CN111060030B - Angle calibration method - Google Patents
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- CN111060030B CN111060030B CN201911402744.5A CN201911402744A CN111060030B CN 111060030 B CN111060030 B CN 111060030B CN 201911402744 A CN201911402744 A CN 201911402744A CN 111060030 B CN111060030 B CN 111060030B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/042—Calibration or calibration artifacts
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses an angle calibration method, which is characterized in that a multi-tooth dividing table and a polyhedron are combined and then matched with an autocollimator to calibrate each position of angular dividing equipment, each pre-calibrated position of the angular dividing equipment corresponds to a pre-calibrated angle, the multi-tooth dividing table is used for calibrating the integer part of the pre-calibrated angle, and the polyhedron is used for calibrating the decimal part of the pre-calibrated angle. The multi-tooth dividing table and the polyhedron combination are matched with the autocollimator, so that multi-position precision calibration of the angle dividing equipment is realized, the defect that the number of positions of the multi-tooth dividing table or the polyhedron is small is overcome, the requirement on environment is not high, the calibration precision is high, and the operation is simple.
Description
Technical Field
The invention relates to the technical field of precision detection, in particular to a method for calibrating a turntable equiangular indexing device.
Background
The angle indexing equipment has wide application in various fields such as aerospace, precision manufacturing, precision detection and the like, and the calibration of the angle indexing precision is particularly important for obtaining the high-precision angle indexing equipment. Most of common methods for calibrating the angle are to adopt a multi-tooth dividing table or a polyhedron to be matched with an autocollimator to realize calibration, and when the multi-tooth dividing table is adopted, 360-point angle calibration in a 360-degree range can be carried out, namely, the angle calibration of the integral-degree position can be carried out only. When the polyhedron is used for calibration, the number of positions which can be calibrated is the same as that of the surfaces of the polyhedron, namely if a 20-surface body is used, 20 positions in a 360-degree range can be calibrated. Besides the method, the angle calibration can be carried out on the angle indexing equipment by using an optical interference angle measurement method, the calibration range is limited although the precision is high and the distance between calibration positions is small, the debugging is troublesome, the requirement on the environment is high, and the cost is high.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and solve the problem that the number of calibration positions is small when a multi-tooth dividing table or a polyhedron is used independently, and provides an angle calibration method.
The angle calibration method provided by the invention comprises the following steps:
s1, coaxially fixing the multi-tooth dividing table and the polyhedron on the angle dividing equipment to be calibrated, arranging the autocollimator and the polyhedron in the same optical axis, and recording the reading of the autocollimator as x;
s2, judging whether the pre-calibration angle a DEG of the angle indexing equipment to be calibrated is a multiple n of the center angle b DEG of the polyhedron, if the pre-calibration angle a DEG of the angle indexing equipment to be calibrated is the multiple n of the center angle b DEG of the polyhedron, executing the step S210, and if the pre-calibration angle a DEG is not the multiple n of the center angle b DEG of the polyhedron, executing the steps S220-S230;
step S210, rotating the to-be-calibrated angle indexing equipment until the nth reading of the autocollimator returns to x, stopping rotating the to-be-calibrated angle indexing equipment, and recording the actual rotation angle c degrees of the to-be-calibrated angle indexing equipment;
s220, searching an angle m degrees which is the same as the decimal point part of the pre-calibration angle a degrees in the product of the central angle b degrees and the multiple n;
step S230, subtracting the found angle m degrees from the pre-calibration angle a degrees to obtain a compensation angle d degrees; rotating the multi-tooth indexing table according to the compensation angle d degrees, then rotating the to-be-calibrated angle indexing equipment until the m/b reading of the autocollimator returns to x, stopping rotating the to-be-calibrated angle indexing equipment, and recording the actual rotation angle c degrees of the to-be-calibrated angle indexing equipment;
and step S3, subtracting the pre-calibration angle a DEG of the to-be-calibrated angle indexing equipment from the actual rotation angle c DEG of the to-be-calibrated angle indexing equipment to obtain the error of the pre-calibration angle a DEG of the to-be-calibrated angle indexing equipment.
Preferably, after step 1, the following steps are also included:
s0, the angle of the polyhedron is adjusted so that one surface is aligned with the autocollimator, that is, x is 0.
Preferably, in step S1, the central angle b ° is equal to 360 ° divided by the number of facets of the polyhedron; the number of facets of the polyhedron is an integer not divisible by 360 °.
