CN109781005A - Using the poor shell class workpiece fitted position measuring system and method for bidifly optical sensor - Google Patents
Using the poor shell class workpiece fitted position measuring system and method for bidifly optical sensor Download PDFInfo
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- CN109781005A CN109781005A CN201910148796.8A CN201910148796A CN109781005A CN 109781005 A CN109781005 A CN 109781005A CN 201910148796 A CN201910148796 A CN 201910148796A CN 109781005 A CN109781005 A CN 109781005A
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Abstract
本发明公开了采用双激光传感器的差壳类工件装配尺寸测量系统及方法，测量系统包括控制器及上位机、用于采集工件表面特征点云的两个激光传感器、用于调节传感器位置的两个平移装置和升降台、带动工件旋转的转动装置；两个激光传感器与平移装置安装在升降台上，可通过平移装置及升降台调节激光传感器的水平及竖直方向的相对测量位置；转动装置带动工件做匀速旋转运动，并由编码器反馈转动角度；控制器与上位机进行数据交换，控制转动装置转动及采集传感器数据。可以实现对差壳类工件十字轴孔装配尺寸的非接触自动化测量，提高测量的效率和精度。
The invention discloses a system and method for measuring the assembly size of a differential shell workpiece using dual laser sensors. The measurement system includes a controller and a host computer, two laser sensors for collecting feature point clouds on the surface of the workpiece, and two sensors for adjusting the position of the sensors. A translation device and a lifting platform, and a rotating device that drives the workpiece to rotate; two laser sensors and translation devices are installed on the lifting platform, and the relative measurement positions of the laser sensor in the horizontal and vertical directions can be adjusted through the translation device and the lifting platform; the rotation device The workpiece is driven to rotate at a uniform speed, and the rotation angle is fed back by the encoder; the controller exchanges data with the host computer, controls the rotation of the rotating device and collects sensor data. It can realize the non-contact automatic measurement of the assembly size of the cross shaft hole of the differential shell workpiece, and improve the efficiency and accuracy of the measurement.
Description
Technical field
The invention belongs to technical field of machine vision, and in particular to assemble ruler using the poor shell class workpiece of bidifly optical sensor
Very little measuring system and method.
Background technique
Differential carrier (hereinafter referred to as poor shell) is the skeleton for installing differential gear and the workpiece such as axle shaft gear and cross axle, is
The important component of heavy truck driving part.Its main function is placement cross axle or a word horizontal axis, guarantees differential mechanism and rear axle
Drive the transmission axis of wheel constant and transmission torque.The common spherical surface of four part curved surfaces inside poor shell, and four parts
It is mutually passed through with four through-holes of cross shaft hole respectively, the position degree of axially bored line and the centre of sphere is to guarantee that poor shell works normally in process
Crucial fitted position.Therefore, it realizes the accurate measurement to fitted position, there is important meaning to the working performance for guaranteeing position degree
Justice.Currently, mainly having amesdial mensuration and three-dimensional coordinates measurement method to the measurement method of poor shell cross shaft hole fitted position.Thousand points
Table method be manual measurement, it is at low cost, but there are low efficiency, poor repeatability, be difficult to realize the disadvantages of automatic measurement；Three-dimensional coordinates measurement
Precision is higher, but its is at high cost, stringent to measurement environmental requirement, the data of acquisition are limited, and industrial automatization is low.With
Requirement of the enterprise to measurement cost and measurement period is higher and higher, and existing measurement method is difficult to meet the actual demand of enterprise.
Summary of the invention
It is an object of the invention to overcome the above measurement method, it is a kind of poor using double excitation sensor measurement to propose
The measuring system and method for shell class workpiece fitted position, realize to the high-precision of poor shell class workpiece cross shaft hole fitted position, from
Dynamicization measurement.
In order to achieve the above objectives, the present invention includes using the poor shell class workpiece fitted position measuring system of bidifly optical sensor
Rotating device for driving measured workpiece to rotate, rotating device top are provided with lifting platform, are fixed with horizon bar on lifting platform,
First laser sensor and second laser sensor, first laser sensor and second laser sensing are slidably connected on horizon bar
Device is connect with controller, and controller is connected with host computer；Host computer is used to send first laser sensor and the to controller
The data acquisition intervals of dual-laser sensor, controller is for controlling first laser sensor and second laser sensor with upper
The data acquisition intervals of machine setting carry out data acquisition, collect first laser sensor and the collected number of second laser sensor
According to, and the data being collected into are transferred to host computer, host computer is also used to be calculated according to the collected data that controller transmits
The fitted position of workpiece for measurement.
