CN109556548B - Standard device for detecting joint error and joint error detection method - Google Patents
Standard device for detecting joint error and joint error detection method Download PDFInfo
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- CN109556548B CN109556548B CN201811427274.3A CN201811427274A CN109556548B CN 109556548 B CN109556548 B CN 109556548B CN 201811427274 A CN201811427274 A CN 201811427274A CN 109556548 B CN109556548 B CN 109556548B
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- 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
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
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Abstract
The invention relates to a standard device for detecting joint errors, which comprises a base, wherein the lower surface of the base is a plane, at least 3 vertical measuring holes are annularly distributed on the upper surface of the base around the same central point O, and the centers of the measuring holes are all on a circular curve which takes the central point O as the center of a circle and R as the radius; the measuring hole is composed of a conical hole and a round hole which are coaxial, the small end of the conical hole is connected with one end of the round hole, and the diameter of the small end of the conical hole is equal to that of the round hole; the diameter d of the round hole is more than or equal to 10mm and less than or equal to 51mm, the height c of the round hole is less than or equal to 0.3mm, and the roundness of the round hole is less than 1 mu m; the cone angle theta of the conical hole is more than or equal to 30 degrees and less than or equal to 60 degrees. The invention also relates to a joint error detection method for detecting the joint error of the multi-sensor measurement system, and the standard device is adopted for joint error detection. The method solves the technical problem that the standard device in the prior art cannot quantitatively detect the combined error magnitude, can be used for quantitatively detecting the combined error magnitude, and can improve the detection efficiency.
Description
Technical Field
The present invention relates to a etalon, and more particularly to a etalon for detecting joint error detection of multi-sensor measurement systems. The invention also relates to a joint error detection method.
Background
With the rapid development of advanced manufacturing fields of automobiles, motorcycles, aerospace, high-speed rails, ships, medical instruments and the like, a large number of high-end products use complex parts which have the characteristics of multi-scale characteristic dimensions and high measurement difficulty, and the final quality and the service life of the products are directly influenced by the precision of the parts. No single sensor can perform all of the characteristic measurements of such parts. In the field of geometric measurement, a multi-sensor coordinate measurement system utilizes complementarity between optical-image-contact sensors, and becomes an important means for high-precision measurement of multiple elements of complex parts, and a combined measurement mode integrating different types of sensors also becomes an important development trend of industrial detection. According to statistics, the multi-sensor coordinate measuring machine is mostly distributed in the field of manufacturing and processing of high-end products of various enterprises. Taking the advanced manufacturing industry of Chongqing as an example, various enterprises such as Changan automobiles, sails, Changan industry, four-in-one instruments, Chongqing machine tools, Qijiang gears and the like introduce different types of multi-sensor coordinate measuring machines for multi-element three-dimensional geometric measurement of complex parts such as automobile molds, cylinder covers, turbines, blades, cams, machine bodies and irregular space profiles.
The standard is the key of the coordinate measuring system verification detection and the recheck detection. Because the image sensor and the optical sensor belong to 2D measuring heads in many cases, a non-contact measuring mode is adopted; the contact type sensor belongs to a 3D measuring head and adopts a contact measuring mode; therefore, there is a need to find a standard for which all three sensor measurements can be applied. In view of this, the inventor designs a multi-well plate standard for a multi-sensor measurement system, see the chinese patent "multi-well plate standard for a multi-sensor measurement system and a joint error detection method (publication number CN 107063330A)", which needs to process a plurality of measurement holes according to a topological structure, on one hand, the standard has a complex structure and is difficult to process and manufacture, and on the other hand, the number of measurement holes is large, so that the sampling path is long, the number of sampling points is huge, and the detection efficiency needs to be improved. More prominent drawbacks are: the method is only limited to qualitatively judging whether the joint error is qualified or not, and cannot be used for quantitatively calculating the magnitude of the joint error. However, the magnitude of the joint error can be used for compensating the measurement error of the multi-sensor measurement system, and has important significance for improving the measurement precision.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the standard device for detecting the joint error, so as to solve the technical problem that the standard device in the prior art cannot quantitatively detect the joint error magnitude, can be used for quantitatively detecting the joint error magnitude and can improve the detection efficiency.