Preferably, step S230 specifically includes the following steps:
s231, judging whether the compensation angle d is larger than 0 degree; if greater than 0 °, execute step S232, if less than 0 °, execute step S233;
step S232, if the compensation angle d degrees are larger than 0 degree, firstly rotating the multi-tooth indexing table by d degrees along the rotating direction of the angular indexing equipment to be calibrated, then rotating the angular indexing equipment to be calibrated until the m/b reading of the autocollimator returns to x, stopping rotating the angular indexing equipment to be calibrated, and recording the actual rotating angle c degrees of the angular indexing equipment to be calibrated;
step S233, if the compensation angle d is smaller than 0 degree, firstly, the multi-tooth indexing table rotates d degrees along the direction opposite to the rotation direction of the angular indexing equipment to be calibrated, then the angular indexing equipment to be calibrated rotates, the angular indexing equipment to be calibrated stops rotating until the m/b reading of the autocollimator returns to x, and at the moment, the actual rotation angle c degree of the angular indexing equipment to be calibrated is recorded.
Preferably, in step S2, the actual rotation angle c ° of the angular indexing device to be calibrated is obtained from an encoder inside the angular indexing device to be calibrated.
The invention can obtain the following technical effects:
the multi-tooth dividing table and the polyhedron combination are matched with the autocollimator to realize multi-position precision calibration of the angle dividing equipment, if a 17-face body is adopted, 6120 positions within 360-degree range can be calibrated, the defect that the number of positions is small due to the fact that only the multi-tooth dividing table or the polyhedron is used is overcome, the environment requirement is not high, the calibration precision is high, and the operation is simple.
Drawings
FIG. 1 is a schematic structural diagram of an angle calibration apparatus according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of an angle calibration method according to an embodiment of the invention.
Wherein the reference numerals include: the calibration device comprises a multi-tooth dividing table 1, a polyhedron 2, an autocollimator 3 and angle-dividing equipment to be calibrated 4.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention.
The angle calibration method provided by the invention is characterized in that an angle calibration device is used for calibrating angle indexing equipment to be calibrated, the indexing calibration device comprises a multi-tooth indexing table, a polyhedron and an autocollimator, the multi-tooth indexing table and the polyhedron are combined and then matched with the autocollimator to calibrate each position of the angle indexing equipment, each pre-calibrated position of the angle indexing equipment corresponds to one pre-calibrated angle, the multi-tooth indexing table is used for calibrating an integer part of the pre-calibrated angle, and the polyhedron is used for calibrating a decimal part of the pre-calibrated angle.
If the pre-calibrated angle is 38.47053 deg., the integer portion of the pre-calibrated angle is 38 and the fractional portion of the pre-calibrated angle is 0.47053.
The following describes the angle calibration apparatus and the calibration method provided by the present invention in detail with reference to specific embodiments.
Referring to fig. 1, an angle calibration apparatus provided in an embodiment of the present invention includes: the multi-tooth dividing table 1, the polyhedron 2 and the autocollimator 3, the multi-tooth dividing table 1 and the polyhedron 2 are coaxially fixed on an angle-division device 4 to be calibrated, the angle-division device 4 to be calibrated is located at the lowest end, the multi-tooth dividing table 1 is located at the middle position, the polyhedron 2 is located at the uppermost end, and the autocollimator 3 and the polyhedron 2 share the same optical axis.
If the light from the autocollimator 3 is perpendicular to one face of the polyhedron 2, the face is collimated by the autocollimator 3 and the reading of the autocollimator 3 is 0.
Because the multi-tooth indexing table 1 can independently rotate, the multi-tooth indexing table 1 is arranged between the polyhedron 2 and the angle indexing equipment 4 to be calibrated, so that the polyhedron 2 can synchronously rotate along with the multi-tooth indexing table 1 and can also synchronously rotate along with the angle indexing equipment 4 to be calibrated.
When the multi-tooth dividing table 1 is rotated, the polyhedron 2 on the multi-tooth dividing table is driven to synchronously rotate, and the angle dividing equipment 4 to be calibrated is fixed. When the device 4 to be calibrated is rotated, the multi-tooth dividing table 1 and the polyhedron 2 synchronously rotate along with the device 4 to be calibrated.
For calibrating more positions, the polyhedron 2 is preferably chosen with a central angle b ° of decimal place, in particular with a central angle b ° equal to 360 ° divided by the number of faces of the polyhedron 2, the number of faces of the polyhedron 2 being chosen to be an integer not divisible by 360 °. For example, an undecahedron having a center angle b ° of 32.72727 °, a tridecahedron having a center angle b ° of 27.69230 °, a tetradecahedron having a center angle b ° of 25.71428 °, a heptadecahedron having a center angle b ° of 21.17647 °, and the like.
