CN108453564A - Ball-screw in NC Machine Tools assembles the vision inspection apparatus and method of coaxiality error - Google Patents
Ball-screw in NC Machine Tools assembles the vision inspection apparatus and method of coaxiality error Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
- B23Q17/2452—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves for measuring features or for detecting a condition of machine parts, tools or workpieces
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Abstract
The present invention provides a kind of vision inspection apparatus and method of Ball-screw in NC Machine Tools assembly coaxiality error, for being detected to the coaxiality error for being assemblied in the bearing block on ball-screw and between nut seat.The present invention vision inspection apparatus include：Two are examined set with one heart, are plugged in respectively in the support holes of two supporting bearing bases；Three concentric check bars are plugged in respectively in the support holes that two are examined set and nut seat with one heart；Benchmark laser line generator, for generating laser-based directrix；Two cameras are separately mounted to be fixed on the camera support on numerically-controlled machine tool, the image for shooting concentric check bar and laser-based directrix in the first direction and a second direction respectively；Image pick-up card, for receiving image；Image processing part, for carrying out image outline sharpening processing to image；And image analysis portion, for treated, image to be analyzed and obtains the coaxiality error between concentric check bar.
Description
Technical field
The invention belongs to the detection technique fields that Ball-screw in NC Machine Tools assembles coaxiality error, and in particular to a kind of number
Control the vision inspection apparatus and visible detection method of machine tool ball screw assembly coaxiality error.
Background technology
With the continuous improvement of work of numerical control machine required precision, the installation accuracy of high precision machine tool necessarily also carries therewith
It is high.In numerically-controlled machine tool manufacture assembly, the high precision int of the installation accuracy of ball screw assembly, drive mechanism becomes the certainty of development
Trend.To realize the high-precision assembly of ball-screw part, solution ball-screw is needed to assemble the fast of concentric check bar concentricity
Fast, accurate test problems.
As shown in fig. 6, ball screw assembly, 200 is typically by ball-screw 201 and to be respectively assembled at ball-screw 201
The bearing block 202 at both ends and the nut seat 203 at the intermediate position for being assemblied in ball-screw 201 form.In assembly ball-screw
In the process, when the concentricity detection between the support holes of bearing block 202 and the support holes of nut seat 203 adjusts, usually exist
The method that concentric check bar is installed in each support holes is detected and adjusts.
Currently, the detection device and detection method of Ball-screw in NC Machine Tools assembly coaxiality error mostly use greatly base in kind
Locating tab assembly method directly measures, but poor and less efficient there is being difficult to load measurement, measurement accuracy.Therefore, exploitation quickly,
The detection device and method of accurate Ball-screw in NC Machine Tools assembly coaxiality error have become enterprise's urgent problem to be solved.
Invention content
For the above-mentioned prior art the shortcomings that or deficiency, the technical problem to be solved in the present invention is to provide a kind of numerically-controlled machine tools
Ball-screw assembles the vision inspection apparatus and visible detection method of coaxiality error.
In order to solve the above technical problems, present invention employs following technical solutions：
The present invention provides a kind of vision inspection apparatus of Ball-screw in NC Machine Tools assembly coaxiality error, for respectively
Two coaxiality errors between bearing block and nut seat of two ends and intermediate position that are assemblied in ball-screw are examined
It surveys, fixed placement on the numerically-controlled machine tool with guided way and is respectively provided with for installing ball wire respectively for bearing block and nut seat
The support holes of thick stick, which is characterized in that including：Two are examined set with one heart, are plugged in respectively in the support holes of two supporting bearing bases；Three
A concentric check bar is plugged in respectively in the support holes that two are examined set and nut seat with one heart；Benchmark laser line generator, it is sharp for generating
Light datum line；Two cameras are separately mounted to be fixed on the camera support on numerically-controlled machine tool, for respectively in first party
To the image with the concentric check bar of second direction photographs and laser-based directrix；Image pick-up card, for receiving image；At image
Reason portion, for carrying out image outline sharpening processing to image；And image analysis portion, for treated, image to divide
It analyses and obtains the coaxiality error between concentric check bar.