Further, rotating device includes motor, transmission device and turntable, the output shaft end of motor and transmission device
Input terminal connection, the output end of transmission device are equipped with turntable.
Further, transmission device is worm gear mechanism.
Further, encoder is installed, encoder is electrically connected with the controller on motor output shaft.
Further, first laser sensor and second laser sensor are laser displacement sensor.
Based on the measurement method of the above-mentioned poor shell class workpiece fitted position measuring system using bidifly optical sensor, including
Following steps:
Workpiece for measurement is mounted on rotating device by step 1, keeps the upper datum end face of workpiece for measurement upward；According to workpiece
Position adjusts the height of lifting platform and the horizontal position of first laser sensor and second laser sensor, so that first laser
Sensor and second laser sensor will not interfere in measurement process with workpiece for measurement；
Its position is simultaneously demarcated in step 2, the position for fixing first laser sensor and second laser sensor, determines
Positional relationship between first laser sensor and the respective measurement coordinate system of second laser sensor；
Step 3, the feature point cloud data that workpiece for measurement upper surface is acquired with first laser sensor, are sensed with second laser
Device acquires the feature point cloud data in workpiece for measurement Internal Spherical Surface and axis hole face；
Step 4 converts first laser sensor and second laser sensor feature point cloud data collected to same
Coordinate space, and upper surface and the inner surface profile of workpiece for measurement are fitted respectively, then calculate the fitted position of workpiece for measurement.
Further, step 3 the following steps are included:
Step 3.1 rotates rotating device continuously and smoothly, and rotating device drives workpiece for measurement continuously and smoothly rotation；
Step 3.2, first laser sensor and second laser sensor carry out data acquisition at set time intervals；
Step 3.3, rotating device stop operating after being rotated by 360 °, and data acquisition terminates.
Further, step 4 the following steps are included:
Step 4.1, coordinate system transformation: the characteristic point cloud obtained by first laser sensor and second laser sensor measurement
Data are located at the respective measurement coordinate system O of two sensors1X1Y1Z1With O2X2Y2Z2In, according to step 2 obtained by calibrating two
Positional relationship between person, by the feature point cloud data that first laser sensor and second laser sensor measurement obtain convert to
In the same coordinate system OXYZ；
Step 4.2, data fitting: in coordinate system OXYZ, the centre of sphere of workpiece for measurement is fitted with least square method respectively
O', the axis of axis hole and upper surface；
Step 4.3, according to the centre of sphere O' fitted in step 4.2, and using centre of sphere O' as origin, foundation is parallel to work to be measured
The coordinate plane X'O'Y' of the upper surface of part calculates separately the axis two-end-point distance X'O'Y' coordinate system of workpiece for measurement axis hole
The distance of reference axis O'X' or O'Y', 2 times of maximum value in calculated distance value, the as cross shaft hole of workpiece for measurement with
Relative to the position degree of the Internal Spherical Surface centre of sphere namely the fitted position of workpiece for measurement cross shaft hole on the basis of upper surface.
Compared with prior art, the present invention at least has technical effect beneficial below: the measuring system that the present invention designs
It is easy to operate and have stronger environmental suitability, measurement period is short and can realize automatic measurement, be more in line with enterprise production
In requirement；The surface point cloud data that workpiece for measurement can be adequately collected using two laser displacement sensors, can acquire
More point cloud data has good axis, centre of sphere fitting effect, improves measurement accuracy；Using rotation workpiece for measurement
The scanning survey method of non-rotating laser displacement sensor reduces self weight error caused by measurement result of sensor.
Further, using the measuring device of bidifly optical sensor, work to be measured is acquired using two laser displacement sensors
The characteristic point cloud on part surface, the plane coordinate system for being parallel to upper datum end face by crossing centre of sphere fitting, and in the plane coordinate system
The middle position degree for calculating each fitting axis relative to the fitting centre of sphere, meets processing and the measuring basis of workpiece fitted position, can
The fitted position of workpiece for measurement is precisely calculated very much.
Further, laser sensor is laser displacement sensor, and acquisition range accuracy reaches micron order, and the result of measurement has
There is higher accuracy guarantee.