In order to solve the technical problems, the invention adopts the following technical means: a standard device for detecting joint errors comprises a base with a plane lower surface, wherein at least 3 vertical measuring holes are annularly distributed on the upper surface of the base around a same central point O, and the centers of the measuring holes are on a circular curve with the central point O as the center of a circle and R as the radius; the measuring hole is composed of a conical hole and a round hole which are coaxial, the small end of the conical hole is connected with one end of the round hole, and the diameter of the small end of the conical hole is equal to that of the round hole; the diameter d of the round hole is more than or equal to 10mm and less than or equal to 51mm, the height c of the round hole is less than or equal to 0.3mm, and the roundness of the round hole is less than 1 mu m; the cone angle theta of the conical hole is more than or equal to 30 degrees and less than or equal to 60 degrees.
Preferably, the number of the measuring holes is 3, and the included angle between adjacent measuring holes is 120 degrees.
Preferably, the single measurement holes are machined in single hole standards, each single hole standard being mounted on the upper surface of the base in a pattern of measurement holes such that the measurement holes are annularly distributed around the concentric O.
Preferably, the upper surface of the base is a plane; each single-hole standard device is arranged on the upper surface of the base through a corresponding cylindrical support; the height of each cylindrical support is different.
Preferably, the lower surface of the base is provided with a horizontal adjusting mechanism; the horizontal adjusting mechanism comprises supporting legs which are arranged corresponding to the cylindrical supports; the supporting leg comprises a threaded rod with external threads and a hemispherical top head, and the lower end of the threaded rod is connected with a circular plane of the hemispherical top head; the cylindrical support is provided with an internal thread hole for connecting the supporting leg; the threaded rod of the supporting leg penetrates through the base through a through hole in the base and is screwed into the inner threaded hole of the cylindrical support, so that the threaded rod is in threaded connection with the cylindrical support.
Preferably, the measuring device further comprises an encapsulation cover encapsulated on the base, corresponding convex covers are arranged at positions of the encapsulation cover corresponding to the cylinders, the top surfaces of the convex covers are flush with the top surfaces of the corresponding single-hole standard devices, and through holes capable of exposing the measuring holes in the single-hole standard devices are formed in the top surfaces of the convex covers; the packaging cover and the base are both made of aluminum; the single-hole standard device is made of high-speed steel, and the cylindrical support is made of magnetic materials, so that the single-hole standard device can be attracted by magnetic force and positioned on the top surface of the cylindrical support.
The invention also provides a joint error detection method for detecting a joint error of a multi-sensor measurement system, wherein the multi-sensor measurement system is provided with n sensors for size measurement, and the standard device for detecting the joint error is adopted in the method as claimed in claim 1; the standard device is provided with m measuring holes, and m is more than or equal to 3; the method comprises the following steps:
step 1: taking the sensor with the highest measurement precision in the sensors as a reference sensor;
and 2, step: horizontally placing the standard device on a workbench of a multi-sensor measuring system, then sequentially sampling each measuring hole on the standard device by each sensor, wherein a sampling point is on a circular curve intersected by the conical hole and the circular hole; the sampling points of the ith sensor to the jth measuring hole are integrated into
And the sampling points of the jth measuring hole of the reference sensor are collected into
And step 3: respectively fitting a reference fitting circle corresponding to each measuring hole according to the sampling point set of the reference sensor to each measuring hole, and acquiring a reference circle center coordinate according to the reference fitting circle, wherein the reference circle center coordinate of the jth measuring hole is O j (x j ,y j ,z j )；
And 4, step 4: fitting a combined fitting circle of the measuring hole according to the combined sampling point set of each sensor to the same measuring hole, and fitting combined fitting circles of all the measuring holes; then obtaining the combined circle center coordinate of each measuring hole according to the combined fitting circle of each measuring hole; wherein, each sensor pair j is the joint sampling point set of the measurement hole
Combined circle center coordinate O 'of jth measuring hole' j (x′ j ,y′ j ,z′ j )；
And 5: calculating a joint position error in the joint error:
firstly, fitting a reference center coordinate O (x, y, z) by adopting a minimum circumcircle method according to the coordinates of the centers of reference circles, and taking the reference center coordinate O (x, y, z) as an actual coordinate of a central point O surrounded by a measuring hole;
then, fitting a joint center coordinate O '(x', y ', z') according to the coordinates of the joint circle centers by adopting a minimum circumcircle method, and taking the joint center coordinate O '(x', y ', z') as a measurement coordinate of a central point O surrounded by the measurement hole;
and finally, taking the distance between the joint center coordinate and the reference center coordinate as a joint position error delta L, and decomposing the joint position error in the X-axis direction, the Y-axis direction and the Z-axis direction to respectively obtain the magnitude delta X, delta Y and delta Z of the joint position error in the three directions.