The vision inspection apparatus of Ball-screw in NC Machine Tools assembly coaxiality error provided by the invention, can also have this
The feature of sample：Wherein, the central axes of the support holes of nut seat and laser-based directrix are parallel with the length direction of guided way.
The vision inspection apparatus of Ball-screw in NC Machine Tools assembly coaxiality error provided by the invention, can also have this
The feature of sample：Wherein, first direction and second direction are mutually perpendicular to and perpendicular with laser-based directrix.
The present invention also provides the visible detection method that a kind of Ball-screw in NC Machine Tools assembles coaxiality error, features
It is, includes the following steps：
Step 1 is examined set by two first and is plugged in respectively in the support holes of two bearing blocks with one heart, then same by three
Heart check bar be plugged in respectively two with one heart inspection set and nut seat support holes in, by two cameras be mounted on camera support on
And benchmark laser line generator is fixedly mounted on numerically-controlled machine tool, and benchmark laser line generator is opened to generate laser-based directrix；
Step 2, use two cameras shoot in the first direction and a second direction respectively the concentric check bar of adjacent two with
And the image of laser-based directrix；
Step 3 receives image using image pick-up card；
Step 4 carries out Sharp processing of image using image processing part to image；
Step 5, using image analysis portion, to treated, image analyzed and obtains the concentricity between concentric check bar
Error, through the following steps that realizing：
First, the linear equation to the axis of treated image analyzed and obtained adjacent concentric check bar and direction
Vector is realized according to following procedure：
Set the axis L of two concentric check bars1, axis L2Both ends be denoted as point A respectively1, point B1And point A2, point B2,
O is chosen respectively in laser-based directrix1、O2It is y-axis and vertical direction to the right for z using laser-based directrix as x-axis, level for origin
Axis establishes O1-x1y1z1Coordinate system and O2-x2y2z2Coordinate system, and the O-xy planes and O- of two image shot by camera are established respectively
Xz planes,
Point A is acquired in O-xy planes1, point B1, point A2And point B2Distance to laser-based directrix is respectively da1y、db1y、
da2y、db2y, similarly, point A is acquired in O-xz planes1, point B1, point A2And point B2Distance to laser-based directrix is respectively
da1z、db1z、da2z、db2z,
It can obtain point A1And point B1In O1-x1y1z1Coordinate in coordinate system is respectively A1(a1x, a1y, a1z)、B1(b1x,
b1y, b1z), conversion is write as A1(0, da1y, da1z)、B1(l1, db1y, db1z), and obtain point A2And point B2In O2-x2y2z2Coordinate system
In coordinate be respectively A2(a2x, a2y, a2z)、B2(b2x, b2y, b2z), conversion is write as A2(0, da2y, da2z)、B1(l2, db1y, db1z),
Axis L1Linear equation be
Then axis L1Direction vector s1For
s1=(m1, n1, p1)=(a1x-b1x, a1y-b1y, a1z-b1z) (2)
Similarly, in O2-x2y2z2Coordinate system central axes L2Linear equation and direction vector s2Respectively
s2=(m2, n2, p2)=(a2x-b2x, a2y-b2y, a2z-b2z) (4)
According to O1-x1y1z1The origin O of coordinate system1And O2-x2y2z2The origin O of coordinate system2The distance between be L12, it is known that
O1-x1y1z1Coordinate system and O2-x2y2z2Coordinate transformation relation between coordinate system is
Wherein, spin matrixTranslation vector
So
Axis L can be obtained according to formula (6)201-x1y1z1Linear equation under coordinate system is
Then, the pitch angle and yaw angle of the axis of concentric check bar is calculated, is realized by following procedure：
Set pitch angle γ as the axis of concentric check bar and the angle and yaw angle β of o-xy horizontal planes be concentric check bar
The angle of the axis projection on o-xy horizontal planes and x-axis,
The direction vector s=(m, n, p) of known axis can then show that the pitch angle γ of axis and yaw angle β are
By formula (8) and formula (9) it is found that the codomain of pitch angle γ and yaw angle β are (- pi/2, pi/2),
By judging the octant residing for direction vector s, pitch angle is normalized according to following correction formula amendment
And obtain correcting pitch angle γ ',
γ ＇=γ × k (10)
Wherein, k is correction amount, when direction vector s is respectively in the Ith octant, the IIth octant, the IIIth octant, the IVth octant,