Detailed description of the invention
Fig. 1 is measuring system structural schematic diagram of the invention；
Fig. 2 is in the present invention to error of measurement shell workpiece diagrammatic cross-section；
Fig. 3 is the spatial coordinate transformation schematic diagram of two laser sensors in the present invention；
Fig. 4 is the calculation method schematic diagram of poor shell workpiece fitted position in the present invention；
In attached drawing: the first translating device of 1-, 2- lifting platform, 3- rack, 4- controller, 5- host computer, 6- motor, 7- coding
Device, 8- transmission device, 9- workbench, 10- turntable, 11- workpiece for measurement, 121- first laser sensor, 122- second laser pass
Sensor, the second translating device of 13-, 14- horizon bar.
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply opposite
Importance or the quantity for implicitly indicating indicated technical characteristic.Define " first " as a result, the feature of " second " can be bright
Show or implicitly include one or more of the features.In the description of the present invention, unless otherwise indicated, " multiple " contain
Justice is two or more.In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, art
Language " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or
It is integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be by between intermediary
It connects connected, can be the connection inside two elements.For the ordinary skill in the art, can be understood with concrete condition
The concrete meaning of above-mentioned term in the present invention.
Using the poor shell class workpiece fitted position measuring system and method for bidifly optical sensor, by two translating devices and
First and second laser sensors are adjusted to suitable measurement position by lifting platform, and are demarcated to two sensor positions,
Then poor shell class workpiece rotates under the drive of rotating device, two laser sensors acquire respectively poor shell class workpiece upper surface and
The point cloud of inner surface fits upper surface, axis hole axis and the inner surface centre of sphere of workpiece to collected available point later.It carries out
When fitting, the coordinate that two laser sensors are collected to available point first is opposite according to two laser sensors obtained by calibrating
Positional relationship is converted into the same coordinate system, then is fitted go on business each axis hole axis of shell class workpiece and the centre of sphere, the over-fitting centre of sphere respectively
Coordinate plane is established, which is parallel to the upper surface of poor shell class workpiece, and selects coordinate system in the coordinate plane.Meter
Calculate the distance of the axis two-end-point corresponding axis in coordinate system fitted in four holes, the axis two-end-point in four holes
Twice of the maximum value of the distance of corresponding axis is to be somebody's turn to do to error of measurement shell workpiece cross shaft hole with upper surface in coordinate system
On the basis of fitted position relative to the Internal Spherical Surface centre of sphere.
The present invention is described in further details with reference to the accompanying drawing.Refering to fig. 1, the present invention is for realizing to poor shell class work
The measurement of part cross shaft hole fitted position.Below to have the poor shell class workpiece of 4 axis holes being evenly arranged on workpiece for measurement 11
The present invention will be described.Curved surface where four axis hole inner faces is total to ball.
Poor shell class workpiece fitted position measuring system using bidifly optical sensor includes controller 4, host computer 5, work
Platform 9, first laser sensor 121, second laser sensor 122, the first translating device 1, the second translating device 13, lifting platform 2
And drive the rotating device of workpiece rotation；Wherein first laser sensor 121, second laser sensor 122 are for acquiring work
Part surface characteristics point cloud.
The bottom of entire measuring system is arranged in workbench 9, and turntable 10 is equipped on workbench 9, and workpiece for measurement 11 is solid
It is scheduled on turntable 10, turntable 10 is used to that workpiece 11 is driven to rotate.Motor 6, encoder 7 and transmission device 8 are mounted in workbench 9
Portion, encoder 7 are mounted on the output shaft of motor 6, and encoder eliminates motor 6 for feeding back the angle that turntable 10 actually turns over
Backlash bring influences.The output shaft end of motor 6 is equipped with worm gear, and worm gear is engaged with worm screw, is fixed with turntable at the top of worm screw
10, worm and gear constitutes transmission device 8, and transmission device 8 converts the rotary motion of motor 6 to the rotation of turntable 10.Rack 3 is solid
The two sides of turntable 10 on workbench 9 are scheduled on, lifting platform 2 is installed in rack 3, rack 3 is used to support and mounting lifting platform, lifting
Platform 2 is electric lifting platform, is fixed with horizon bar 14 on lifting platform 2, and the first translating device 1 and the second translation are cased on horizon bar 14
It is respectively fixed with first laser sensor 121 on device 13, the first translating device 1 and the second translating device 13 and second laser passes
Sensor 122.