Preferably, the following steps are further performed after step 5:
step 6: calculating a joint shape error in the joint error: calculating shape errors aiming at each measuring hole respectively, and then selecting the maximum value in the shape errors as a combined shape error of the multi-sensor measuring system; wherein, the shape error of the jth measuring hole is calculated according to the following mode: calculating the joint sampling point set of the jth measuring hole
From all sampling points to joint circle center coordinate O' j (x′ j ,y′ j ,z′ j ) And the difference between the maximum distance and the minimum distance is taken as the shape error of the jth measuring hole;
and 7: calculating a joint size error in the joint errors: respectively calculating the size error of each measuring hole, and then selecting the maximum value in the size errors as the combined size error of the multi-sensor measuring system; the dimension error of the jth measuring hole is calculated as follows: and calculating the diameter of the combined fitting circle of the jth measuring hole, and taking the difference value of the diameter of the combined fitting circle and the nominal value of the diameter of the round hole of the measuring hole as the size error of the jth measuring hole.
Preferably, the distances from the small ends of the taper holes in the measuring holes to the upper surface of the base are different; detection of Z-axis joint error is also performed:
firstly, calculating the following difference value according to the Z-axis coordinate in the combined circle center coordinate: combining the Z-axis coordinates in the combined circle center coordinates into twoOne set, calculating the measured difference value of each group combination, wherein the measured difference value of the k combination is delta z' k ，
m is the number of the measuring holes;
then, the following difference is calculated from the Z-axis coordinate in the reference circle center coordinate: combining the Z-axis coordinates in the reference circle center coordinates into a group in pairs, and calculating the reference difference of each group, wherein the reference difference of the kth group is delta Z k ，
m is the number of the measuring holes;
finally, the difference between the corresponding measured difference and the reference difference is calculated according to the following formula: delta z' k -Δz k And taking the maximum difference value obtained by calculation as the Z-axis joint error of the multi-sensor measuring system.
Compared with the prior art, the invention has the following beneficial effects:
1. the measuring holes of the standard device are annularly distributed around the same central point, so that only 3 measuring holes are needed to be matched with a minimum circumscribed circle fitting method to realize the detection of joint errors, the number of the measuring holes is greatly reduced, the structure of the standard device is simplified, and the processing and manufacturing difficulty is reduced.
2. The distribution mode of the measuring holes not only simplifies the structure, but also is the basis of quantitative calculation of joint errors, and is particularly important for the quantitative calculation of the joint position errors: the position matching relation of the sensors is a main factor causing the joint position error, according to the definition of the position error (the distance between the measured position and the actual position), the reference sensor can fit the reference coordinate of the central point (as the actual position) by sampling according to the standard device of the invention, and the sensors can fit the measured position of the central point by jointly sampling according to the standard device of the invention, thereby being capable of quantitatively calculating the joint position error. However, the etalon in the prior art has no uniform center, so that the joint position error cannot be calculated quantitatively, and the position error of the multi-sensor measurement system can be judged qualitatively to be qualified only according to whether the position errors of 3 randomly selected measurement holes exceed the position error threshold.
3. In order to realize different heights of the small end of the taper hole in each measuring hole from the upper surface of the base, the invention respectively provides two schemes: 1) the measuring holes are directly processed on the base, but the depths of the measuring holes are different; 2) the single measurement holes are machined on single-hole standards, each supported by a cylindrical support of different heights. Due to the fact that the machining precision requirement of the measuring hole is high, the machining difficulty is increased by adopting the first scheme; however, the second scheme can greatly reduce the processing difficulty and is convenient to realize.
4. The height design of the distance base of the measuring hole is different, and the distance base is sequentially increased by the same difference value, so that the linear increase of the Z-axis direction is kept, and the precision of detecting the Z-axis joint error can be improved.
5. The lower surface of the base is provided with a horizontal adjusting mechanism, so that the levelness of the base can be improved, and the detection precision is improved. The supporting legs are used as the horizontal adjusting mechanism, so that the contact area between the horizontal adjusting mechanism and the workbench can be greatly reduced, and the influence of the workbench on the levelness of the base is reduced.
