CN109870125B - Hole-shaft coaxiality measuring device and method for hollow shaft - Google Patents
Hole-shaft coaxiality measuring device and method for hollow shaft Download PDFInfo
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- CN109870125B CN109870125B CN201910204384.1A CN201910204384A CN109870125B CN 109870125 B CN109870125 B CN 109870125B CN 201910204384 A CN201910204384 A CN 201910204384A CN 109870125 B CN109870125 B CN 109870125B
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Abstract
The invention belongs to the field of coaxiality measurement, and particularly discloses a hole-axis coaxiality measuring device and method of a hollow shaft, wherein the device comprises a diffraction-free light reference generator, an outer circle measuring head, an inner hole measuring head and a data acquisition and processing unit, wherein the diffraction-free light reference generator is used for generating diffraction-free light beams; the outer measuring head comprises an outer measuring head mounting cylinder, a plurality of displacement sensors arranged along the circumferential direction in the outer measuring head mounting cylinder and a pose measuring unit coaxially arranged in the outer measuring head mounting cylinder; the inner hole measuring head comprises an inner hole measuring head mounting cylinder, a plurality of displacement sensors arranged along the outer circumference of the inner hole measuring head mounting cylinder and a pose measuring unit coaxially arranged in the inner hole measuring head mounting cylinder; the data acquisition and processing unit is used for receiving data of the displacement sensors and the pose measuring unit in the outer circle measuring head and the inner hole measuring head. The method adopts the device to measure the coaxiality of the hollow shaft hole and the hollow shaft. The invention has the advantages of high measurement precision, good stability, simple and convenient operation and the like.
Description
Technical Field
The invention belongs to the field of coaxiality measurement, and particularly relates to a hole-shaft coaxiality measuring device and method of a hollow shaft.
Background
The hollow shaft is widely applied in various fields, a plurality of industrial problems are solved, and meanwhile, the structure of the hollow shaft has great influence on the working stability of the whole rotating shaft system, especially the coaxiality error of an inner hole and an outer circle, and the hollow shaft has important significance for guaranteeing the working performance and improving the working efficiency of the hollow shaft. Therefore, it is important to measure the coaxiality of the hollow shaft.
For the coaxiality measurement, many studies are carried out at home and abroad:
for example, the method adopts a planar array CCD as a measuring tool, the planar array CCD can acquire an image of the forged piece in real time, so that an operator can conveniently monitor the production process of the forged piece in real time, the operator can select a proper position on the acquired image of the forged piece for measurement, the independently developed software is adopted for image processing in the experiment, the measurement result reflects that the measurement comprehensive error is within a reasonable range, and the single measurement time is within 10 s. The method has the advantages of small volume, high reliability, high measuring speed, no special requirement on working environment and the like, but the method cannot measure the hole-axis coaxiality, and has higher operation difficulty for large-size measuring objects. For another example, the three-coordinate measuring machine method (hereinafter abbreviated as CMM) for the political analysis of the university of southeast university has the advantages of high measurement accuracy, high speed, strong adaptability, digital control, and capability of meeting the measurement of multi-aperture coaxiality. The biggest characteristic of CMM for measuring coaxiality is that it is unnecessary to rotate the workpiece, it is unnecessary to use special mandrel or special support, it is unnecessary to use mechanical alignment, it is only necessary to use measuring head probe to sample the workpiece point, and it can output the measuring result quickly. However, when the CMM is used to measure the coaxiality, due to the difference understood from the reference axis, the difference in the measurement method of the axis of the measured element, the difference in the evaluation method of the coaxiality, the influence of the sampling point error of the CMM, and the like, the phenomena of large error and poor repeatability of the measurement result sometimes occur, that is, the measurement result cannot truly reflect the true coaxiality error of the part. For another example, Zhangiwei of Jilin university proposes a method for measuring coaxiality in a non-contact manner, and a two-dimensional laser displacement sensor is adopted to measure the coaxiality of the inner surface of a hollow cylinder. Meanwhile, a method and a design skill for selecting the two-dimensional laser displacement sensor according to the diameter of the inner surface of the cylinder are provided, and factors influencing the measurement precision are analyzed in detail. The measurement method is suitable for measuring hole-hole coaxiality.
Various high-precision photoelectric measuring devices which can adapt to the measurement of coaxiality of different shaft diameters are developed in sequence in foreign countries, such as the United states, Germany and the like, and the non-contact measurement can be carried out on the geometric dimension and the form and position errors of the shaft. Some foreign brands of laser alignment instruments, such as Sweden (Easy-laser Series), Germany (OptiIGN PLUS Series), US (FIXTURLASER), etc., are better suited for measuring shaft-shaft coaxiality of rotating equipment, but not for measuring hole-hole coaxiality or hole-shaft coaxiality. In some countries, the axis-axis coaxiality is obtained by using a method for obtaining the peripheral dimension of a part, for example, a korean dual-frequency laser measuring system is composed of 3 lasers and 2 long guide rails orthogonal to each other, and when a laser beam emitted by the laser is projected to the part, the distance between the two laser beams is the length (thickness or diameter) of the measured part; according to the German LaCam-Forge system, a laser measuring system is installed at a certain fixed position, a large amount of part surface data are collected through continuous scanning of a large part, and finally dimension measurement of a Forge piece is completed through image processing.
It is known from the current research situation at home and abroad that in the contact measurement method of the coaxiality, the problems of low measurement precision and complex measurement steps exist, and in the non-contact measurement method of the coaxiality, the measured object needs to be rotated, and the hole-axis coaxiality measurement of a large-size and large-mass hollow shaft still has certain difficulty. Therefore, it is necessary to develop a measuring device and a corresponding method for accurately measuring the hole-axis coaxiality of a large-size and large-mass hollow shaft.
Disclosure of Invention
Aiming at the defects or the improvement requirements in the prior art, the invention provides a device and a method for measuring the hole-axis coaxiality of a hollow shaft, which can realize the precise measurement of the hole-axis coaxiality of the hollow shaft with large size and large mass by researching and designing the specific structures and the mutual matching relationship of key components such as a diffraction-free light reference generator, an outer circle measuring head and an inner hole measuring head, and have the advantages of high measurement precision, good stability, no need of moving a measured object in the measurement process, simple and convenient operation, suitability for assembly line detection and the like.