Lifting platform 2 is used to install and adjust first laser sensor 121 and second laser sensor 122 in the vertical direction
Relative position, the first translating device 1 and the second translating device 13, which are mounted on lifting platform 2, adjusts two laser sensors 12
Horizontal position.Controller 4 is electrically connected with first laser sensor 121, second laser sensor 122, lifting platform 2 and motor 6, is used
To control the point cloud data that first laser sensor 121 acquires upper surface, second laser sensor 122 acquisition four axis holes, four
The point cloud data of a curved surface, the lifting of lifting platform 2 and the rotation of motor 6.Host computer 5 is connected with controller 4, and host computer 5 is used
To send controller 4 and instruct, instruction includes the revolving speed of setting motor 6, first laser sensor 121 and second laser sensor
122 acquisition intervals etc., are collected and processing controller 4 collects first laser sensor 121 and second laser sensor 122 measures
The point cloud data arrived, and according to the fitted position (position degree) of the data of collection calculating workpiece for measurement.
Wherein, host computer uses computer, and controller selects PLC, and laser sensor selects the laser displacement of Keyemce to pass
Sensor, said elements are all universal not particularity, directly select suitable model according to measurement request when in use
?.
First laser sensor 121 and second laser sensor 122 are mounted on lifting by the first and second translating devices
On platform 2, the level of laser sensor 12 and the relative measurement position of vertical direction can be adjusted by translating device 1 and lifting platform 2,
The opposite piece in the Internal Spherical Surface of workpiece of first laser sensor 121 and second laser sensor 122 is set to rotate a circle
It (360 °) and does not interfere, and can completely collect the point cloud data of workpiece surface.Rotating device drives workpiece for measurement
It is uniform speed rotation, and feeds back the rotational angle of motor 6 by encoder 7；Controller 4 and host computer 5 carry out data exchange, tool
Body are as follows: host computer 5 sends the data acquisition intervals of order control 6 revolving speed of motor and sensor to controller 4；Controller 4 controls
The revolving speed of motor 6 simultaneously controls between the data acquisition that first laser sensor 121 and second laser sensor 122 are set with host computer
Every carrying out data acquisition, controller 4 is by first laser sensor 121 and the collected workpiece surface of second laser sensor 122
Point cloud data is sent to host computer 5.The control rotating device of controller 4 rotates and acquires first laser sensor 121 and second and swashs
The data that optical sensor 122 collects.It realizes the non-contact automatic measurement to poor shell class workpiece cross shaft hole fitted position, improves
The efficiency and precision of measurement.
Referring to Fig.2, upper datum end face A, Internal Spherical Surface B and axis hole face C are workpiece for measurement surface to be measured, first laser sensing
Device 121 is used to acquire the point cloud data of workpiece upper surface A, and second laser sensor 122 is extend into workpiece for measurement, acquires interior ball
The point cloud data of face B and axis hole C.
Using the poor shell class workpiece fitted position measurement method of bidifly optical sensor, comprising the following steps:
Step 1 builds above-mentioned measuring system according to above-mentioned connection relationship.
After step 2, measuring system are built, workpiece for measurement 11 is placed and secured on turntable 10, upper datum end face A to
On, the first translating device 1, the second translating device 13 and lifting platform 2 are adjusted according to the position of 11 axis hole of workpiece for measurement, so that the
One laser sensor 121 and second laser sensor 122 reach relative measurement position.Wherein, first laser sensor 121 is used for
The characteristic point cloud of workpiece upper surface A is acquired, second laser sensor 122 is used to acquire the spherical surface B and four inside workpiece for measurement 11
The point cloud data of a axis hole face C.
Step 3 after fixing first laser sensor 121 and 122 position of second laser sensor, uses laser interferometry
Instrument demarcates the relative position of first laser sensor 121 and second laser sensor 122, determines above-mentioned two laser
Positional relationship between the respective measurement coordinate system of sensor.
Step 4 acquires the surface to be measured of workpiece for measurement 11 using first laser sensor 121 and second laser sensor 122
Characteristic point cloud, specific acquisition step is as follows:
Step 4.1, the mechanical origin position that turntable 10 is gone to encoder 7.
6 revolving speed of motor is arranged in host computer 5, and controls 6 continuously and smoothly of motor rotation by controller 4 for step 4.2,
And then rotate turntable 10 with certain speed continuously and smoothly, and drive workpiece 11 to rotate by turntable 10, under uniform rotation state,
Measurement error is minimum.
Step 4.3, host computer 5 by controller 4 control first laser sensor 121 and second laser sensor 122 with
The time interval of setting carries out data acquisition, acquires the feature of datum end face A, Internal Spherical Surface B and four axis hole face C on workpiece 11
Point cloud.