The prescribe a time limit value of k of V octant, the VIth octant, the VIIth octant and the VIIIth hexagram is respectively 1, -1, -1,1,1, -1, -1 and 1,
It therefore can be in the hope of axis L1Amendment pitch angle γ ＇1With yaw angle β1Respectively
And acquire axis L2Amendment pitch angle γ '2With yaw angle β1Respectively
Axis L is calculated by formula (11) and formula (13)2With axis L1Between pitching angular difference Δ γ21For
Δγ21=γ ＇2- γ ＇1 (15)
Axis L is calculated by formula (11) and formula (13)2With axis L1Between yaw angular difference Δ β21For
Δβ21=β2-β1(16)；
Finally, the coaxiality error between concentric check bar is calculated, is realized by following procedure：
Known spatial point P0(x0, y0, z0) and equation beThe distance between straight line L formula
For
Wherein, point P1(xt, yt, zt) be straight line L on known point,
Axis L is calculated according to formula (6)2On point A2With point B2In O1-x1y1z1Coordinate under coordinate system is respectively：
A2(a2x-L21, a2y, a2z)、B2(b2x-L21, b2y, b2z), calculate separately vectorAnd vector
Calculate axis L1Direction vector s1Respectively with vectorVectorMultiplication cross,
Formula (2), formula (20), formula (21) substitution formula (17) are calculated separately and obtain point A2, point B2To axis L1
Distance,
Compare da2、db2Size, take d0=max { da2、db2, then obtain axis line L2With axis L1Between concentricity miss
Poor α=2d0, coaxiality error α is ball-screw assembly coaxiality error.
The visible detection method of Ball-screw in NC Machine Tools assembly coaxiality error provided by the invention, can also have this
The feature of sample：Wherein, step 2 carries out Sharp processing of image using median filter method to image.
Invention effect
The vision inspection apparatus and vision of Ball-screw in NC Machine Tools assembly coaxiality error involved by the present embodiment
Detection method provides laser-based directrix by benchmark laser line generator, and bearing block and silk are plugged in respectively using two camera acquisitions
The image of concentric check bar and laser-based directrix in female seat is acquired with image pick-up card and receives image, using image processing part
Image outline sharpening processing is carried out to image so that image analysis portion can analyze to obtain the straight line side of the axis of concentric check bar
Journey and direction vector, and then obtain the pitch angle and yaw angle and coaxiality error of axis, be easy installation measure, measurement accuracy
High and efficient, adjusting control ball-screw assembly precision and lathe assembly precision to lathe manufacturer has critically important meaning
Justice.
Description of the drawings
Fig. 1 is the knot of the vision inspection apparatus of Ball-screw in NC Machine Tools assembly coaxiality error in the embodiment of the present invention
Structure schematic diagram；
Fig. 2 is the spatial position schematic diagram of the axis of concentric check bar in the embodiment of the present invention；
Fig. 3 is orthographic drawing of the axis in O-xy planes of concentric check bar in the embodiment of the present invention；
Fig. 4 is orthographic drawing of the axis in O-xz planes of concentric check bar in the embodiment of the present invention；
Fig. 5 is the spatial attitude schematic diagram of the embodiment of the present invention central axes；And
Fig. 6 is the structural schematic diagram of ball wire bar pair in the prior art.
Specific implementation mode
The technique effect of the design of the present invention, concrete structure and generation is described further below with reference to attached drawing, with
It is fully understood from the purpose of the present invention, feature and effect.
Fig. 1 is the knot of the vision inspection apparatus of Ball-screw in NC Machine Tools assembly coaxiality error in the embodiment of the present invention
Structure schematic diagram.
As shown in Figure 1, the vision inspection apparatus of the Ball-screw in NC Machine Tools assembly coaxiality error in the present embodiment
100, two bearing blocks 202 and nut seat 203 for two ends and intermediate position to being respectively assembled at ball-screw 201
Between coaxiality error be detected.The vision inspection apparatus 100 include two with one heart inspection set 10, three concentric check bars 20,
30, two cameras 40 of benchmark laser line generator, Image Acquisition (not shown), image processing part (not shown) and image
Analysis portion (not shown).