To achieve the above object, according to one aspect of the present invention, there is provided a hole axis coaxiality measuring apparatus of a hollow shaft, comprising a diffraction-light-free reference generator, an outer circumference probe, an inner hole probe, and a data acquisition and processing unit, wherein:
the non-diffraction light reference generator is used for generating a non-diffraction light beam to serve as a common straight line reference for measuring the inner hole and the outer circle, and the non-diffraction light beam emitted by the non-diffraction light reference generator is coaxial with the measured object during measurement;
the outer measuring head comprises an outer measuring head mounting cylinder in a ring shape, a plurality of displacement sensors arranged along the circumferential direction in the outer measuring head mounting cylinder and a pose measuring unit coaxially arranged in the outer measuring head mounting cylinder, during measurement, the outer measuring head mounting cylinder is positioned outside a measured object, the displacement sensors are used for acquiring displacement data and transmitting the displacement data to the data acquisition and processing unit, and the pose measuring unit is used for acquiring the pose of the outer measuring head relative to a non-diffraction light beam and transmitting the pose data to the data acquisition and processing unit;
the inner hole measuring head comprises an annular inner hole measuring head mounting cylinder, a plurality of displacement sensors and a pose measuring unit, wherein the displacement sensors are circumferentially arranged along the outer part of the inner hole measuring head mounting cylinder, the pose measuring unit is coaxially arranged in the inner hole measuring head mounting cylinder, during measurement, the inner hole measuring head mounting cylinder is positioned in an inner hole of a measured object, the displacement sensors are used for acquiring displacement data and transmitting the displacement data to the data acquisition and processing unit, and the pose measuring unit is used for acquiring a pose of the inner hole measuring head relative to a non-diffraction light beam and transmitting the pose data to the data acquisition and processing unit;
the data acquisition and processing unit is used for receiving data of the displacement sensor and the pose measuring unit in the outer circle measuring head and the inner hole measuring head and calculating and obtaining the hole axis coaxiality of the measured object based on the received data.
Preferably, the displacement sensor in the outer measuring head comprises a sensor contact head and a sensor base, the sensor base is installed on the circumference inside the outer measuring head installation cylinder, and the sensor contact head points to the circle center of the outer measuring head installation cylinder.
Preferably, the displacement sensor in the inner bore measuring head comprises a sensor contact head and a sensor base, the sensor base is mounted on the circumference of the outer portion of the inner bore measuring head mounting cylinder, and the sensor contact head deviates from the circle center of the inner bore measuring head mounting cylinder.
Preferably, the outer circle measuring head mounting cylinder and the inner hole measuring head mounting cylinder are connected through a support, and the support is mounted on the two-dimensional workbench.
Preferably, the outer circle measuring head mounting cylinder and the inner hole measuring head mounting cylinder have the same structure of the pose measuring unit and respectively comprise two pose measuring head mounting cylinders, two optical sensors and two tilt sensors, the two optical sensors are arranged in the pose measuring head mounting cylinders and are coaxially arranged with the pose measuring head mounting cylinders, the photosensitive surface of the optical sensor close to the incident side of the diffraction light beam and the displacement sensor are in the same plane, and the tilt sensors are mounted on the pose measuring head mounting cylinders, and the measuring surfaces of the tilt sensors are perpendicular to the axis of the pose measuring head mounting cylinders.
According to another aspect of the present invention, there is provided a method for measuring the coaxiality of a hole axis of a hollow shaft, which is performed by using the measuring device, comprising the steps of:
s1, moving the inner hole measuring head to the inner hole of the measured object, adjusting the position and direction of the non-diffraction light reference generator, making the inner hole measuring head move along the direction of the non-diffraction light beam emitted by the non-diffraction light reference generator, the displacement sensors in the inner hole measuring head mounting cylinder contact with the inner wall of the measured object, and the readings are all in the range, and simultaneously ensuring that the non-diffraction light beam can form images in the position and posture measuring unit;
s2, keeping the position and posture of the non-diffraction light reference generator and the measured object unchanged, moving the inner hole measuring head along the direction of the non-diffraction light beam, calculating the measuring point coordinates on the inner hole section contour circle of a plurality of measured objects based on the data of the displacement sensor in the inner hole measuring head, obtaining the coordinates of the circle center of each inner hole section contour circle in the inner hole measuring head coordinate system, and fitting the linear axis of the inner hole of the measured object in the non-diffraction light reference coordinate system;
s3, keeping the positions and postures of the non-diffraction light reference generator and the measured object unchanged, moving the inner hole measuring head away from the inner hole of the measured object, and moving the outer circle measuring head to enable the outer circle measuring head mounting cylinder to be located outside the measured object;
s4, moving the outer circle measuring head along the direction of the non-diffraction light beam, calculating the coordinates of the measuring points on the outer circle section contour circles of a plurality of measured objects based on the data of the displacement sensor in the outer circle measuring head, solving the coordinates of the circle center of each outer circle section contour circle in the outer circle measuring head coordinate system, and converting the coordinates into a non-diffraction light reference coordinate system;
s5, according to the inner hole straight line axis of the measured object fitted in the step S2 and the coordinates of the circle centers of the plurality of excircle section contour circles measured in the step S4 in the diffraction-free light reference coordinate system, the coaxiality of the excircle and the inner hole of the measured object is obtained, and therefore the measurement of the coaxiality of the hole axis is completed.
Further preferably, the coordinates of the measuring points on the profile circle of the inner hole/outer circle cross section of the object to be measured are calculated by the following formula:
wherein the content of the first and second substances,
the coordinate of the jth measuring point on the ith inner hole/excircle section contour circle in the inner hole/excircle measuring head coordinate system, Di-jThe distance from the jth measuring point on the ith inner hole/excircle section contour circle to the inner hole/excircle measuring head axis is shown, and n is the number of displacement sensors.