The heptadecahedron is taken as an example for explanation, assuming that the reading of the first surface of the heptadecahedron measured by the autocollimator 3 is x, the reading of the second surface measured by the autocollimator 3 returns to x after the heptadecahedron rotates 21.17647 degrees, the reading of the third surface measured by the autocollimator 3 returns to x after the heptadecahedron rotates 42.35294 degrees, and so on from the fourth surface to the seventeenth surface of the heptadecahedron, that is, after the heptadecahedron rotates the central angle and the multiple of the central angle each time, the reading of the autocollimator 3 is x.
Thus, it can be seen that 21.17647 °, 42.35294 °, 63.52941 °, 84.70588 °, 105.88235 °, 127.05882 °, 148.23529 °, 169.41176 °, 190.58823 °, 211.76471 °, 232.94118 °, 254.11764 °, 275.29412 °, 296.47059 °, 317.64706 °, 338.82353 °, 360 ° are multiples of the central angle 25.71428 ° of the heptadecahedron, respectively.
For convenience of expression, 21.17647 °, 42.35294 °, 63.52941 °, 84.70588 °, 105.88235 °, 127.05882 °, 148.23529 °, 169.41176 °, 190.58823 °, 211.76471 °, 232.94118 °, 254.11764 °, 275.29412 °, 296.47059 °, 317.64706 °, 338.82353 °, 360 ° are simply referred to as seventeen angles.
The decimal places of the seventeen angles are 0.17647, 0.35294, 0.52941, 0.70588, 0.88235, 0.05882, 0.23529, 0.41176, 0.58823, 0.76471, 0.94118, 0.11764, 0.29412, 0.47059, 0.64706 and 0.82353 respectively, and 17 angular degrees which can be calibrated are totally obtained, namely 17 positions within 1 degree range between integral digits of the pre-calibration angle can be calibrated, and the integral digits of the pre-calibration angle are adjusted by using the multi-tooth indexing table 1, so that the calibration of 360 × 17-6120 positions within 360 degrees of the angular degree device 4 to be calibrated can be realized.
When the first face of the heptadecahedron is aligned with the autocollimator 3, the reading of the autocollimator 3 is 0, after the first face of the heptadecahedron is rotated by 21.17647 degrees, when the second face is aligned with the autocollimator 3, the reading of the autocollimator 3 is 0, after the second face is rotated by 21.17647 degrees, when the second face is aligned with the autocollimator 3, the reading of the autocollimator 3 is also 0, namely when each face of the heptadecahedron is aligned with the autocollimator 3, the reading of the autocollimator 3 is 0. Therefore, during the rotation of the heptadecahedron, the angle of rotation of the heptadecahedron is determined by determining the number n of times that the reading of the autocollimator 3 is 0, and the angle of rotation is n × 21.17647 °.
Calibrating the position of a certain angle of the to-be-calibrated angle-division device 4, which is divided into the following two cases:
the first method comprises the following steps: the pre-calibration angle a ° is one of seventeen angles, that is, the pre-calibration angle a ° of the to-be-calibrated angle-dividing device 4 is a multiple n of the central angle of the heptadecahedron, and the position of the pre-calibration angle a ° of the to-be-calibrated angle-dividing device 4 needs to be calibrated according to the following steps:
firstly, rotating the to-be-calibrated angle indexing equipment 4 until the reading n of the autocollimator 3 returns to x, stopping rotating the to-be-calibrated angle indexing equipment, and recording the actual rotation angle c degree of the to-be-calibrated angle indexing equipment.
For example, the pre-calibration angle a ° -21.17647 ° and x ° -0, since the central angle b ° of the heptadecahedron is 21.17647 ° and the central angle 21.17647 ° is one time of the pre-calibration angle 21.17647 °, that is, n ° -1, when the reading of the autocollimator 3 returns to 0 for the 1 st time, the rotation of the to-be-calibrated angle indexing device 4 is stopped, and at this time, the to-be-calibrated angle indexing device 4 rotates by the theoretical angle of 21.17647 °, that is, theoretically, by the pre-calibration angle.
Due to the error, the actual rotation angle of the angular indexing device 4 to be calibrated deviates from the pre-calibration angle 21.17647 °, and the actual rotation angle c ° of the angular indexing device 4 to be calibrated is read by an encoder inside the angular indexing device 4 to be calibrated, for example, c ° is 21.16647 °.