As shown in Figure 1, two are examined set 10 and are plugged in respectively in the support holes of two supporting bearing bases with one heart.
As shown in Figure 1, three concentric check bars 20 are plugged in two support holes for examining set 10 and nut seat 201 with one heart respectively
It is interior.In the present embodiment, numerically-controlled machine tool has guided way (not shown), the central axes of the support holes of nut seat 201 and guiding
The length direction of rail is parallel.
As shown in Figure 1, benchmark laser line generator 30 is for generating laser-based directrix 31.In the present embodiment, laser-based directrix
31 is parallel with the length direction of guided way.
As shown in Figure 1, two cameras 40 are separately mounted to be fixed on the camera support 41 of numerically-controlled machine tool, for dividing
The image of concentric check bar 20 and laser-based directrix 31 is not shot in the first direction and a second direction.In the present embodiment,
One direction and second direction are mutually perpendicular to and perpendicular with laser-based directrix 31.
Image pick-up card, for receiving image.
Image processing part, for carrying out image outline sharpening processing to image.
Image analysis portion, for image to be analyzed and obtains the coaxiality error between concentric check bar to treated.
The visible detection method of Ball-screw in NC Machine Tools assembly coaxiality error in the present embodiment is using as shown in Figure 1
Vision inspection apparatus, include the following steps：
Step 1 is examined set 10 by two first and is plugged in respectively in the support holes of two bearing blocks 202, with one heart then by three
A concentric check bar 20 is plugged in respectively in the support holes that two are examined set 10 and nut seat 203 with one heart, and two cameras 40 are installed
Be fixedly mounted on numerically-controlled machine tool on camera support 41 and by benchmark laser line generator 30, and open benchmark laser line generator 30 with
Generate laser-based directrix.
Step 2 shoots two adjacent concentric check bars using two cameras 40 in the first direction and a second direction respectively
20 and laser-based directrix 31 image.
Step 3 receives image using image pick-up card.
Step 4 carries out Sharp processing of image using image processing part to image.In the present embodiment, it is filtered using intermediate value
Wave method carries out Sharp processing of image to image.
Step 5, using image analysis portion, to treated, image analyzed and obtains the concentricity between concentric check bar
Error, through the following steps that realizing：
First, the linear equation to the axis of treated image analyzed and obtained adjacent concentric check bar and direction
Vector is realized according to following procedure：
Fig. 2 is the spatial position schematic diagram of the axis of concentric check bar in the embodiment of the present invention.
For convenience of image analysis processing, each camera only shoots the image of two concentric check bars.
As shown in Fig. 2, the axis L of three concentric check bars of setting1, axis L2Both ends be denoted as point A respectively1, point B1, point A2、
Point B2, O is chosen respectively in laser-based directrix1、O2Using laser-based directrix as x-axis, level it is y-axis to the right and vertical for origin
Direction is z-axis, establishes O1-x1y1z1Coordinate system and O2-x2y2z2Coordinate system, and the O-xy of two image shot by camera is established respectively
Plane and O-xz planes.
Fig. 3 is orthographic drawing of the axis in O-xy planes of concentric check bar in the embodiment of the present invention；Fig. 4 is of the invention
Orthographic drawing of the axis of concentric check bar in O-xz planes in embodiment.