As a further preferred method, the linear axis of the inner hole of the object to be measured in step S2 is obtained by the following steps:
calculating the position and the posture of the inner hole measuring head in a non-diffraction light reference coordinate system based on the measurement data of a posture measurement unit in the inner hole measuring head;
calculating the coordinates of the circle center of the inner hole cross section contour circle in the non-diffraction light reference coordinate system according to the position and the posture of the inner hole measuring head in the non-diffraction light reference coordinate system and the coordinates of the circle center of the inner hole cross section contour circle in the inner hole measuring head coordinate system;
and fitting the linear axis of the inner hole according to the coordinates of the circle centers of the profile circles of the cross sections of the plurality of inner holes in the diffraction-free light reference coordinate system.
Further preferably, the coordinates of the center of the excircle cross-sectional profile circle in the non-diffraction light reference coordinate system in step S4 are obtained by the following steps:
calculating the position and the posture of the outer circle measuring head in a non-diffraction light reference coordinate system based on the measurement data of a posture measurement unit in the outer circle measuring head;
and calculating the coordinates of the circle center of the excircle cross-section contour circle in the non-diffraction light reference coordinate system according to the position and the posture of the excircle measuring head in the non-diffraction light reference coordinate system and the coordinates of the circle center of the excircle cross-section contour circle in the excircle measuring head coordinate system.
more preferably, the position and posture of the inner hole/outer circle measuring head in the diffraction-free light reference coordinate system are the pitch angle beta, the swing angle alpha and the roll angle
Expressed and calculated using the following formula:
wherein the content of the first and second substances,
is the coordinate of the intersection point of the non-diffraction light beam and the photosensitive surfaces of the two optical sensors in the inner hole/outer circle measuring head coordinate system,
equal to the tilt sensor reading.
Generally, compared with the prior art, the above technical solution conceived by the present invention mainly has the following technical advantages:
1. the coaxiality measuring device researched and designed by the invention comprises a diffraction-free light reference generator, an excircle measuring head, an inner hole measuring head and a data acquisition and processing unit, and can accurately measure the hole-axis coaxiality of a large-size and large-mass hollow shaft by taking the diffraction-free light reference generator as a measuring reference.
2. By arranging the displacement sensor and the pose measuring unit, the invention can effectively obtain the position coordinates of the inner hole/outer hole section outline circle center in the inner hole/outer hole measuring head coordinate system (namely the two-dimensional offset of the inner hole/outer hole section outline circle center relative to the inner hole/outer hole measuring head axis) and the position and the posture of the inner hole/outer hole measuring head coordinate system in the diffraction light-free reference coordinate system, thereby providing a data basis for the subsequent acquisition of the hole-axis coaxiality.
3. The data of the displacement sensor, the optical sensor and the tilt sensor are synchronously transmitted to the data acquisition and processing unit, and the data acquisition and processing unit automatically and rapidly processes the data, so that the method is simple and convenient to operate, high in efficiency, suitable for assembly line detection and wide in application prospect.
4. The coaxiality measuring device does not need to move a measured object in the whole measuring process, and only needs to adjust the position of the coaxiality measuring device along the direction of the non-diffraction light beam emitted by the non-diffraction light reference generator, so that the coaxiality measuring device is suitable for measuring the coaxiality of large-size and large-mass hollow shaft parts.
5. The inner hole and the outer circle of the invention adopt a common-reference measurement method, the data obtained by measuring the inner hole and the outer circle are all converted into a coordinate system in which a diffraction light-free reference is positioned, and the spatial position relation of the inner hole and the outer circle is unified into the same coordinate system, so that the coaxiality error of the inner hole and the outer circle is accurately calculated, and the measurement precision is high.
Drawings
FIG. 1 is a top view of an internal bore measurement scheme of the present invention;
FIG. 2 is a side view of the bore measurement scheme of the present invention;
FIG. 3 is a top view of an outer circle measurement scheme of the present invention;
FIG. 4 is a side view of an outer circle measurement scheme of the present invention;
FIG. 5 is a schematic diagram of the coordinate system definition of the present invention:
FIG. 6 is a three-dimensional view of the displacement sensor of the present invention;
FIG. 7 is a schematic illustration of fitting a linear axis of an inner bore;
FIG. 8 is a schematic view of the inner hole center measurement calculation of the present invention;
FIG. 9 is a schematic diagram of the excircle center measurement calculation of the present invention;
FIG. 10 is a schematic diagram of the coaxiality assessment method according to the present invention.
Wherein, in the figure: the measuring device comprises a reference generator without diffraction light, a measured object, a displacement sensor, a measuring head mounting barrel with an external circle 4, an optical sensor 5, a position measuring head mounting barrel with a posture 6, a tilt angle sensor 7, an inner hole measuring head mounting barrel 8, a two-dimensional workbench 9, a light beam without diffraction light 10, a support 11, a sensor contact head 12, a sensor base 13, an outer circle section contour circle 14, an outer circle section contour circle center 15, an outer circle measuring head axis 16, an inner hole section contour circle 17, an inner hole section contour circle center 18, an inner hole measuring head axis 19 and an inner hole straight line axis 20.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1, a hole axis coaxiality measuring device of a hollow shaft according to an embodiment of the present invention includes a diffraction-free light reference generator 1, an outer circle measuring head, an inner hole measuring head and a data collecting and processing unit, wherein the diffraction-free light reference generator 1 is configured to generate a diffraction-free light beam 10 as a common straight reference for inner hole and outer circle measurement, and the diffraction-free light beam 10 emitted by the diffraction-free light reference generator 1 is coaxial with an object 2 to be measured during measurement; the outer circle measuring head is used for measuring the position of the circle center of the outer circle section contour of the measured object relative to the axis of the outer circle measuring head and the position and the posture of the outer circle measuring head relative to the non-diffraction light beam for subsequent use; the inner hole measuring head is used for measuring the position of the circle center of the section outline of the inner hole of the measured object relative to the axis of the inner hole measuring head and the position and the posture of the inner hole measuring head relative to the non-diffraction light beam for subsequent use; the data acquisition and processing unit is used for receiving data of all the displacement sensors and the pose measuring unit in the outer circle measuring head and the inner hole measuring head and calculating and obtaining the hole axis coaxiality of the measured object based on the received data.