Step 4.4, turntable 10 stop operating after being rotated by 360 °, and the collection process of characteristic point cloud terminates.
Step 5 handles the workpiece surface point cloud data that step 4 measurement obtains, and obtains the assembly ruler of workpiece for measurement
It is very little.Specifically includes the following steps:
Step 5.1, coordinate system transformation.Datum end face A on workpiece for measurement 11 is obtained by the measurement of first laser sensor 121
Point cloud data, second laser sensor 122 obtain the surface point cloud of workpiece for measurement 11 4 curved surface B and four shaft bore surface C
Data, the point cloud data of datum end face A and the surface point cloud data of Internal Spherical Surface B and four shaft bore surface C are located at first
Laser sensor 121 and the respective measurement coordinate system O of second laser sensor 1221X1Y1Z1With O2X2Y2Z2In, according in step 3
Positional relationship between above-mentioned two coordinate system obtained by calibrating converts this two groups of surface point cloud datas to the same coordinate system
In OXYZ, coordinate system OXYZ and coordinate system O is chosen here2X2Y2Z2It is overlapped, refering to Fig. 3.
Step 5.2, data fitting.In coordinate system OXYZ, the spy for the Internal Spherical Surface B that second laser sensor 122 is measured
The characteristic point cloud data separating of sign point cloud data and four axis hole face C is opened, and according to the Internal Spherical Surface B feature point cloud data measured, is used
Least square method is fitted the centre of sphere O' for shell inner surface of going on business；According to four axis holes of feature Points cloud Fitting for measuring axis hole face C
Axis；According to the feature Points cloud Fitting upper surface of the upper datum end face A measured.
Step 5.3 crosses the coordinate plane that the centre of sphere O' foundation fitted in step 5.2 is parallel to upper surface A.In the coordinate
Coordinate system X'O'Y' is selected in plane, calculates point on the fitting axis of four axis holes to neighbouring reference axis (O'X' or O'Y')
The maximum value of distance, then being found out by least square method makes the smallest coordinate system X'O'Y' of maximum range value, and digital simulation goes out
The axis two-end-point of four axis holes at a distance from the reference axis O'X' or O'Y' of X'O'Y' coordinate system.It takes in above-mentioned 8 distances
2 times of maximum value, the as position degree of the workpiece for measurement cross shaft hole on the basis of end face relative to the Internal Spherical Surface centre of sphere, namely should
The fitted position of workpiece.Referring to Fig. 4, wherein, point on the fitting axis of four axis holes to neighbouring reference axis (O'X' or O'
Y') distance specifically: the distance of the point distance Y ' positive axis on the axis L1 of digital simulation, the point on the axis L2 of digital simulation
The distance of the negative semiaxis of distance X ', the distance of the negative semiaxis of point distance Y ' on the axis L3 of digital simulation, the axis L4 of digital simulation
On point distance X ' positive axis distance.
It should be noted that the relative position of first laser sensor 121 and second laser sensor 122 is in identical survey
It need to only be demarcated once under the conditions of amount, need to re-scale after measurement environment changes.Identical measurement environment refers to two sensings
There is no variations for the relative position of device measurement coordinate system.
The above content is merely illustrative of the invention's technical idea, and this does not limit the scope of protection of the present invention, all to press
According to technical idea proposed by the present invention, any changes made on the basis of the technical scheme each falls within claims of the present invention
Protection scope within.
Claims (8)
1. using the poor shell class workpiece fitted position measuring system of bidifly optical sensor, which is characterized in that including for driving quilt
The rotating device of workpiece (11) rotation is surveyed, is provided with lifting platform (2) above the rotating device, it is fixed on the lifting platform (2)
Have horizon bar (14), slidably connects first laser sensor (121) and second laser sensor on the horizon bar (14)
(122), the first laser sensor (121) and second laser sensor (122) are connect with controller (4), the control
Device (4) and host computer (5) connection；The host computer (5) is used to send first laser sensor (121) and the to controller (4)
The data acquisition intervals of dual-laser sensor (122), the controller (4) is for controlling first laser sensor (121) and the
Dual-laser sensor (122) carries out data acquisition with the data acquisition intervals that host computer (5) is set, and collects first laser sensor
(121) and second laser sensor (122) collected data, and the data being collected into are transferred to host computer (5), it is described on
Position machine (5) is also used to calculate the fitted position of workpiece for measurement (11) according to the collected data that controller (4) are transmitted.