As shown in figure 3, acquiring point A in O-xy planes1, point B1, point A2And point B2Distance to laser-based directrix is distinguished
For da1y、db1y、da2y、db2y, similarly, as shown in figure 4, acquiring point A in O-xz planes1, point B1, point A2And point B2To laser
The distance of datum line is respectively da1z、db1z、da2z、db2z,
It can obtain point A1And point B1In O1-x1y1z1Coordinate in coordinate system is respectively A1(a1x, a1y, a1z)、B1(b1x,
b1y, b1z), conversion is write as A1(0, da1y, da1z)、B1(l1, db1y, db1z), and obtain point A2And point B2In O2-x2y2z2Coordinate system
In coordinate be respectively A2(a2x, a2y, a2z)、B2(b2x, b2y, b2z), conversion is write as A2(0, da2y, da2z)、B1(l2, db1y, db1z),
Axis L1Linear equation be
Then axis L1Direction vector s1For
s1=(m1, n1, p1)=(a1x-b1x, a1y-b1y, a1z-b1z) (2)
Similarly, in O2-x2y2z2Coordinate system central axes L2Linear equation and direction vector s2Respectively
s2=(m2, n2, p2)=(a2x-b2x, a2y-b2y, a2z-b2z) (4)
According to O1-x1y1z1The origin O of coordinate system1And O2-x2y2z2The origin O of coordinate system2The distance between be L12, it is known that
O1-x1y1z1Coordinate system and O2-x2y2z2Coordinate transformation relation between coordinate system is
Wherein, spin matrixTranslation vector
So
Axis L can be obtained according to formula (6)2In O1-x1y1z1Linear equation under coordinate system is
Then, the pitch angle and yaw angle of the axis of concentric check bar is calculated, is realized by following procedure：
Fig. 5 is the spatial attitude schematic diagram of the embodiment of the present invention central axes.
As shown in figure 5, setting pitch angle γ and being as the axis of concentric check bar and the angle and yaw angle β of o-xy horizontal planes
The angle of projection and x-axis of the axis of concentric check bar on o-xy horizontal planes,
The direction vector s=(m, n, p) of known axis can then show that the pitch angle γ of axis and yaw angle β are
By formula (8) and formula (9) it is found that the codomain of pitch angle γ and yaw angle β are (- pi/2, pi/2),
By judging the octant residing for direction vector s, pitch angle is normalized according to following correction formula amendment
And obtain correcting pitch angle γ ＇,
γ ＇=γ × k (10)
Wherein, k is correction amount, when direction vector s is respectively in the Ith octant, the IIth octant, the IIIth octant, the IVth octant,
The prescribe a time limit value of k of V octant, the VIth octant, the VIIth octant and the VIIIth hexagram is respectively 1, -1, -1,1,1, -1, -1 and 1,
It therefore can be in the hope of axis L1Amendment pitch angle γ ＇1With yaw angle β1Respectively
And acquire axis L2Amendment pitch angle γ '2With yaw angle β1Respectively
Axis L is calculated by formula (11) and formula (13)2With axis L1Between pitching angular difference Δ γ21For
Δγ21=γ '2-γ′1 (15)
Axis L is calculated by formula (11) and formula (13)2With axis L1Between yaw angular difference Δ β21For
Δβ21=β2-β1(16)；
Finally, the coaxiality error between concentric check bar is calculated, is realized by following procedure：
Known spatial point P0(x0, y0, z0) and equation beThe distance between straight line L formula
For
Wherein, point P1(xt, yt, zt) be straight line L on known point,
Axis L is calculated according to formula (6)2On point A2With point B2In O1-x1y1z1Coordinate under coordinate system is respectively：
A2(a2x-L21, a2y, a2z)、B2(b2x-L21, b2y, b2z), calculate separately vectorAnd vector
Calculate axis L1Direction vector s1Respectively with vectorVectorMultiplication cross,
Formula (2), formula (20), formula (21) substitution formula (17) are calculated separately and obtain point A2, point B2To axis L1
Distance,
Compare da2、db2Size, take d0=max { da2、db2, then obtain axis line L2With axis L1Between concentricity miss
Poor α=2d0, coaxiality error α is ball-screw assembly coaxiality error.
Embodiment effect
The vision inspection apparatus and vision of Ball-screw in NC Machine Tools assembly coaxiality error involved by the present embodiment
Detection method provides laser-based directrix by benchmark laser line generator, using the acquisition of two cameras respectively in a first direction with second
To the image of the concentric check bar and laser-based directrix that are plugged on bearing block and nut seat on direction, acquired with image pick-up card
Image is received, image outline sharpening processing is carried out to image using image processing part so that image analysis portion can analyze
To the linear equation and direction vector of the axis of concentric check bar, and then obtain the pitch angle of axis and yaw angle and concentricity are missed
Difference is easy installation and measures, quickly, accurately, adjusts control ball-screw assembly precision to lathe manufacturer and lathe assembles essence
Degree tool has very important significance.