As shown in fig. 1 to 4, the external measuring head includes an external measuring head mounting tube 4 in a circular ring shape, a plurality of displacement sensors 3 uniformly arranged along the circumferential direction inside the external measuring head mounting tube 4, and a pose measurement unit coaxially arranged in the external measuring head mounting tube 4, during measurement, the measured object 2 is placed in the external measuring head mounting tube 4, the displacement sensors 3 are used for acquiring displacement data and transmitting the displacement data to the data acquisition and processing unit, and the pose measurement unit is used for acquiring the position and the pose of the external measuring head relative to the non-diffracted light beam and transmitting the position and the pose of the external measuring head to the data acquisition and processing unit.
As shown in fig. 1 to 4, the inner bore measuring head includes an inner bore measuring head mounting cylinder 8 in a circular ring shape, a plurality of displacement sensors uniformly arranged along the circumferential direction outside the inner bore measuring head mounting cylinder 8, and a pose measuring unit coaxially arranged in the inner bore measuring head mounting cylinder 8, during measurement, the inner bore measuring head mounting cylinder 8 is located in the inner bore of the measured object 2, the displacement sensors are used for acquiring displacement data and transmitting the displacement data to the data acquisition and processing unit, and the pose measuring unit is used for acquiring the position and pose of the inner bore measuring head relative to the non-diffracted light beam and transmitting the position and pose to the data acquisition and processing unit.
Specifically, the displacement sensors 3 in the outer circular probe and the inner hole probe have the same structure, and as shown in fig. 6, both include a sensor contact 12 and a sensor base 13, wherein, in the outer circular probe, the sensor base 13 is installed on the circumference inside the outer circular probe installation cylinder, and the sensor contact 12 points to the center of the circle of the outer circular probe installation cylinder; in the inner hole measuring head, the sensor base is installed on the circumference of the outer portion of the inner hole measuring head installation cylinder, and the sensor contact head deviates from the circle center of the inner hole measuring head installation cylinder. Specifically, the number of displacement sensors provided in each measurement unit is three or more, for example, 6.
Furthermore, the pose measuring unit structures in the outer circle measuring head mounting cylinder 4 and the inner hole measuring head mounting cylinder 8 are the same, as shown in fig. 1 and 3, each includes a posture probe mounting cylinder 6, an optical sensor 5 and an inclination sensor 7, wherein, in the outer circle measuring head, the position measuring head mounting cylinder 6 and the outer circle measuring head mounting cylinder 4 are arranged coaxially, two optical sensors 5 are arranged, two optical sensors 5 are respectively arranged at two ends inside the position measuring head mounting cylinder 6, the measuring device is coaxially arranged with the pose measuring head mounting cylinder 6, the photosensitive surface of the optical sensor 5 close to one side of the non-diffraction light reference generator 1 and the displacement sensor 3 in the outer circle measuring head are in the same plane, the tilt angle sensor 7 is mounted at one end, far away from the non-diffraction light reference generator 1, of the pose measuring head mounting cylinder 6, and the measuring surface of the tilt angle sensor is perpendicular to the axis of the pose measuring head mounting cylinder 6. In the inner hole measuring head, a pose measuring head mounting cylinder 6 and an inner hole measuring head mounting cylinder 8 are coaxially arranged, two optical sensors 5 are arranged, the two optical sensors 5 are respectively arranged at two ends inside the pose measuring head mounting cylinder 6 and are coaxially arranged with the pose measuring head mounting cylinder 6, a photosensitive surface of the optical sensor 5 close to one side of the diffraction light-free datum generator 1 and a displacement sensor 3 in the inner hole measuring head are in the same plane, a tilt angle sensor 7 is arranged at one end, far away from the diffraction light-free datum generator 1, of the pose measuring head mounting cylinder 6, and a measuring surface of the tilt angle sensor is perpendicular to the axis of the pose measuring head mounting cylinder 6.
Furthermore, when the sensor contact 12 of the displacement sensor 3 is compressed, an index is provided for taking a point on the cross-sectional profile circle to obtain displacement data, and the displacement data can be transmitted to the data acquisition and processing unit; the optical sensor 5 is provided with a photosensitive surface, can acquire the position value of the non-diffraction light beam 10 in the photosensitive surface, and transmits data into the data acquisition and processing unit; the inclination angle sensor 7 can display the included angle between the measuring surface and the horizontal plane, and data can be transmitted into the data acquisition and processing unit.
In order to ensure the compactness of the measuring device and the convenience of measurement, the outer circle measuring head mounting cylinder 4 and the inner hole measuring head mounting cylinder 8 are connected through the support 11, the support 11 is mounted on the two-dimensional workbench 9, the support 11 is positioned in the middle of the outer circle measuring head mounting cylinder 4 and the inner hole measuring head mounting cylinder 8, the relative fixation of the positions of all parts of the whole measuring device is ensured in the measuring process, the two-dimensional workbench 9 is a common workbench and positioned below the outer circle measuring head mounting cylinder 4 and the inner hole measuring head mounting cylinder 8, the two-dimensional workbench can realize translation in two directions in the working face, and the measuring device is supported and moved in the working process.
To explain the measurement principle of the coaxiality device of the present invention, first, a non-diffracted light beam 10 is emitted by a non-diffracted light reference generator 1 to construct a common non-diffracted light spatial straight-line reference; measuring a plurality of inner hole section contour circles based on a common diffraction-free light space straight line standard, solving the two-dimensional offset of the center of each inner hole section contour circle relative to the common diffraction-free light standard (diffraction-free light beam 10), fitting an inner hole straight line axis 20 by using an algorithm, and taking the axis as the standard for coaxiality evaluation; and measuring a plurality of excircle section contour circles based on a common diffraction-free light space straight line standard, solving the two-dimensional offset of the center of each excircle section contour circle relative to the diffraction-free light space straight line standard (diffraction-free light beam 10), further solving the two-dimensional offset of the excircle section contour circle relative to a fitted inner hole straight line axis 20, and finally calculating the coaxiality of the excircle and the inner hole.
