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is laser displacement sensor and axle housing relative positional relationship schematic diagram in detection device；
Fig. 2 is axle housing axis location bias oblique model；
Fig. 3 (a) is that axle housing location model axis location bias tilts schematic diagram；Fig. 3 (b) is fixed for axle housing location model axis
Position eccentricity compensation schematic diagram；
Fig. 4 is that axle housing location model axis rotates schematic diagram about the z axis；
Fig. 5 rotates schematic diagram around Y-axis for axle housing location model axis；
Fig. 6 is that axle housing location model axis turns round schematic diagram about the z axis；
Fig. 7 is the angle space coordinates model solution θ schematic diagram；
Fig. 8 is section axial deviation schematic diagram；
Fig. 9 is that misalignment of axe converts radial missing schematic diagram；
Figure 10 is that constraint deviation geometrical relationship derives schematic diagram one；
Figure 11 is that constraint deviation geometrical relationship derives schematic diagram two；
Figure 12 is eccentric tilt compensation method procedure simulation flow chart；
Figure 13 is the 1st section, the 2nd section, the comparison of the 3rd cross section profile；In figure in terms of 120 ° of positions, from top to bottom it is respectively
1st section, the 2nd section, the 3rd section；
Figure 14 is the S using the method for the present invention by the 1st section after eccentricity compensation1Cross section profile data comparison figure；Figure
In, * line represents eccentricity compensation section, that is, S1Cross section profile；Dotted line is the 1st cross section profile S；
Figure 15 is the 1st section, eccentricity compensation section S1The eccentric inclination that section and through the invention compensation method obtain
Compensate section S4The detection data silhouette contrast figure in section；In figure, × line represents the first cross section profile S；* line represents bias
Compensate section, that is, S1Cross section profile；Solid line represents eccentric slope compensation section S4The profile in section；
Figure 16 is that (i) organizes data simulation Comparative result image；Wherein left figure is initial data, and right figure is through the invention
Compensation method carries out the data after error compensation；It in left figure, is seen in the position of 120 ° of lines, from top to bottom respectively the 1st section,
2 sections, the 3rd section；In right figure, solid line is the 1st section, and × line is eccentricity compensation section S1Section, * line are eccentric slope compensation
Section S4Section；
Figure 17 is that (ii) organizes data simulation Comparative result image；Wherein left figure is initial data, and right figure is to pass through this hair
Visible subsidy compensation method carries out the data after error compensation；In left figure, seen in the position of 120 ° of lines, from top to bottom respectively the 1st section,
2nd section, the 3rd section；In right figure, solid line is the 1st section, and × line is eccentricity compensation section S1Section, * line are that eccentric inclination is mended
Repay section S4Section；
Figure 18 is that (iii) organizes data simulation Comparative result image；Wherein left figure is initial data, and right figure is to pass through this hair
Visible subsidy compensation method carries out the data after error compensation；In left figure, seen in the position of 120 ° of lines, from top to bottom respectively the 1st section,
2nd section, the 3rd section；In right figure, solid line is the 1st section, and × line is eccentricity compensation section S1Section, * line are that eccentric inclination is mended
Repay section S4Section.
Specific embodiment
Embodiment 1
A kind of axle housing circularity cylindricity detection device axis of workpiece location error compensation method, comprising steps of
One) axle housing axis location eccentric error compensates
1) axle housing location model is established；
As shown in Fig. 2, georeferencing coordinate system is established on the basis of laser displacement sensor, laser displacement sensor revolution
Plane establishes XOY coordinate plane, and the centre of gyration is origin O, and the point ordinate on XOY coordinate plane is 0；It is sensed with laser displacement
Device centre of gyration direction of feed carries out mathematical modeling as Z axis positive direction；Is respectively set on the axle housing location model established
1 section, the 2nd section, the 3rd section；Wherein, the 1st section center of circle O1Coordinate be (x1, y1, 0), O is marked in the 2nd section center of circle2Seat
It is designated as (x2, y2, z2), O is marked in the 3rd section center of circle3Coordinate be (x3, y3, z3)；
2) eccentric axis compensation is carried out to the 1st section of axle housing location model；The second section circle is fitted using least square method
Heart O2Coordinate and third section center of circle O3Coordinate obtains the center of circle O with eccentric form1Coordinate.Then to O on the basis of O1Institute
Circle contour carry out spatial translation, carry out eccentric axis compensation, specifically,
The 2nd section center of circle O is solved using least square method fitting according to formula (1)2Coordinate and the 3rd section center of circle O3Coordinate；
The 1st section center of circle O with eccentric form is obtained according to formula (2)1Coordinate；
In formula (1), EijFor laser displacement sensor output Profile measurement data, i=2,3, be measured section
Serial number；J=1,2,3 ..., N, to measure point sequence, N is every section test point number, in order to preferably take into account the detection of system
Precision and efficiency, every section selection uniformly acquire 64 points, that is, N value is 64；O2、O3For the center of circle in the 2nd section and the 3rd section seat
Mark, with two sections and the 1st section spacing distance value.