Further, since first direction and second direction are mutually perpendicular to, i.e., the plane of two image shot by camera is mutually hung down
Directly, concentric check bar and laser-based directrix will not change ratio because of projection, it is ensured that concentric check bar and laser-based directrix
Image size and ratio accuracy, further improve accuracy of detection.
Claims (5)
1. a kind of vision inspection apparatus of Ball-screw in NC Machine Tools assembly coaxiality error, for being respectively assembled at ball wire
Two coaxiality errors between bearing block and nut seat at two ends of thick stick and intermediate position are detected, the bearing block
Fixed placement on the numerically-controlled machine tool with guided way and is respectively provided with for installing the ball wire respectively with the nut seat
The support holes of thick stick, which is characterized in that including：
Two are examined set with one heart, are plugged in respectively in the support holes of two supporting bearing bases；
Three concentric check bars are plugged in respectively in the support holes of two concentric inspection sets and the nut seat；
Benchmark laser line generator, for generating laser-based directrix；
Two cameras, are separately mounted on the camera support being fixed on the numerically-controlled machine tool, for respectively in first party
To the image with concentric check bar and the laser-based directrix described in second direction photographs；
Image pick-up card, for receiving described image；
Image processing part, for carrying out image outline sharpening processing to described image；And
Image analysis portion, for described image to be analyzed and it is described coaxial between the concentric check bar to obtain to treated
Spend error.
2. the vision inspection apparatus of Ball-screw in NC Machine Tools assembly coaxiality error according to claim 1, feature
It is：
Wherein, the length direction of the central axes of the support holes of the nut seat and the laser-based directrix with the guided way
It is parallel.
3. the vision inspection apparatus of Ball-screw in NC Machine Tools assembly coaxiality error according to claim 1, feature
It is：
Wherein, the first direction and the second direction are mutually perpendicular to and perpendicular with the laser-based directrix.
4. a kind of visible detection method of Ball-screw in NC Machine Tools assembly coaxiality error, which is characterized in that including following step
Suddenly：
Step 1 is examined set by two first and is plugged in respectively in the support holes of two bearing blocks with one heart, then by three inspections with one heart
Stick be plugged in respectively two it is described it is concentric inspection set and nut seat support holes in, by two cameras be mounted on camera support on
And benchmark laser line generator is fixedly mounted on numerically-controlled machine tool, and benchmark laser line generator is opened to generate laser-based directrix；
Step 2 shoots the concentric inspection of adjacent two in the first direction and a second direction respectively using two cameras
The image of stick and the laser-based directrix；
Step 3 receives described image using image pick-up card；
Step 4 carries out Sharp processing of image using image processing part to described image；
Step 5, using image analysis portion, to treated, described image analyzed and it is same between the concentric check bar to obtain
Axis degree error, through the following steps that realizing：
First, the linear equation to the axis of treated described image analyzed and the obtained adjacent concentric check bar and
Direction vector is realized according to following procedure：
Set the axis L of two concentric check bars1, axis L2Both ends be denoted as point A respectively1, point B1And point A2, point B2,
O is chosen respectively in the laser-based directrix1、O2Using the laser-based directrix as x-axis, level it is y-axis to the right and perpendicular for origin
Histogram establishes O to for z-axis1-x1y1z1Coordinate system and O2-x2y2z2Coordinate system, and two image shot by camera are established respectively
O-xy planes and O-xz planes,
The point A is acquired in the O-xy planes1, the point B1, the point A2And the point B2To the laser-based directrix
Distance be respectively da1y、db1y、da2y、db2y, similarly, the point A is acquired in the O-xz planes1, the point B1, the point