The hole-axis coaxiality measurement is carried out by utilizing the coaxiality device of the invention, the basic principle of the measurement is to determine a measurement reference when measuring an inner hole, namely, the positions of the diffraction-free light reference generator 1 and the measured object 2 are determined to complete the inner hole measurement, then the reference is kept unchanged, namely, the positions and the directions of the diffraction-free light reference generator 1 and the measured object 2 are kept unchanged, then only the inner hole measuring head and the outer circle measuring head are moved, namely, the inner hole measuring head is moved away from the inner hole of the measured object, the outer circle measuring head is moved to the outside of the measured object to realize the outer circle measurement of the measured object, so as to obtain the data of the inner hole and the outer circle in the same reference, and further realize the coaxiality measurement:
s1, sleeving the measured object 2 outside the inner hole measuring head mounting cylinder 8, and adjusting the position and direction of the non-diffraction light reference generator 1 to enable the displacement sensor 3 in the inner hole measuring head mounting cylinder 8 to be in contact with the inner wall of the measured object 2 when the inner hole measuring head moves along the direction of the non-diffraction light beam 10 emitted by the non-diffraction light reference generator 1 (namely, in the whole measuring process), wherein the readings of the displacement sensor 3 are within the range of measurement range, and simultaneously, the non-diffraction light beam 10 can be ensured to be imaged in a pose measuring unit (namely, two optical sensors 5) in the inner hole measuring head mounting cylinder 8;
s2, keeping the positions and postures of the non-diffraction light reference generator 1 and the measured object 2 unchanged, moving the inner hole measuring head along the direction of the non-diffraction light beam 10, measuring inner hole section contour circles 17 of a plurality of groups of measured objects 2 by using a displacement sensor in the inner hole measuring head, obtaining the coordinates of the circle center 18 of the inner hole section contour circles, and fitting a linear axis 20 of the inner hole of the measured object 2 in a non-diffraction light reference coordinate system;
s3, keeping the positions and postures of the non-diffraction light reference generator 1 and the measured object 2 unchanged, moving the inner hole measuring head away from the inner hole of the measured object 2, and moving the outer circle measuring head to enable the outer circle measuring head mounting cylinder 4 to be positioned outside the measured object 2;
s4, keeping the positions and postures of the non-diffraction light reference generator 1 and the measured object 2 unchanged, moving the outer circle measuring head along the direction of the non-diffraction light beam 10, measuring a plurality of groups of outer circle cross section contour circles 14 of the measured object 2 by using a displacement sensor in the outer circle measuring head, obtaining the coordinates of the circle center 15 corresponding to each outer circle cross section contour circle, and converting the coordinates into a non-diffraction light reference coordinate system;
s5, according to the inner hole straight line axis of the measured object fitted in the step S2 and the coordinates of the circle centers of the plurality of excircle section contour circles measured in the step S4 in the diffraction-free light reference coordinate system, the coaxiality of the excircle and the inner hole of the measured object is obtained, and therefore hole axis coaxiality measurement of the measured object is completed.
Specifically, step S2 can be decomposed into the following steps:
s21 operating the two-dimensional table 9 to make the inner hole measuring head on a certain cross section near the end face of the object 2, using the displacement sensor 3 in the inner hole measuring head to take a plurality of points on the inner hole cross section contour circle 17, and transmitting the data to the data collecting and processing unit, calculating the coordinates of each measuring point in the inner hole measuring head coordinate system, and further calculating the position coordinates of the center 18 of the inner hole cross section contour circle in the inner hole measuring head coordinate system (i.e. the two-dimensional offset of the center 18 of the inner hole cross section contour circle relative to the inner hole measuring head axis 19);
s22, reading out the data of 2 optical sensors 5 and tilt sensors 7 in the position and posture measuring unit, transmitting the data to the data acquisition processing unit, and calculating the position and posture of the inner hole measuring head coordinate system in the non-diffraction light reference coordinate system (namely the position and posture of the inner hole measuring head relative to the non-diffraction light beam);
s23 further processing the coordinate values and the poses calculated in S21 and S22, thereby calculating the spatial position of the circle center 18 of the profile circle of the section of the measured inner hole relative to the reference without diffraction light (no diffraction light beam 10);
s24, operating the two-dimensional workbench 9, moving the inner hole measuring head along the direction of the non-diffraction light beam 10, repeating the steps S21-S23, and measuring the spatial positions of the circle centers 18 of the cross-section outline circles of the inner holes relative to a non-diffraction light reference (the non-diffraction light beam 10, namely in a non-diffraction light reference coordinate system);
s25, fitting the inner hole straight line axis 20 by using a space straight line fitting method according to the space positions of the circle centers 18 of the plurality of inner hole section contour circles in the non-diffraction light reference coordinate system.
Referring to fig. 8, the measurement principle of the position coordinates of each measurement point in the coordinate system of the inner hole measuring head is specifically as follows:
assuming that m actual measurement points are arranged in the ith inner hole section, the direct reading of the displacement sensor 3 corresponding to the jth measurement point is Si-jCalibration value of the displacement sensor 3 is Δ SjThe radius of the circle where the mounting surface of the sensor base 13 is located (namely the outer diameter of the inner hole measuring head mounting cylinder) is R0When the displacement sensor is at the original length, the distance between the sensor base 13 and the sensor contact 12 is R1(i.e., the distance between the sensor base and the sensor contact before the start of measurement), the distance D from the measuring point to the axis of the bore probe is measuredi -jComprises the following steps:
Di-j＝R0+R1+ΔSj-Si-j
wherein the calibration value deltaS of the displacement sensor 3jThe calculation method is as follows: a standard ring with the same outer diameter as the inner hole measuring head mounting cylinder is sleeved on the outer side of the mounting surfaces of the plurality of displacement sensors (the standard ring is a cylindrical cross section, namely a circular plane), and the reading of each sensor is the calibration value delta Sj。
The coordinates of the measuring points in the coordinate system of the inner hole measuring head are as follows:
the position coordinates of the circle center 18 of the contour circle of the cross section of the inner hole in the coordinate system of the measuring head of the inner hole can be calculated through the coordinates of the measuring points in the coordinate system of the measuring head of the inner hole, which is the prior art and is not described herein again.