6. The supporting legs are in threaded connection with the cylindrical support, so that the height of the supporting legs can be conveniently adjusted, the supporting legs also have the function of positioning the cylindrical support on the base, the design is ingenious, and the structure of the standard device is simplified.
7. The single-hole standard device is positioned on the cylindrical support through magnetic attraction, when the cross section of the single-hole standard device is a centrosymmetric graph, the cylindrical support can generate an even magnetic field, and therefore the single-hole standard device is guaranteed to be subjected to even magnetic force, and the center of the single-hole standard device coincides with the center of the cylindrical support and is on a circular curve which takes the central point O as the center of a circle and R as the radius.
8. The encapsulation lid can play the effect of protection haplopore etalon, and the encapsulation lid adopts aluminium system to make with the base and can alleviate the weight of standard to the encapsulation lid can be kept apart the magnetic field that cylindrical support produced for aluminium system in the encapsulation lid, avoids producing magnetic field interference to multisensor measurement system.
9. The joint error detection method has independence on sampling of the measurement holes, and does not need to establish sampling paths among the measurement holes, so that the sampling process is greatly simplified, and the sampling efficiency is improved.
10. The joint error detection method can scientifically and reasonably calculate the magnitude of the joint position error, thereby generating breakthrough progress for realizing compensation of the measurement error of the multi-sensor measurement system.
11. The joint error detection method of the invention also gives the magnitude of the joint size error and the joint shape error, but the size error and the shape error are not caused by the cooperation between the sensors, are determined by the self precision and are not suitable for error compensation.
Drawings
FIG. 1 is a top view of an etalon in this embodiment;
FIG. 2 is a schematic view showing the structure of a measuring hole in the present embodiment;
FIG. 3 is a front view of the etalon in this embodiment;
fig. 4 is a schematic diagram of the detection of joint position errors.
Detailed Description
The technical solution of the present invention will be further described with reference to the accompanying drawings and the detailed description.
As shown in fig. 1 and 2, a standard device for detecting joint errors includes a base 1 having a planar lower surface, at least 3 vertical measuring holes 101 annularly distributed on the upper surface of the base 1 around a central point O, and centers of the measuring holes 101 are on a circular curve having the central point O as a center and R as a radius; the measuring hole 101 is composed of a conical hole and a round hole which are coaxial, the small end of the conical hole is connected with one end of the round hole, and the diameter of the small end of the conical hole is equal to that of the round hole; the diameter d of the round hole is more than or equal to 10mm and less than or equal to 51mm, the height c of the round hole is less than or equal to 0.3mm, and the roundness of the round hole is less than 1 mu m; the cone angle theta of the conical hole is more than or equal to 30 degrees and less than or equal to 60 degrees.
The number of the measuring holes can be increased according to the size of the standard device, and the larger the size of the standard device is, the more the number of the measuring holes is; the base 1 of the standard may be cylindrical or prismatic. In the specific embodiment, the base 1 is cylindrical with a radius of 60nm, the number of the measuring holes is 3, the included angle between adjacent measuring holes is 120 degrees, the diameters of the round holes of the measuring holes are respectively 10nm, 10nm and 15nm, and the round holes are distributed on a circular curve with a circle center of the base 1 as the center and a radius of 36 nm.
In order to realize that the heights of the small ends of the taper holes in the measuring holes from the upper surface of the base 1 are different, the invention respectively provides two schemes:
1) the measuring holes are directly machined on the base 1, but the depth of the measuring holes is different, specifically, the upper surface of the base 1 is a plane, and the upper surface of the measuring holes is flush with the upper surface of the base 1; the depths of the measuring holes are different, and the measuring holes are sequentially increased by equal difference values.
2) The single measurement holes are machined on single-hole standards, each supported by a cylindrical support of different heights. Specifically, as shown in fig. 3, the single measuring holes are processed on the single-hole standard devices 3, and each single-hole standard device 3 is installed on the upper surface of the base 1 according to the distribution mode of the measuring holes, so that the measuring holes are annularly distributed around the same center O; the upper surface of the base 1 is a plane; each single-hole standard device is arranged on the upper surface of the base 1 through a corresponding cylindrical support 2; the heights of the cylindrical supports 2 are different from each other and are sequentially increased by equal height differences.