A2And the point B2Distance to the laser-based directrix is respectively da1z、db1z、da2z、db2z,
It can obtain the point A1And the point B1In the O1-x1y1z1Coordinate in coordinate system is respectively A1(a1x, a1y,
a1z)、B1(b1x, b1y, b1z), conversion is write as A1(0, da1y, da1z)、B1(l1, db1y, db1z), and obtain the point A2And it is described
Point B2In the O2-x2y2z2Coordinate in coordinate system is respectively A2(a2x, a2y, a2z)、B2(b2x, b2y, b2z), conversion is write as A2(0,
da2y, da2z)、B1(l2, db1y, db1z),
The axis L1Linear equation be
The then axis L1Direction vector s1For
s1=(m1, n1, p1)=(a1x-b1x, a1y-b1y, a1z-b1z) (2)
Similarly, in the O2-x2y2z2Axis L described in coordinate system2Linear equation and direction vector s2Respectively
s2=(m2, n2, p2)=(a2x-b2x, a2y-b2y, a2z-b2z) (4)
According to the O1-x1y1z1The origin O of coordinate system1With the O2-x2y2z2The origin O of coordinate system2The distance between be L12,
Understand the O1-x1y1z1Coordinate system and the O2-x2y2z2Coordinate transformation relation between coordinate system is
Wherein, spin matrixTranslation vector
So
The axis L can be obtained according to formula (6)2In the O1-x1y1z1Linear equation under coordinate system is
Then, the pitch angle and yaw angle of the axis of the concentric check bar is calculated, is realized by following procedure：
It is described same that pitch angle γ, which is set, as the angle and yaw angle β of the axis of the concentric check bar and the o-xy horizontal planes
The angle of projection and x-axis of the axis of heart check bar on the o-xy horizontal planes,
The direction vector s=(m, n, p) of the known axis, then can obtain the axis the pitch angle γ and it is described partially
Boat angle beta be
By formula (8) and formula (9) it is found that the codomain of the pitch angle γ and the yaw angle β are (- pi/2, pi/2),
By judging the octant residing for the direction vector s, the pitch angle is normalized according to following correction formula
It corrects and obtains correcting pitch angle γ ',
γ '=γ × k (10)
Wherein, k is correction amount, when the direction vector s is respectively in the Ith octant, the IIth octant, the IIIth octant, the IVth octant,
The prescribe a time limit value of the k of V octant, the VIth octant, the VIIth octant and the VIIIth hexagram is respectively 1, -1, -1,1,1, -1, -1 and 1,
It therefore can be in the hope of the axis L1Amendment pitch angle γ '1With yaw angle β1Respectively
And acquire the axis L2Amendment pitch angle γ '2With yaw angle β1Respectively
The axis L is calculated by formula (11) and formula (13)2With the axis L1Between pitching angular difference Δ γ21
For
Δγ21=γ '2-γ′1 (15)
The axis L is calculated by formula (11) and formula (13)2With the axis L1Between yaw angular difference Δ β21For
Δβ21=β2-β1(16)；
Finally, the coaxiality error between the concentric check bar is calculated, is realized by following procedure：
Known spatial point P0(x0, y0, z0) and equation beThe distance between straight line L formula be
Wherein, point P1(xt, yt, zt) be the straight line L on known point,
The axis L is calculated according to formula (6)2On the point A2With the point B2In the O1-x1y1z1Under coordinate system
Coordinate is respectively：A2(a2x-L21, a2y, a2z)、B2(b2x-L21, b2y, b2z),
Calculate separately vectorAnd vector
Calculate the axis L1The direction vector s1Respectively with the vectorThe vectorMultiplication cross,
Formula (2), formula (20), formula (21) substitution formula (17) are calculated separately and obtain the point A2, the point B2To institute
State axis L1Distance,
Compare da2、db2Size, take d0=max { da2、db2, then obtain the axis line L2With the axis L1Between it is coaxial
Spend error alpha=2d0, coaxiality error α is ball-screw assembly coaxiality error.
5. the visible detection method of Ball-screw in NC Machine Tools assembly coaxiality error according to claim 4, feature
It is：
Wherein, the step 2 carries out Sharp processing of image using median filter method to described image.
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| CN111251092A (en) * | 2020-03-02 | 2020-06-09 | 张彦辉 | Coaxiality calibration processing equipment for aluminum alloy bars and working method |
| CN111283485A (en) * | 2020-03-02 | 2020-06-16 | 张彦辉 | Composition of coaxiality calibration processing equipment for aluminum alloy bars |
| CN113804128A (en) * | 2021-09-07 | 2021-12-17 | 西安交通大学 | Double-bearing-hole coaxiality error visual measurement device and measurement method |
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