And step two, subtracting the actual rotation angle c degrees from the pre-calibration angle a degrees to obtain the error of the pre-calibration angle a degrees.
The theoretical rotation angle 21.17647-the actual rotation angle 21.16647-is 0.01 degrees, and 0.01 degrees is the error of the pre-calibration angle 21.16647 degrees.
In the second case: if the pre-calibration angle a ° is not any of the seventeen angles, that is, the pre-calibration angle of the angular indexing device to be calibrated is not a multiple n of the central angle of the heptadecahedron, the position of the pre-calibration angle a ° of the angular indexing device to be calibrated 4 needs to be calibrated according to the following steps:
the method comprises the following steps of firstly, searching an angle m which is the same as a decimal point part of a pre-calibration angle a DEG in the product of a central angle b DEG and a multiple n of a heptadecahedron.
The product of the central angle b ° and the multiple n constitutes a set, the elements of the set comprising 21.17647 °, 42.35294 °, 63.52941 °, 84.70588 °, 105.88235 °, 127.05882 °, 148.23529 °, 169.41176 °, 190.58823 °, 211.76471 °, 232.94118 °, 254.11764 °, 275.29412 °, 296.47059 °, 317.64706 °, 338.82353 °, 360 °.
Assuming that the pre-calibrated angle a ° is 67.52941 °, finding the decimal point 0.52941 degrees in the above set finds 63.52941 ° and m ° 63.52941 °.
Due to errors, the to-be-calibrated angle division equipment 4 stops rotating after the to-be-calibrated angle cannot pass through the rotation theory, and the to-be-calibrated angle division equipment 4 stops rotating through collimation of the surface of the polyhedron 2 and the autocollimator 3.
Because the heptadecahedron can be aligned with the autocollimator 3 only when the heptadecahedron rotates 21.17647 °, 42.35294 °, 63.52941 °, 84.70588 °, 105.88235 °, 127.05882 °, 148.23529 °, 169.41176 °, 190.58823 °, 211.76471 °, 232.94118 °, 254.11764 °, 275.29412 °, 296.47059 °, 317.64706 °, 338.82353 °, and 360 °, after the heptadecahedron rotates 67.52941 ° with the angle-measuring device 4 to be calibrated, any face of the heptadecahedron can be aligned with the autocollimator 3, therefore, it is necessary to calculate the difference between the pre-calibration angle 67.52941 ° and 63.52941 ° by a few degrees, then compensation is performed by rotating the multi-tooth indexing table 1, so that after the angle-measuring device 4 to be calibrated rotates 67.52941 °, the corresponding face of the heptadecahedron after the heptadecahedron rotates 63.52941 ° is aligned with the autocollimator 3, and the angle-measuring device 4 to be calibrated stops rotating.
And secondly, subtracting the found angle m degrees from the pre-calibration angle a degrees to obtain a compensation angle d degrees.
At this time, m degree is 63.52941 degree, 63.52941 degree-67.52941 degree is-4 degree
Thirdly, judging whether the compensation angle d is larger than 0 degree;
since-4 ° is less than 0 °, the precalibrated angle is less than the angle of rotation required for the alignment of the heptadecahedron, i.e. 67.52941 ° > 63.52941 °.
At this time, the multi-tooth indexing table 1 rotates d degrees along the opposite direction of the rotation direction of the angle indexing device 4 to be calibrated, then the angle indexing device 4 to be calibrated rotates, the rotation of the angle indexing device to be calibrated is stopped until the m/b-th reading of the autocollimator returns to x, and at this time, the actual rotation angle c degree of the angle indexing device to be calibrated is recorded.
For example: and rotating the multi-tooth indexing table 1 by-4 degrees along the direction opposite to the rotating direction of the angular indexing device 4 to be calibrated, and then rotating the angular indexing device 4 to be calibrated according to the rotating direction of the angular indexing device 4 to be calibrated until the autocollimator 3 reads 63.52941/21.17647 for 3 times and returns to x, and stopping rotating the angular indexing device 4 to be calibrated.
After the autocollimator 3 is rotated 42.35294 °, the reading of the autocollimator 3 will also be x, but the rotation is reduced by 21.17647 °, so that the number of times when the autocollimator 3 reads x needs to be recorded to obtain the rotation angle of the angle indexing device 4 to be calibrated.