Specifically, step S4 can be decomposed into the following steps:
s41 operating the two-dimensional workbench 9, removing the inner hole measuring head from the inner part of the measured object 2, moving the outer circle measuring head to the outer part of the measured object 2, making the outer circle measuring head on a certain section near the end surface of the measured object 2, taking a plurality of points on the outer circle section contour circle 14 by using the displacement sensor 3 in the outer circle measuring head, transmitting the data to the data acquisition processing unit, and calculating the position coordinates of the circle center 15 of the outer circle section contour circle in the outer circle measuring head coordinate system;
s42, data of 2 optical sensors 5 and tilt sensors 7 in the excircle pose measuring unit are read simultaneously, the data are transmitted to a data acquisition processing unit, and the position and the posture of the excircle measuring head in the non-diffraction light reference coordinate system are calculated;
s43 further processes the coordinate values and the poses calculated in S41 and S42, thereby calculating the spatial position coordinates of the circle center 15 of the measured excircle cross-section contour circle relative to the reference of no diffraction light (no diffraction light beam 10);
s44 the two-dimensional table 9 is operated to move the outer circle probe in the direction of the undiffracted light beam 10, and the steps S41 to S43 are repeated to measure the spatial position coordinates of the centers 15 of the plurality of outer circle cross-sectional profile circles with respect to the undiffracted light reference.
Referring to fig. 9, the two-dimensional offset of the center 15 of each circle of the circular cross-section outline relative to the axis 16 of the circular measuring head (i.e. measuring the position coordinates of the center 15 of the circle of the circular cross-section outline in the coordinate system of the circular measuring head) can be obtained according to the data of a plurality of displacement sensors, and the measuring principle is as follows:
assuming that m actual measurement points are arranged in the ith excircle cross section, the direct reading of the displacement sensor corresponding to the jth measurement point is Si-jCalibration value of displacement sensor is Delta SjThe radius of the circle where the mounting surface of the sensor base 13 is located (namely the inner diameter of the outer measuring head mounting cylinder) is R0When the motion sensor 3 is at the original length, the distance between the sensor base 13 and the sensor contact 12 is R1(i.e., the distance between the sensor base and the sensor contact before the start of measurement), the distance D from the measurement point to the axis of the cylindrical probe is measuredi -jComprises the following steps:
Di-j＝R0-R1-ΔSj+Si-j
wherein the calibration value deltaS of the displacement sensor 3jThe calculation method is as follows: inserting a standard ring with the same inner diameter as the outer circle measuring head mounting cylinder into the inner sides of a plurality of displacement sensor mounting surfaces (which are cylindrical cross sections, namely circular planes), wherein the reading of each sensor is the calibration value delta Sj。
The coordinates of the measuring points in the coordinate system of the outer circle measuring head are as follows:
and then, according to the coordinates of each measuring point in the coordinate system of the excircle measuring head, the position coordinates of the circle center of the excircle cross-section contour in the coordinate system of the excircle measuring head can be calculated, which is the prior art and is not described herein again.
FIG. 5 is a schematic diagram of the coordinate system definition of the present invention, wherein β, α,
The pitch angle, the swing angle and the roll angle of the inner hole measuring head or the outer circle measuring head relative to the non-diffraction light beam 10 are respectively expressed, two Cartesian coordinate systems, a non-diffraction light reference coordinate system and a measuring head coordinate system are defined in the embodiment, wherein the non-diffraction light reference coordinate system is a coordinate system established by taking the non-diffraction light beam 10 as a Z axis and is expressed by subscript g; the measuring head coordinate system is a coordinate system established by taking the geometric axis of the measuring head as a Z axis and is represented by subscript c; wherein the OcZc axis represents the undiffracted light beam 10, O1The point represents the intersection of the geometric axis of the stylus with the photosensitive surface of the optical sensor 5 adjacent to the reference generator 1 of diffracted light in FIG. 1, O2Points a1 and a2 indicate the intersection points of the geometrical axis of the stylus and the photosensitive surface of the optical sensor 5 distant from the non-diffracted light reference generator 1 in fig. 1, and the intersection points of the non-diffracted light beam 10 and the photosensitive surfaces of the 2 optical sensors 5.
referring to fig. 5, according to the data of 2 optical sensors and tilt sensors, the pitch angle β, the roll angle α and the roll angle of the inner hole probe relative to the non-diffracted light beam 10 can be calculated
(that is, the position and posture of the inner hole measuring head relative to the non-diffracted light beam 10 are obtained), the specific calculation principle is as follows:
the coordinates (measured by the optical sensor 5) of the intersection point of the undiffracted light beam 10 and the photosensitive surfaces of the front and rear 2 optical sensors in the borehole probe in the coordinate system of the borehole probe are assumed to be
for the yaw angle α and the pitch angle β, the following formula can be used:
when α and β are very small, the roll angle of the unit is measured
can be approximately equal to the reading of an inclinometer, the pitch angle β, the swing angle α and the roll angle
The value of (a) is used to reflect the position and attitude of the bore probe itself relative to the undiffracted light beam 10.
further, the pitch angle β, the roll angle α and the roll angle of the cylindrical probe itself with respect to the non-diffracted light beam 10
The calculation principle is the same as the calculation method of the inner hole.