Due to the fact that the machining precision requirement of the measuring hole is high, the machining difficulty is increased by adopting the first scheme; this embodiment adopts the second kind of scheme can greatly reduced processing degree of difficulty, the realization of being convenient for to can change the haplopore etalon on base 1, thereby make up into the etalon of different specifications.
In the present embodiment, as shown in fig. 3, a horizontal adjusting mechanism is disposed on the lower surface of the base 1; the horizontal adjusting mechanism comprises supporting legs 4 which are arranged corresponding to the cylindrical supports; the supporting leg comprises a threaded rod with external threads and a hemispherical top head, and the lower end of the threaded rod is connected with a circular plane of the hemispherical top head; the cylindrical bracket is provided with an internal threaded hole for connecting a supporting leg; the threaded rod of the supporting leg penetrates through the through hole in the base 1 and is screwed into the inner threaded hole of the cylindrical support, so that the threaded rod is in threaded connection with the cylindrical support.
In the present embodiment, the measuring device further includes a packaging cover (not shown in the figure) packaged on the base 1, the packaging cover is provided with corresponding convex covers corresponding to the positions of the cylinders, the top surfaces of the convex covers are flush with the top surfaces of the corresponding single-hole standards, and the top surfaces of the convex covers are provided with through holes capable of exposing the measuring holes on the single-hole standards; the packaging cover and the base 1 are both made of aluminum; the single-hole standard device is made of high-speed steel, and the cylindrical support is made of magnetic materials, so that the single-hole standard device can be attracted by magnetic force and positioned on the top surface of the cylindrical support.
A joint error detection method is used for detecting joint errors of a multi-sensor measurement system, wherein the multi-sensor measurement system is provided with n sensors for size measurement, and a standard device for detecting the joint errors in the embodiment is adopted; the standard device is provided with m measuring holes, and m is more than or equal to 3; the method comprises the following steps:
step 1: taking the sensor with the highest measurement precision in the sensors as a reference sensor;
and 2, step: horizontally placing the standard device on a workbench of a multi-sensor measuring system, then sequentially sampling each measuring hole on the standard device by each sensor, wherein a sampling point is on a circular curve intersected by the conical hole and the circular hole; the sampling points of the ith sensor to the jth measuring hole are integrated into
And the sampling points of the jth measuring hole of the reference sensor are collected into
And step 3: respectively fitting a reference fitting circle corresponding to each measuring hole according to the sampling point set of each measuring hole by the reference sensor,and acquiring a reference circle center coordinate according to the reference fitting circle, wherein the reference circle center coordinate of the jth measuring hole is O j (x j ,y j ,z j )；
And 4, step 4: fitting a combined fitting circle of the measuring hole according to the combined sampling point set of each sensor to the same measuring hole, and fitting combined fitting circles of all the measuring holes; then obtaining the combined circle center coordinate of each measuring hole according to the combined fitting circle of each measuring hole; wherein, each sensor is to the joint sampling point set of the jth measuring hole
Combined circle center coordinate O 'of jth measuring hole' j (x′ j ,y′ j ,z′ j )；
And 5: calculating a joint position error in the joint error:
firstly, fitting a reference center coordinate O (x, y, z) by adopting a minimum circumcircle method according to each reference circle center coordinate, and taking the reference center coordinate O (x, y, z) as an actual coordinate of a central point O surrounded by a measuring hole;
then, fitting a joint center coordinate O '(x', y ', z') according to the coordinates of the joint circle centers by adopting a minimum circumcircle method, and taking the joint center coordinate O '(x', y ', z') as a measurement coordinate of a central point O surrounded by the measurement hole;
finally, as shown in fig. 4, the distance between the joint center coordinate and the reference center coordinate is taken as a joint position error Δ L, and the joint position error is decomposed in three directions, i.e., the X axis, the Y axis, and the Z axis, so as to obtain magnitudes Δ X, Δ Y, and Δ Z of the joint position error in the three directions, respectively.