3) to O on the basis of O1The circle contour at place carries out spatial translation, eccentric axis compensation is carried out, after obtaining eccentricity correction
Section S1；
Construct spatial translation matrix；
Laser displacement sensor is circumferentially revolved one-turn around the 1st section, and acquisition several points coordinate data composition has inclined
The cross section profile matrix R of heart feature1j, by R1jMatrix S is obtained under conversion to rectangular coordinate system；
Spatial translation matrix T is constructed by formula (2)1；
Center of circle O1It is moved to coordinate origin O, the S after obtaining eccentricity correction1Cross section profile matrix, so that modifying factor installation is inclined
The error that the heart generates；
S1=T1×S(5)
Fig. 3 (a) be laser displacement sensor acquire that the 1st cross section profile data of axle housing obtain it is opposite with reference frame
Positional relationship, the Z axis where the laser displacement sensor centre of gyration do not pass through the 1st section center of circle O1, there are axis for reaction axle housing
Location eccentricity error.Axle housing location model axis L is not overlapped (parallel) with Z axis, and illustrating axle housing, there are axis location heeling errors.
Two) axle housing location model axis location heeling error compensates
A) after step 2) eccentricity compensation, the center of circle O in the 1st section1It falls on Z axis.1st section center of circle O1It is moved to Z axis
On, to eliminate eccentric error, eccentric error compensation method makes object section (the 1st section) to realize the pose from Fig. 5 to Fig. 6
Transformation obtains section, realizes and adjusts to the heart.Axis L and Z axis intersect at center of circle O1, axis L is projected as OB XOY plane；By
The state of Fig. 3 (a) goes to the state of Fig. 3 (b)；
Axis L is calculated in the projection line OB on XOY plane and angle theta value between X-axis；By S1It is revolved about the z axis with axis L in section
Turn the angle θ, is overlapped projection line OB of the axis L on XOY plane with X-axis；S1Section obtains S after rotation2Section is (such as Fig. 4 institute
Show)；
Specifically,
As shown in fig. 7, solving angle theta value according to space geometry relationship in step a).The calculation method of angle theta are as follows: with axis
The parallel lines Z ' of the Z axis of line L intersection is used as auxiliary line, and the intersection point of Z ' and axis L is A, and axis L and X-axis angle are θ1, axis L
Angle is θ between XOY plane2, the direction vector of axis L is found out, cos θ is obtained1、cosθ2Value, axis L is in XOY plane projection line OB
Meet formula (6) with X-axis angle, calculates θ value by formula (6)；
Preferably, in step a), spin matrix T is constructed2；
S2Cross section profile matrix is S2=T2×S1(8)。
B) after step a) rotation, S2Section and Z axis space angle are always α；To be overlapped axis L with Z axis, correct
Axle housing axis location heeling error, axis L and S2Section is overlapped axis L with Z axis, obtains S around Y-axis rotation alpha3Section (such as Fig. 5
It is shown), eliminate axle housing axis location heeling error；
Specifically,
In step b), eccentric amount e is calculated by formula (9) and to the inclination angle of Z axis；
Construct spin matrix T3；
S3Cross section profile matrix is S3=T3×S2(11)。
C) by the above processing, cross section profile S obtains cross section profile S by translation twiddle operation respectively3, axle housing axis is determined
The eccentric heeling error feature in position is rejected from the 1st section.In formula (8) central axes L and S1Section rotates θ angle about the z axis, realizes
Variation from Fig. 3 (b) to Fig. 4, obtains S2Section, but the S compared with initial detecting data S, after rotating θ angle3Cross section profile exists
The angle θ is differed with the section S on circumferential XOY plane.Shown in Fig. 6, to make the section S obtained after the method for the present invention processing3With initial inspection
Surveying section, equal angular detection data corresponds in the circumferential, by S3Section and axis L revolution-θ about the z axis, obtain section S4
(as shown in Figure 6).To S4Section, which carries out error evaluation, can obtain rejecting the true circularity of axis of workpiece location eccentricity heeling error
Error.