The theoretical angle of rotation for rotating the angle indexing device 4 to be calibrated is 67.52941 °, but due to errors the actual angle of rotation of the angle indexing device 4 to be calibrated deviates from the theoretical angle of rotation 67.52941 °, and the actual angle of rotation c ° of the angle indexing device 4 to be calibrated is read by an encoder inside the angle indexing device 4 to be calibrated, for example c ° is 67.50941 °
The theoretical rotation angle 67.52941-the actual rotation angle 67.50941-is 0.02 degrees, and 0.02 degrees is the error of the pre-calibration angle 63.52941 degrees.
If the pre-calibrated angle is 62.52941 °, the compensation angle d ° 63.52941 ° -62.52941 ° -1 °.
At this time, the multi-tooth indexing table 1 is rotated 1 ° in the rotation direction of the angular indexing device 4 to be calibrated, and then the angular indexing device 4 to be calibrated is rotated in the rotation direction of the angular indexing device 4 to be calibrated, until the index of the autocollimator is 63.52941/21.17647, which is 3 times back to x, the angular indexing device 4 to be calibrated is stopped from rotating, at this time, the actual rotation angle c ° of the angular indexing device to be calibrated is recorded, for example, c ° is 62.50941 °, and the error of the pre-calibration angle 62.52941 ° is 62.52941 ° -62.50941 ° -0.02 °.
If the pre-calibrated angle is 102.88235 °, the compensation angle d ° is 105.88235 ° -102.88235 ° -3 °.
At this time, the multi-tooth indexing table 1 is rotated 3 ° in the rotation direction of the angular indexing device 4 to be calibrated, and then the angular indexing device 4 to be calibrated is rotated in the rotation direction of the angular indexing device 4 to be calibrated, until the reading of the autocollimator is returned to x 5 times at 105.88235/21.17647, the angular indexing device 4 to be calibrated is stopped from being rotated, at this time, the actual rotation angle c ° of the angular indexing device to be calibrated is recorded, for example, when c ° is 102.84235 °, and the error of the pre-calibration angle 102.88235 ° is 102.88235 ° -102.84235 ° is 0.04 °.
The above details describe the structure and the working principle of the angle calibration device provided in the embodiment of the present invention, and corresponding to the calibration device, the embodiment of the present invention further provides a method for calibrating angle indexing equipment by using the calibration device.
Referring to fig. 1, an angle calibration method provided in an embodiment of the present invention includes the following steps:
s1, coaxially fixing the multi-tooth dividing table 1 and the polyhedron 2 on the angle dividing equipment 4 to be calibrated, arranging the autocollimator 3 and the polyhedron 2 on the same optical axis, and recording the reading of the autocollimator 3 as x.
After the step 1, the following steps are also included:
s0, the angle of the polyhedron 2 is adjusted so that one surface thereof is aligned with the autocollimator 3, and x becomes 0.
For calibrating more positions, the polyhedron 2 is preferably chosen with a central angle b ° of decimal place, in particular with a central angle b ° equal to 360 ° divided by the number of faces of the polyhedron 2, the number of faces of the polyhedron 2 being chosen to be an integer not divisible by 360 °. For example, an undecahedron having a center angle b ° of 32.72727 °, a tridecahedron having a center angle b ° of 27.69230 °, a tetradecahedron having a center angle b ° of 25.71428 °, a heptadecahedron having a center angle b ° of 21.17647 °, and the like.
Taking the heptadecahedron as an example for explanation, assuming that the reading of the first face of the heptadecahedron measured by the autocollimator 3 is x, the reading of the autocollimator 3 returns to x after the second face of the heptadecahedron rotates 21.17647 °, the reading of the autocollimator 3 returns to x after the third face of the heptadecahedron rotates 42.35294 °, and so on from the fourth face to the seventeenth face of the heptadecahedron, that is, after the heptadecahedron rotates by the central angle and the multiple of the central angle each time, the reading of the autocollimator 3 is x.
Thus, it can be seen that 21.17647 °, 42.35294 °, 63.52941 °, 84.70588 °, 105.88235 °, 127.05882 °, 148.23529 °, 169.41176 °, 190.58823 °, 211.76471 °, 232.94118 °, 254.11764 °, 275.29412 °, 296.47059 °, 317.64706 °, 338.82353 °, 360 ° are multiples of the central angle 25.71428 ° of the heptadecahedron, respectively.
For convenience of expression, 21.17647 °, 42.35294 °, 63.52941 °, 84.70588 °, 105.88235 °, 127.05882 °, 148.23529 °, 169.41176 °, 190.58823 °, 211.76471 °, 232.94118 °, 254.11764 °, 275.29412 °, 296.47059 °, 317.64706 °, 338.82353 °, 360 ° are simply referred to as seventeen angles.