In this embodiment, the following steps are further performed after step 5:
step 6: calculating a joint shape error in the joint error: calculating shape errors aiming at each measuring hole respectively, and then selecting the maximum value in the shape errors as a combined shape error of the multi-sensor measuring system; wherein, the shape error of the jth measuring hole is calculated according to the following mode: calculating the joint sampling point set of the jth measuring holeCombination of Chinese herbs
From all sampling points to joint circle center coordinate O' j (x′ j ,y′ j ,z′ j ) And the difference between the maximum distance and the minimum distance is taken as the shape error of the jth measuring hole;
and 7: calculating a joint size error in the joint errors: respectively calculating the size error of each measuring hole, and then selecting the maximum value in the size errors as the combined size error of the multi-sensor measuring system; the dimension error of the jth measuring hole is calculated as follows: and calculating the diameter of the combined fitting circle of the jth measuring hole, and taking the difference value of the diameter of the combined fitting circle and the nominal value of the diameter of the round hole of the measuring hole as the size error of the jth measuring hole.
In the specific embodiment, the heights of the small ends of the taper holes in the measuring holes from the upper surface of the base 1 are different, and are sequentially increased by the same difference; detection of Z-axis joint error is also performed:
firstly, calculating the following difference value according to the Z-axis coordinate in the combined circle center coordinate: combining the Z-axis coordinates in the combined circle center coordinates into a group in pairs, and calculating the measurement difference value of each group, wherein the measurement difference value of the kth group is delta Z' k ，
m is the number of the measuring holes;
then, the following difference is calculated from the Z-axis coordinate in the reference circle center coordinate: combining the Z-axis coordinates in the reference circle center coordinates into a group in pairs, and calculating the reference difference of each group, wherein the reference difference of the kth group is delta Z k ，
m is the number of the measuring holes;
finally, the difference between the corresponding measured difference and the reference difference is calculated according to the following formula: delta z' k -Δz k And calculating the maximum differenceAs a Z-axis joint error for a multi-sensor measurement system.
Claims (8)
1. A joint error detection method for detecting a joint error of a multi-sensor measurement system having n kinds of sensors for size measurement, characterized in that: the etalon used to detect the joint error was as follows: the standard comprises a base with a plane lower surface, wherein 3 vertical measuring holes are annularly distributed on the upper surface of the base around a same central point O, the included angle between every two adjacent measuring holes is 120 degrees, so that regular triangle distribution is formed, and the centers of the measuring holes are all on a circular curve taking the central point O as the center of a circle and R as the radius; the measuring hole is composed of a conical hole and a round hole which are coaxial, the small end of the conical hole is connected with one end of the round hole, and the diameter of the small end of the conical hole is equal to that of the round hole; the diameter d of the round hole is more than or equal to 10mm and less than or equal to 51mm, the height c of the round hole is less than or equal to 0.3mm, and the roundness of the round hole is less than 1 mu m; the cone angle theta of the conical hole is more than or equal to 30 degrees and less than or equal to 60 degrees; the standard device is provided with m measuring holes, wherein m is 3;
the main factor causing the joint position error is the position error caused by the position matching relationship of a plurality of sensors, and the position error refers to the distance between the measured position and the actual position; the method comprises the following steps:
step 1: taking the sensor with the highest measurement precision in the sensors as a reference sensor;
step 2: horizontally placing the standard device on a workbench of a multi-sensor measuring system, then sequentially sampling each measuring hole on the standard device by each sensor, wherein a sampling point is on a circular curve intersected by the taper hole and the round hole; the sampling points of the ith sensor to the jth measuring hole are integrated into
And the sampling points of the jth measuring hole of the reference sensor are collected into
And step 3: according to the referenceRespectively fitting a reference fitting circle corresponding to each measuring hole by a sensor to the sampling point set of each measuring hole, and acquiring a reference circle center coordinate according to the reference fitting circle, wherein the reference circle center coordinate of the jth measuring hole is O j (x j ,y j ,z j )；
And 4, step 4: fitting a combined fitting circle of the measuring hole according to the combined sampling point set of each sensor to the same measuring hole, and fitting combined fitting circles of all the measuring holes; then acquiring the combined circle center coordinate of each measuring hole according to the combined fitting circle of each measuring hole; wherein, each sensor is to the joint sampling point set of the jth measuring hole
Combined circle center coordinate O 'of jth measuring hole' j (x′ j ,y′ j ,z′ j )；
And 5: calculating a joint position error in the joint error:
firstly, fitting a reference center coordinate O (x, y, z) by adopting a minimum circumcircle method according to the coordinates of the centers of reference circles, and taking the reference center coordinate O (x, y, z) as an actual coordinate of a central point O surrounded by a measuring hole;
then, fitting a joint center coordinate O '(x', y ', z') according to the coordinates of the joint circle centers by adopting a minimum circumcircle method, and taking the joint center coordinate O '(x', y ', z') as a measurement coordinate of a central point O surrounded by the measurement hole;
and finally, taking the distance between the joint center coordinate and the reference center coordinate as a joint position error delta L, and decomposing the joint position error in the X-axis direction, the Y-axis direction and the Z-axis direction to respectively obtain the magnitude delta X, delta Y and delta Z of the joint position error in the three directions.