Specifically, in step c), spin matrix T is constructed4；
Construct spin matrix
S3Cross section profile matrix is S4=T4×S3(13)
D) pair cross-section S4Error evaluation is carried out, the true circularity for obtaining rejecting axis of workpiece location eccentricity heeling error is missed
Difference.
Pair cross-section S4Carry out error evaluation be it is known in the art, details are not described herein.
Present invention combination axle housing circularity cylindricity detection device own structural characteristics, propose a kind of axis of workpiece location eccentricity
Tilt error compensation method.Founding mathematical models provide the constraint condition of compensation method, determine that laser displacement sensor installation is inclined
The tolerance at angle guarantees compensation method energy actual response detection sectional plane circularity, cylindricity error, mentions for subsequent simulating, verifying
Theoretical foundation is supplied.
It is solved in the present invention in the mathematical model of the 1st section eccentric coordinate and axis heeling error information and uses least square
Method is fitted the 2nd, the 3 two sections centers of circle, determines the axis direction vector in two center of circle, solves shaft angle degree and the 1st section
Eccentric coordinate is missed using only additional two sections comprising axis inclination and eccentric position information to calculate the 1st section in model
Poor information.To improve the accuracy of axis direction vector, multiple cross-section datas can be acquired and be fitted least square center respectively, be fitted
Space least square axis solves the 1st cross-section error information.But it scans multiple detection sectional plane outline datas and carries out data processing
Detection device measurement efficiency is necessarily affected, needs to comprehensively consider detection efficiency and precision during actually detected, chooses detection sectional plane
Quantity.
Compensation method of the present invention can be compensated due to caused by axis of workpiece location eccentricity and axis of workpiece positioning tilt
Deviation from circular from and cylindricity error, suitable for existing ultraprecise detection demand.
Three) it should be noted that the use of compensation method of the present invention is Prescribed Properties, the inclination of axle housing location eccentricity is mended
Compensation method constraint condition is specific as follows:
In the method for the present invention, georeferencing coordinate is established when establishing axle housing location model on the basis of laser displacement sensor
System, and in the solution of the constraint condition of axle housing axis location bias tilt compensation method, on the basis of being positioned by axle housing, laser displacement
Angle is β between sensor axis and the normal of axle housing orientation axis, the angle α size phase of the angle and Z axis in Fig. 2 and axis L
Deng.
Accumulated error due to the accuracy of manufacture of laser displacement sensor fixture, installation accuracy and system components is being examined
Relative position deviation is generated with axle housing axis location when survey, leads to actually detected face and treated that section exists by compensation method
Axis is upwardly formed offset.It can more reflect the real topography of axle housing ideal normal section to make to detect face data, two sections in Fig. 8 should be made
The distance k of axial deviation maximum point AB is small as far as possible.It is solved in eccentric and heeling error method in the present invention, two kinds of errors are same
It influences each other in one mathematical model, object section eccentric coordinate is calculated by the vector of tilt axis, and two errors will not be mutual
It is independent.So the size of the offset distance k of generation is eccentric by axle housing axis location simultaneously and heeling error is influenced.Due to swashing
Optical displacement sensor and axle housing positioning datum have relative positional relationship, theoretically laser displacement sensor axis and axle housing axis
Vertical coplanar is answered, there are position deviations to be equal to laser displacement sensor axis with position deviation, for convenience for axle housing axis
The maximum magnitude that deviation allows is limited in the maximum value of laser displacement sensor axis drift angle β by the check and adjustment of deviation,
To establish constraint condition.