The spatial position coordinates of the circle center of the profile circle of the cross section of the inner hole/outer circle to be measured relative to the standard without diffraction light (the light beam 10 without diffraction light) are calculated by processing the coordinate values and the poses:
assuming that the coordinates of the origin of the coordinate system of the inner hole/outer circle measuring head in the standard coordinate system without diffraction light are (U, V, W), the coordinates of the circle center of the outline circle of a certain measuring section in the coordinate system of the inner hole/outer circle measuring head are obtained as Ps(xs-c，ys-c，zs-c) the pitch angle, the swing angle and the roll angle of the inner hole/outer circle measuring head at the position are respectively beta, α and α
The coordinate converted into the standard coordinate system without diffraction light is Ps(xs-g，ys-g，zs-g) The transformation relationship is as follows:
referring to fig. 7, after the data of the contour circle of the inner hole measured in sequence is processed and converted into the diffraction-free light reference coordinate system, the linear axis 20 of the inner hole is fitted by using a space straight line fitting method.
Preferably, the fitting is performed by using a least squares method, and the specific principle is as follows:
the least square method fits a straight line, that is, an ideal straight line is fitted according to the sampling points, so that the sum of squares of distances from each point on the error curve to the ideal straight line is the minimum, that is, a least square mean line, which is the prior art and is not described herein.
The coaxiality error is defined as the total variation allowed by the reference with a determined position by the related measured actual element, so that the tolerance form for controlling the variation range of the coaxiality error is only one, namely, the area defined by the cylindrical surface with the diameter being the tolerance value and coaxial with the reference axis. Referring to fig. 10, in a diffraction-free light reference coordinate system, a fitted inner hole linear axis 20 is used as a reference in coaxiality error evaluation, which is represented by dotted lines in fig. 10, a series of calculated outer circle cross-section contour circle centers 15 are used as actual elements to be measured, which are represented by dotted lines in fig. 10, distances between all outer circle cross-section contour circle centers 15 and the inner hole linear axis 20 are obtained, a maximum distance value is used as a radius, the inner hole linear axis 20 is used as an axis to make a cylinder, as shown by a cylinder in fig. 10, the cross-sectional diameter of the cylinder surface is a coaxiality error (that is, coaxiality), and for how to obtain the distance between the outer circle cross-section contour circle center 15 and the inner hole linear axis 20, an existing three-dimensional space point-space linear distance formula is applied, which is the prior art, and is not described herein.
In the description of the present invention, it is to be understood that the terms "inside", "outside", "inside", "coaxial", "below", "middle", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the embodiment of the present invention, a plurality of circumferentially distributed displacement sensors are used, and for convenience of description only, numbers of 3 or more are suitable for the present invention, and therefore, the present invention is not to be construed as being limited thereto.
The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations. The technical scheme is not described in detail and is a known technology.
It should be noted that the above-described embodiments may enable those skilled in the art to more fully understand the present invention, but do not limit the present invention in any way. Thus, it will be appreciated by those skilled in the art that the invention may be modified and equivalents may be substituted; all technical solutions and modifications thereof which do not depart from the spirit and technical essence of the present invention should be covered by the scope of the present patent.
Claims (10)
1. A method for measuring the coaxiality of a hole shaft of a hollow shaft is characterized by comprising the following steps:
s1, moving the inner hole measuring head into the inner hole of the measured object (2), adjusting the position and direction of the non-diffraction light reference generator (1), so that when the inner hole measuring head moves along the direction of the non-diffraction light beam (10) emitted by the non-diffraction light reference generator (1), the displacement sensors (3) in the inner hole measuring head mounting cylinder (8) are all in contact with the inner wall of the measured object (2), the readings are all in the range of measurement, and meanwhile, the non-diffraction light beam (10) can be ensured to be imaged in the attitude measurement unit;
s2, keeping the positions and postures of the non-diffraction light reference generator (1) and the measured object (2) unchanged, moving the inner hole measuring head along the direction of the non-diffraction light beam (10), calculating the coordinates of measuring points on a plurality of measured object inner hole cross-section contour circles based on the data of the displacement sensor in the inner hole measuring head, obtaining the coordinates of the centers of the inner hole cross-section contour circles in an inner hole measuring head coordinate system, and fitting the linear axis (20) of the inner hole of the measured object (2) in the non-diffraction light reference coordinate system;
s3, keeping the positions and postures of the non-diffraction light reference generator (1) and the measured object (2) unchanged, moving the inner hole measuring head away from the inner hole of the measured object (2), and moving the outer circle measuring head to enable the outer circle measuring head mounting cylinder (4) to be located outside the measured object (2);
s4, moving the outer circle measuring head along the direction of the non-diffraction light beam (10), calculating the coordinates of the measuring points on the outer circle cross section contour circles of a plurality of measured objects based on the data of the displacement sensor in the outer circle measuring head, obtaining the coordinates of the circle center of each outer circle cross section contour circle in the outer circle measuring head coordinate system, and converting the coordinates into a non-diffraction light reference coordinate system;
s5, according to the inner hole straight line axis of the measured object fitted in the step S2 and the coordinates of the circle centers of the plurality of excircle section contour circles measured in the step S4 in the diffraction-free light reference coordinate system, the coaxiality of the excircle and the inner hole of the measured object (2) is obtained, and therefore the hole-axis coaxiality measurement is completed.
2. The hole axis coaxiality measuring method according to claim 1, wherein the coordinates of the measuring points on the profile circle of the inner hole/outer circle cross section of the object to be measured are calculated by using the following formula:
wherein the content of the first and second substances,
the coordinate of the jth measuring point on the ith inner hole/excircle section contour circle in the inner hole/excircle measuring head coordinate system, Di-jThe distance from the jth measuring point on the ith inner hole/excircle section contour circle to the inner hole/excircle measuring head axis is shown, and n is the number of displacement sensors.
3. The hole axis coaxiality measuring method according to claim 1, wherein the inner hole linear axis of the object to be measured in step S2 is obtained by:
calculating the position and the posture of the inner hole measuring head in a non-diffraction light reference coordinate system based on the measurement data of a posture measurement unit in the inner hole measuring head;
calculating the coordinates of the circle center of the inner hole cross section contour circle in the non-diffraction light reference coordinate system according to the position and the posture of the inner hole measuring head in the non-diffraction light reference coordinate system and the coordinates of the circle center of the inner hole cross section contour circle in the inner hole measuring head coordinate system;
and fitting the linear axis of the inner hole according to the coordinates of the circle centers of the profile circles of the cross sections of the plurality of inner holes in the diffraction-free light reference coordinate system.