2. the poor shell class workpiece fitted position measuring system according to claim 1 using bidifly optical sensor, feature
Be, the rotating device includes motor (6), transmission device (8) and turntable (10), the output shaft end of the motor (6) with
The input terminal of transmission device (8) connects, and the output end of the transmission device (8) is equipped with turntable (10).
3. the poor shell class workpiece fitted position measuring system according to claim 2 using bidifly optical sensor, feature
It is, the transmission device (8) is worm gear mechanism.
4. the poor shell class workpiece fitted position measuring system according to claim 2 using bidifly optical sensor, feature
It is, is equipped with encoder (7) on motor (6) output shaft, encoder (7) is electrically connected with controller (4).
5. the poor shell class workpiece fitted position measuring system according to claim 1 using bidifly optical sensor, feature
It is, the first laser sensor (121) and second laser sensor (122) are laser displacement sensor.
6. the measurement side based on the poor shell class workpiece fitted position measuring system described in claim 1 using bidifly optical sensor
Method, which comprises the following steps:
Workpiece for measurement (11) is mounted on rotating device by step 1, keeps the upper datum end face of workpiece for measurement (11) upward；According to
The location of workpiece adjusts the height of lifting platform (2) and the level of first laser sensor (121) and second laser sensor (122)
Position so that first laser sensor (121) and second laser sensor (122) in measurement process will not and workpiece for measurement
(11) it interferes；
Its position is simultaneously marked in step 2, the position for fixing first laser sensor (121) and second laser sensor (122)
It is fixed, determine that the position between first laser sensor (121) and the respective measurement coordinate system of second laser sensor (122) is closed
System；
Step 3, the feature point cloud data that workpiece for measurement (11) upper surface is acquired with first laser sensor (121), are swashed with second
Optical sensor (122) acquires the feature point cloud data in workpiece for measurement (11) Internal Spherical Surface and axis hole face；
Step 4 converts first laser sensor (121) and second laser sensor (122) feature point cloud data collected
Extremely same coordinate space, and upper surface and the inner surface profile of workpiece for measurement (11) are fitted respectively, then calculate workpiece for measurement
(11) fitted position.
7. the poor shell class workpiece fitted position measurement method according to claim 6 using bidifly optical sensor, feature
Be, step 3 the following steps are included:
Step 3.1 rotates rotating device continuously and smoothly, and rotating device drives workpiece for measurement (11) continuously and smoothly rotation；
Step 3.2, first laser sensor (121) and second laser sensor (122) carry out data at set time intervals
Acquisition；
Step 3.3, rotating device stop operating after being rotated by 360 °, and data acquisition terminates.
8. the poor shell class workpiece fitted position measurement method according to claim 6 using bidifly optical sensor, feature
Be, step 4 the following steps are included:
Step 4.1, coordinate system transformation: obtained spy is measured by first laser sensor (121) and second laser sensor (122)
Sign point cloud data is located at the respective measurement coordinate system O of two sensors1X1Y1Z1With O2X2Y2Z2In, it is demarcated according to step 2
First laser sensor (121) and second laser sensor (122) are measured obtained spy by the positional relationship between the two arrived
Sign point cloud data is converted into the same coordinate system OXYZ；
Step 4.2, data fitting: in coordinate system OXYZ, the centre of sphere of workpiece for measurement (11) is fitted with least square method respectively
O', the axis of axis hole and upper surface；
Step 4.3, according to the centre of sphere O' fitted in step 4.2, and using centre of sphere O' as origin, foundation is parallel to workpiece for measurement
(11) the coordinate plane X'O'Y' of upper surface, the axis two-end-point distance X'O'Y' for calculating separately workpiece for measurement (11) axis hole are sat
The distance for marking the reference axis O'X' or O'Y' of system, 2 times of maximum value in calculated distance value, as workpiece for measurement (11)
Assembly of the cross shaft hole on the basis of upper surface relative to position degree namely workpiece for measurement (11) cross shaft hole of the Internal Spherical Surface centre of sphere
Size.
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| CN201910148796.8A CN109781005B (en) | 2019-02-28 | 2019-02-28 | System and method for measuring assembly size of differential shell type workpiece by adopting double laser sensors |
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| CN115077422A (en) * | 2022-08-19 | 2022-09-20 | 南京木木西里科技有限公司 | Automatic tracking and measuring device and method for surface profile of complex large workpiece |
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| CN114111690B (en) * | 2021-10-29 | 2024-05-03 | 江苏上汽汽车变速器有限公司 | Method and system for measuring coaxiality and roundness of inferior shell |
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