Solving k and meeting error allows maximum value, and section where A, B two o'clock is rotated around intersection EF to obtaining in same plane
Fig. 9.
It is section vertex A, B axle after making actually detected section and compensation to apart from closer, rotates two sections in corresponding diagram 9
The radial distance e of AB is answered sufficiently small in same plane.To convert radial dimension constraint condition for axial dimension constraint.A
Cross section profile where point is made of actually detected data, and B is on ideal circle contour section.According to axle housing drawing requirement, the shaft part
Deviation from circular from should be less than 0.05mm.
In Figure 10, AO is the long axis with the actually detected section of oval shape characteristic, and BO is the half of desired section circle contour
Diameter, AB ' length correspond to e in Fig. 9.To guarantee using A point as the center of circle, e is that radius does circle, cuts right-angle side AB in C point, is straight with AC
The arm of angle, AO are that bevel edge does that right angled triangle is as shown in figure 11, are less than third side, AB ' length in figure according to the difference on triangle both sides
E must be less than, so k=0.05mm.Constraint condition can be met.
In addition, carrying out deviation from circular from detection usually using dial gauge in enterprise production process, the errors of principles of measurement is main
From dial gauge table bar and measured workpiece surface or axis out of plumb, the verticality of table bar and measured workpiece should be calibrated before detection
To guarantee surveyed cross-section error close to the true deviation from circular from of workpiece.But this detection mode is by the limitation of measuring device and hundred
Divide the influence of table table bar and pedestal verticality to be difficult to by axial deviation quantified controlling within 1mm, can only obtain roughly comprising setting
The deviation of itself standby error and roundness error of workpiece.Since the error that measuring device itself generates when detecting can be intrinsic with workpiece
Deviation from circular from is fused together, and measured result can generate large effect to the final assessment of deviation from circular from, so when measurement
Quantization calibration to detecting instrument makes control errors in a certain range or uses the modes such as error rejecting by instrument error and work
The separation of part constant error is very necessary.In summary the reason of situation axial deviation constraint distance chooses 50 μm has following several
Point: (1) according to actually detected section and ideal circular section, deviation from circular from should be less than 50 μm and meet deviation from circular from technology radially
Standard carries out logical derivation.(2) deflection instrument is generallyd use in deviation from circular from Precision measurement and roundness measuring equipment carries out error measure.Beat
Two top cylindricity franchises then ignore instrument error less than 20 μm within the scope of L=400mm to instrument after calibration, will have small inclined
The surveyed section of difference carries out roundness evaluation, two orders of magnitude and axle housing detector axial constraint franchise of franchise as true section
It is identical；The nearly 200mm of axle housing diameter, axial franchise is 50 μm, while axle housing detector takes error compensating method modifying factor laser
Error information detection caused by displacement sensor axial deviation, to react the true deviation from circular from of workpiece interface.(3)Taylor
The Talysurf PGI Dimension non-spherical element measuring instrument of Hobson company, tilt adjustments range are ± 0.5 °, are adjusted
Can be by dip deviation precision controlling 28 after whole " in.Through converting, the axial deviation in the actually detected face of the instrument and ideal face generation
Distance is 10-20 μm, almost the same with deflection instrument franchise, is same order with axle housing detector axial deviation distance.Simultaneously
Also illustrate that the axial deviation of axle housing detector meets within quantization calibration and the Discrepancy Control Area of accurate roundness measurement instrument.
Since laser displacement sensor axis and the normal of axle housing axis are not overlapped (parallel) in actually detected, but
There are the drift angles β, to generate axial deviation distance k.It can make in actually detected by adjusting laser displacement sensor drift angle, it is full
Sufficient constraint condition.Therefore, demand goes out the maximum value of laser displacement sensor axis Yu axle housing normal drift angle β.
Known right-angle side AC is e by above-mentioned length of derivation in the right angle Figure 11 △ OAC, then obtains OA side length and can solve β.