2. A joint error detection method according to claim 1, characterized by: the following steps are also carried out after the step 5:
step 6: calculating a joint shape error in the joint error: calculating shape error for each measuring hole, and selecting shapeThe maximum value in the errors is used as the joint shape error of the multi-sensor measuring system; wherein, the shape error of the jth measuring hole is calculated according to the following mode: calculating the joint sampling point set of the jth measuring hole
From all sampling points to joint circle center coordinate O' j (x′ j ,y′ j ,z′ j ) And the difference between the maximum distance and the minimum distance is taken as the shape error of the jth measuring hole;
and 7: calculating a joint size error in the joint errors: calculating the size error of each measuring hole respectively, and then selecting the maximum value in the size errors as the combined size error of the multi-sensor measuring system; the dimension error of the jth measuring hole is calculated as follows: and calculating the diameter of the combined fitting circle of the jth measuring hole, and taking the difference value of the diameter of the combined fitting circle and the nominal value of the diameter of the round hole of the measuring hole as the size error of the jth measuring hole.
3. A joint error detection method according to claim 1, characterized by: the heights of the small ends of the taper holes in the measuring holes from the upper surface of the base are different, and the heights are increased progressively by the same difference value in sequence; detection of Z-axis joint error is also performed:
firstly, calculating the following difference value according to the Z-axis coordinate in the combined circle center coordinate: combining the Z-axis coordinates in the combined circle center coordinates into a group in pairs, and calculating the measurement difference value of each group, wherein the measurement difference value of the kth group is delta Z' k ，
m is the number of the measuring holes;
then, the following difference is calculated from the Z-axis coordinate in the reference circle center coordinate: combining the Z-axis coordinates in the reference circle center coordinates into a group in pairs, and calculating the reference difference of each group, wherein the reference difference of the kth group is delta Z k ，
m is the number of the measuring holes;
finally, the difference between the corresponding measured difference and the reference difference is calculated according to the following formula: delta z' k -Δz k And taking the maximum difference value obtained by calculation as the Z-axis joint error of the multi-sensor measuring system.
4. The joint error detection method of claim 1, wherein: the upper surface of the base is a plane, and the upper surface of the measuring hole is flush with the upper surface of the base; the depth of each measurement hole is different and is sequentially increased by equal difference.
5. The joint error detection method of claim 1, wherein: the single measuring holes are processed on the single-hole standard devices, and the single-hole standard devices are arranged on the upper surface of the base according to the distribution mode of the measuring holes, so that the measuring holes are annularly distributed around the same central point O.
6. The joint error detection method of claim 5, wherein: the upper surface of the base is a plane; each single-hole standard device is arranged on the upper surface of the base through a corresponding cylindrical support; the heights of the cylindrical supports are different, and the heights of the cylindrical supports are sequentially increased by equal height difference values.
7. The joint error detection method of claim 5, wherein: the lower surface of the base is provided with a horizontal adjusting mechanism; the horizontal adjusting mechanism comprises supporting legs which are arranged corresponding to the cylindrical supports; the supporting leg comprises a threaded rod with external threads and a hemispherical top head, and the lower end of the threaded rod is connected with a circular plane of the hemispherical top head; the cylindrical bracket is provided with an internal threaded hole for connecting a supporting leg; the threaded rod of the supporting leg penetrates through the base through a through hole in the base and is screwed into the inner threaded hole of the cylindrical support, so that the threaded rod is in threaded connection with the cylindrical support.
8. The joint error detection method according to claim 6 or 7, characterized in that: the top surface of each convex cover is flush with the top surface of the corresponding single-hole standard device, and the top surface of each convex cover is provided with a through hole capable of exposing the measuring hole on the single-hole standard device; the packaging cover and the base are both made of aluminum; the single-hole standard device is made of high-speed steel, and the cylindrical support is made of magnetic materials, so that the single-hole standard device can be attracted by magnetic force and positioned on the top surface of the cylindrical support.
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