4. The hole axis coaxiality measuring method according to claim 1, wherein the coordinates of the center of the outer circle cross-sectional profile circle in the non-diffractive light reference coordinate system in step S4 are obtained by:
calculating the position and the posture of the outer circle measuring head in a non-diffraction light reference coordinate system based on the measurement data of a posture measurement unit in the outer circle measuring head;
and calculating the coordinates of the circle center of the excircle cross-section contour circle in the non-diffraction light reference coordinate system according to the position and the posture of the excircle measuring head in the non-diffraction light reference coordinate system and the coordinates of the circle center of the excircle cross-section contour circle in the excircle measuring head coordinate system.
5. the hole axis coaxiality measuring method according to claim 3 or 4, wherein the position and attitude of the inner hole/outer measuring head in the diffraction-free light reference coordinate system are the pitch angle β, the yaw angle α, and the roll angle
Expressed and calculated using the following formula:
wherein the content of the first and second substances,
is the coordinate of the intersection point of the non-diffraction light beam and the photosensitive surfaces of the two optical sensors in the inner hole/outer circle measuring head coordinate system,
equal to the tilt sensor reading.
6. A hole axis coaxiality measuring device of a hollow shaft for implementing the method according to any one of claims 1 to 5, comprising a non-diffractive light reference generator (1), an external cylindrical probe, an internal cylindrical probe and a data acquisition and processing unit, wherein:
the non-diffraction light reference generator (1) is used for generating a non-diffraction light beam (10) which is taken as a common straight line reference for measuring the inner hole and the outer circle, and the non-diffraction light beam (10) emitted by the non-diffraction light reference generator (1) is coaxial with the measured object (2) during measurement;
the outer circle measuring head comprises an outer circle measuring head mounting cylinder (4) in a circular ring shape, a plurality of displacement sensors (3) arranged along the inner circumference of the outer circle measuring head mounting cylinder (4) and a pose measuring unit coaxially arranged in the outer circle measuring head mounting cylinder (4), during measurement, the outer circle measuring head mounting cylinder (4) is located outside a measured object (2), the displacement sensors (3) are used for acquiring displacement data and transmitting the displacement data to the data acquisition and processing unit, and the pose measuring unit is used for acquiring the pose of the outer circle measuring head relative to a non-diffraction light beam and transmitting the pose to the data acquisition and processing unit;
the inner hole measuring head comprises an annular inner hole measuring head mounting cylinder (8), a plurality of displacement sensors arranged along the outer circumferential direction of the inner hole measuring head mounting cylinder (8) and a pose measuring unit coaxially arranged in the inner hole measuring head mounting cylinder (8), when in measurement, the inner hole measuring head mounting cylinder (8) is positioned in an inner hole of a measured object (2), the displacement sensors are used for acquiring displacement data and transmitting the displacement data to the data acquisition and processing unit, and the pose measuring unit is used for acquiring the pose of the inner hole measuring head relative to a non-diffraction light beam and transmitting the pose to the data acquisition and processing unit;
the data acquisition and processing unit is used for receiving data of the displacement sensor and the pose measuring unit in the outer circle measuring head and the inner hole measuring head and calculating and obtaining the hole axis coaxiality of the measured object based on the received data.
7. A bore-axis coaxiality measuring device of a hollow shaft according to claim 6, characterized in that the displacement sensor (3) in the cylindrical probe comprises a sensor contact head (12) and a sensor base (13), said sensor base (13) being mounted on the circumference inside the cylindrical probe mounting cylinder, said sensor contact head (12) pointing towards the centre of the circle of the cylindrical probe mounting cylinder.
8. A bore-axis coaxiality measuring apparatus for a hollow shaft according to claim 6, wherein the displacement sensor in the bore probe includes a sensor contact and a sensor mount, the sensor mount being mounted on the circumference of the exterior of the bore probe mounting cylinder with the sensor contact facing away from the center of the bore probe mounting cylinder.
9. A bore-axis coaxiality measuring apparatus for a hollow shaft according to claim 6, wherein the outer cylindrical stylus mounting cylinder (4) and the inner bore stylus mounting cylinder (8) are connected by a bracket (11), the bracket (11) being mounted on a two-dimensional table (9).
10. A bore axis coaxiality measuring apparatus of a hollow shaft according to any one of claims 6 to 9, it is characterized in that the pose measuring units in the outer circle measuring head mounting cylinder (4) and the inner hole measuring head mounting cylinder (8) have the same structure and respectively comprise a pose measuring head mounting cylinder (6), an optical sensor (5) and a tilt angle sensor (7), wherein, two optical sensors (5) are arranged, the two optical sensors (5) are arranged in the pose measuring head mounting cylinder (6) and are coaxially arranged with the pose measuring head mounting cylinder (6), and the photosensitive surface of the optical sensor (5) close to the incidence side of the undiffracted light beam (10) and the displacement sensor (3) are in the same plane, the tilt angle sensor (7) is arranged on the pose measuring head mounting cylinder, and the measuring surface of the tilt angle sensor is perpendicular to the axis of the pose measuring head mounting cylinder (6).
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| CN112296760B (en) * | 2020-11-17 | 2022-05-31 | 中国航发沈阳黎明航空发动机有限责任公司 | Method for correcting coaxiality of journal type blades |
| CN113043010B (en) * | 2021-04-01 | 2022-07-01 | 中国工程物理研究院机械制造工艺研究所 | Automatic assembling device and method for shaft hole with large length-diameter ratio |
| CN113203366B (en) * | 2021-04-16 | 2022-02-15 | 华中科技大学 | Deep hole cylindricity detection device and method adaptive to variable aperture |
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| 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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| CN114700805B (en) * | 2022-04-21 | 2023-05-26 | 华中科技大学 | Contact-type measuring head-based measuring head ball head and cutter handle coaxiality aligning device |
| CN116907411B (en) * | 2023-09-12 | 2024-01-12 | 成都飞机工业（集团）有限责任公司 | Method and device for measuring fit clearance of shaft hole of closed space |
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