OA is the distance for being located at the vertex A to centre of gyration O of transverse in actually detected section.Actually detected cross section profile is by laser
The resulting polar coordinates of displacement sensor revolution detection workpiece are constituted, only require polar diameter OA just can be obtained in polar angle corresponding to A point
Length.Since the long axis projection spatially of oval cross section must be fallen on cylinder axis, then transverse, cylinder axis and
Tri- line of OB is coplanar in Fig. 4.After rotating θ angle, A point is fallen on XOY plane.So θ is polar angle corresponding to A point coordinate,
To obtain polar diameter OA length, laser displacement sensor maximum mounting shift angle β can be found out by formula (14), also ensure laser position
Displacement sensor and axle housing axis location benchmark meet compensation method constraint condition.
Sin β=AB/OA (14)
According to Design Requirement Drawing and parameter, franchise is installed for weight vapour MCA series axle housing laser displacement sensor maximum
Drift angle is β≤1 ' 8 ", and weight vapour MCP series axle housing laser displacement sensor maximum installs franchise drift angle β≤1 ' 4 ", weight vapour MCY system
Column axle housing laser displacement sensor maximum installs franchise drift angle β≤1 ' 40 ".
Four) verifying of the method for the present invention analog simulation is as follows:
In order to verify the validity of laser displacement sensor setting-up eccentricity tilt compensation method, is meeting constraint condition and swashing
4 groups of original section data are chosen under the premise of Optical displacement sensor maximum installation franchise drift angle to compensate using MATLAB software
The simulating, verifying of method.Output original contour data are detected to each laser displacement sensor and error compensating method handles rear profile
Data image is compared, and misses to the 1st cross section profile and by eccentric tilt error compensation method processing rear profile data circularity
Difference carries out evaluation comparison, verification method result.Figure 12 is compensation method procedure simulation flow chart.
Figure 13 is the 1st section of simulated laser displacement sensor output, the 2nd section, the 3rd section detection data profile pair
Than, it can be seen that laser displacement sensor scanning workpiece different spatial obtains different cross section chamfered shape.It is indicated in figure
The least square center position that each profile obtains after data are fitted.There is no eccentric error influences for laser displacement sensor
When, the center of circle of three measured sections should be in origin position, and as can be seen from Figure 13 the center of circle of three sections fitting is different
The offset of degree, illustrating detection sectional plane, there are the eccentrically mounted errors of laser displacement sensor.In addition, three offset center locations exist
Certain linear distribution rule is presented in two-dimensional projection, is detected profile and exists simultaneously apparent oval shape characteristic again, illustrate quilt
Detection workpiece, which not only has, also exists simultaneously laser displacement sensing under error condition caused by laser displacement sensor setting-up eccentricity
Device installation tilts introduced error, and the model of foundation meets actual field demand, meets eccentric tilt compensation method application bar
Part.
The 1st section, the 2nd section, the 3rd section of simulated laser displacement sensor output are tested circle contour in Figure 13
Fourier progression form is respectively as follows:
Figure 14 is the S using the method for the present invention by the 1st section after eccentricity compensation1Cross section profile data comparison figure, figure
Middle section least square center is corrected from eccentric position to origin, that is, the 1st cross section profile matrix S is modified to S1Cross section profile.
In Figure 14, * line represents eccentricity compensation section, that is, S1Cross section profile；Dotted line is the 1st cross section profile S.
Figure 15 is the 1st section, eccentricity compensation section S1The eccentric inclination that section and through the invention compensation method obtain
Compensate section S4The detection data silhouette contrast figure in section.In Figure 15 × line represents the first cross section profile S；* line represents inclined
The heart compensates section, that is, S1Cross section profile；Solid line represents eccentric slope compensation section S4The profile in section；
By the above emulation verification method, the 1st section (object section) with through compensation method of the present invention treated section
The Circularity error evaluation calculated result of data is as shown in table 1.
1 section central coordinate of circle of table and deviation from circular from table
Incline to calculate axle housing axis location bias tilt compensation method bias introduced in different detection sectional plane data
Oblique error value, promotion of the verification method to error evaluation precision are chosen in laser displacement sensor mounting shift angle tolerance
Additional three groups of data are different 1st, 2,3 sections are tested the Fourier series of circle contour and carry out analog simulation and verification result.
(i) group simulation the 1st, 2,3 sections be tested circle contour Fourier progression form are as follows:
(ii) group simulation the 1st, 2,3 sections be tested circle contour Fourier progression form are as follows:
(iii) group simulation the 1st, 2,3 sections be tested circle contour Fourier progression form are as follows:
Analogue simulation operation is carried out to above-mentioned three groups of cross-section datas using MATLAB and obtains following Comparative result image as schemed
16, shown in Figure 17, Figure 18.
Wherein, Figure 16 is that (i) organizes data simulation Comparative result image；Wherein left figure is initial data, and right figure is to pass through
Compensation method of the present invention carries out the data after error compensation；It in left figure, is seen in the position of 120 ° of lines, from top to bottom the respectively the 1st
Section, the 2nd section, the 3rd section；In right figure, solid line is the 1st section, and × line is eccentricity compensation section S1Section, * line are bias
Slope compensation section S4Section.
Figure 17 is that (ii) organizes data simulation Comparative result image；Wherein left figure is initial data, and right figure is to pass through this hair
Visible subsidy compensation method carries out the data after error compensation；In left figure, seen in the position of 120 ° of lines, from top to bottom respectively the 1st section,
2nd section, the 3rd section；In right figure, solid line is the 1st section, and × line is eccentricity compensation section S1Section, * line are that eccentric inclination is mended
Repay section S4Section.
Figure 18 is that (iii) organizes data simulation Comparative result image；Wherein left figure is initial data, and right figure is to pass through this hair
Visible subsidy compensation method carries out the data after error compensation；In left figure, seen in the position of 120 ° of lines, from top to bottom respectively the 1st section,
2nd section, the 3rd section；In right figure, solid line is the 1st section, and × line is eccentricity compensation section S1Section, * line are that eccentric inclination is mended
Repay section S4Section.
Three groups of section emulation data central coordinate of circle and deviation from circular from table are as shown in table 2.
2 three groups of section emulation data central coordinate of circle of table and deviation from circular from table
Roundness error is influenced by the Fourier series that section is tested circle contour, observes control methods processing for convenience
Front and back graphic result, select have biggish deviation from circular from and surface waviness error cross section profile function, it is actually detected in
Roundness error of workpiece is much smaller.As can be seen from Table 2, the true deviation from circular from section obtained after eccentric slope compensation obviously drops
Low, the difference with the 1st section deviation from circular from is that laser displacement sensor is eccentric and introduced error is installed in axis inclination.From
And demonstrate the validity of laser displacement sensor setting-up eccentricity tilt error compensation method.2 or more 4 groups of simulations of analytical table are imitative
True data as a result, the 1st section deviation from circular from and compensated method processing after section deviation from circular from difference range be 0.56mm extremely
0.743mm accounts for 21.7% to 31% of section deviation from circular from after eccentric slope compensation, it is to circularity in the Precision measurement of workpiece
Error is affected, if such error is not rejected in the detection process, is brought by the inclination of axle housing axis location bias
Error and the intrinsic deviation from circular from of workpiece be fused together the detection qualification rate and detection accuracy for necessarily affecting axle housing finished product.
Through eccentric tilt compensation method treated each axle housing cross-section data effectively eliminates by laser displacement sensor with
The introduced error of axle housing axis location deviation reconstructs the shaft part cylinder wheel using each axle housing section with true deviation from circular from
Exterior feature carries out cylindricity evaluation, and precision is higher.By precise linear guide, different target section is carried out in same shaft part section
Error compensating method processing and Circularity error evaluation can obtain the cylindricity error of the section shaft part.
Claims (6)
1. a kind of axle housing circularity cylindricity detection device axis of workpiece location error compensation method, which is characterized in that comprising steps of
One) axle housing axis location eccentric error compensates
1) axle housing location model is established；
Georeferencing coordinate system is established on the basis of laser displacement sensor, laser displacement sensor plane of rotation establishes XOY seat
Plane is marked, the centre of gyration is origin O, and the point ordinate on the XOY coordinate plane is 0；In being turned round with laser displacement sensor
Heart direction of feed carries out mathematical modeling as Z axis positive direction；The 1st section, are respectively set on the axle housing location model established
2 sections, the 3rd section；Wherein, the 1st section center of circle O1Coordinate be (x1, y1, 0), O is marked in the 2nd section center of circle2Coordinate be (x2,
y2, z2), O is marked in the 3rd section center of circle3Coordinate be (x3, y3, z3)；
2) eccentric axis compensation is carried out to the 1st section of axle housing location model；
The 2nd section center of circle O is solved using least square method fitting according to formula (1)2Coordinate and the 3rd section center of circle O3Coordinate；According to
Formula (2) obtains the 1st section center of circle O with eccentric form1Coordinate；
In formula (1), RijFor the Profile measurement data of laser displacement sensor output, i=2,3, i be measured section sequence
Number；J=1,2,3 ..., N, j are measurement point sequence, and N is every section test point number；
3) to O on the basis of O1The circle contour at place carries out spatial translation, carries out eccentric axis compensation, cutting after obtaining eccentricity correction
Face S1；
Laser displacement sensor is circumferentially revolved one-turn around the 1st section, and acquisition several points coordinate data composition has eccentric special
The cross section profile matrix R of sign1j, by R1jMatrix S is obtained under conversion to rectangular coordinate system；
Spatial translation matrix T is constructed by formula (2)1；
Center of circle O1It is moved to coordinate origin O, the S after obtaining eccentricity correction1Cross section profile matrix, so that modifying factor setting-up eccentricity produces
Raw error；
S1=T1×S (5)
Two) axle housing location model axis location heeling error compensates
A) after step 2) eccentricity compensation, the center of circle O in the 1st section1It falls on Z axis, axis L and Z axis intersect at center of circle O1, axis
Line L is projected as OB XOY plane；
Axis L is calculated in the projection line OB on XOY plane and angle theta value between X-axis；By S1Section and axis L rotate θ about the z axis
Angle is overlapped projection line OB of the axis L on XOY plane with X-axis；S1Section obtains S after rotation2Section；
B) after step a) rotation, S2Section and Z axis space angle are always α；Axis L and S2Section makes axis around Y-axis rotation alpha
Line L is overlapped with Z axis, obtains S3Axle housing axis location heeling error is eliminated in section；
c)S3Cross section profile differs the angle θ with section S on circumferential XOY plane；By S3Section and axis L revolution-θ about the z axis, obtain
Section S4；
D) pair cross-section S4Error evaluation is carried out, the true deviation from circular from for rejecting axis of workpiece location eccentricity heeling error is obtained.
2. axle housing circularity cylindricity detection device axis of workpiece location error compensation method as described in claim 1, feature exist
In: every section uniformly acquires 64 test points, that is, in formula (1), N value is 64.
3. axle housing circularity cylindricity detection device axis of workpiece location error compensation method as described in claim 1, feature exist
In, in step a), the calculation method of angle theta are as follows: be used as auxiliary line, Z ' and axis L with the parallel lines Z ' of the axis L Z axis intersected
Intersection point be A, axis L and X-axis angle are θ1, angle is θ between axis L and XOY plane2, the direction vector of axis L is found out, is obtained
cosθ1、cosθ2Value, axis L meet formula (6) in XOY plane projection line OB and X-axis angle, calculate θ value by formula (6)；
4. axle housing circularity cylindricity detection device axis of workpiece location error compensation method as described in claim 1, feature exist
In: in step a), construct spin matrix T2；
S2Cross section profile matrix is S2=T2×S1 (8)。
5. axle housing circularity cylindricity detection device axis of workpiece location error compensation method as claimed in claim 4, feature exist
In: in step b), eccentric amount e is calculated by formula (9) and to the inclination angle of Z axis；
Construct spin matrix T3；
S3Cross section profile matrix is S3=T3×S2 (11)。
6. axle housing circularity cylindricity detection device axis of workpiece location error compensation method as claimed in claim 5, feature exist
In: in step c), construct spin matrix T4；
Construct spin matrix
S3Cross section profile matrix is S4=T4×S3 (13)。
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