The decimal places of the seventeen angles are 0.17647, 0.35294, 0.52941, 0.70588, 0.88235, 0.05882, 0.23529, 0.41176, 0.58823, 0.76471, 0.94118, 0.11764, 0.29412, 0.47059, 0.64706 and 0.82353 respectively, and 17 angular degrees which can be calibrated are totally obtained, namely 17 positions within 1 degree range between integral digits of the pre-calibration angle can be calibrated, and the integral digits of the pre-calibration angle are adjusted by using the multi-tooth indexing table 1, so that the calibration of 360 × 17-6120 positions within 360 degrees of the angular degree device 4 to be calibrated can be realized.
When the first face of the heptadecahedron is aligned with the autocollimator 3, the reading of the autocollimator 3 is 0, after the first face of the heptadecahedron is rotated by 21.17647 degrees, when the second face is aligned with the autocollimator 3, the reading of the autocollimator 3 is 0, after the second face is rotated by 21.17647 degrees, when the second face is aligned with the autocollimator 3, the reading of the autocollimator 3 is also 0, namely when each face of the heptadecahedron is aligned with the autocollimator 3, the reading of the autocollimator 3 is 0. Therefore, during the rotation of the heptadecahedron, the angle of rotation of the heptadecahedron is determined by determining the number n of times that the reading of the autocollimator 3 is 0, and the angle of rotation is n × 21.17647 °.
S2, judging whether the pre-calibration angle a DEG of the angle indexing device 4 to be calibrated is a multiple n of the center angle b DEG of the polyhedron 2, executing the step S210 if the pre-calibration angle a DEG of the angle indexing device 4 to be calibrated is the multiple n of the center angle b DEG of the polyhedron 2, and executing the steps S220-S230 if the pre-calibration angle a DEG is not the multiple n of the center angle b DEG of the polyhedron.
Step S210, the to-be-calibrated angle indexing device 4 is rotated until the nth reading of the autocollimator 3 returns to x, the to-be-calibrated angle indexing device 4 is stopped from rotating, and at this time, the actual rotation angle c ° of the to-be-calibrated angle indexing device 4 is recorded.
If the pre-calibration angle a DEG of the to-be-calibrated angle indexing equipment 4 is a multiple n of the central angle b DEG of the polyhedron 2, the reading of the autocollimator 3 returns to x after the to-be-calibrated angle indexing equipment 4 rotates by a DEG, and therefore the multi-tooth indexing table 1 does not need to be rotated to compensate the pre-calibration angle a deg.
For example, if the pre-calibration angle a ° is 42.35294 ° and x is 0, the reading of the autocollimator 3 returns to 0 a second time after a 42.35294 ° rotation of the heptadecahedron.
The number of times that the reading of the autocollimator 3 is 0 is recorded in order to judge that the heptadecahedron rotates several faces, each rotating face of the heptadecahedron needs to rotate 21.17647 degrees, and the rotating faces of the heptadecahedron indicate that the heptadecahedron rotates 42.35294 degrees.
Step S220, finding the angle m ° which is partially the same as the decimal point of the pre-calibrated angle a ° in the product of the central angle b ° and the multiple n.
If the pre-calibration angle a ° of the to-be-calibrated angle indexing equipment 4 is not a multiple n of the central angle b ° of the polyhedron 2, it indicates that the reading of the autocollimator 3 does not return to x after the to-be-calibrated angle indexing equipment 4 rotates by a °, and therefore the multi-tooth indexing table 1 needs to be rotated to compensate the integer part of the pre-calibration angle a °.
Step S230, subtracting the found angle m degrees from the pre-calibration angle a degrees to obtain a compensation angle d degrees; and rotating the multi-tooth indexing table according to the compensation angle d degrees, then rotating the to-be-calibrated angle indexing equipment until the m/b reading of the autocollimator returns to x, stopping rotating the to-be-calibrated angle indexing equipment, and recording the actual rotation angle c degree of the to-be-calibrated angle indexing equipment.
The product of the central angle b ° and the multiple n constitutes a set, the elements of the set comprising 21.17647 °, 42.35294 °, 63.52941 °, 84.70588 °, 105.88235 °, 127.05882 °, 148.23529 °, 169.41176 °, 190.58823 °, 211.76471 °, 232.94118 °, 254.11764 °, 275.29412 °, 296.47059 °, 317.64706 °, 338.82353 °, 360 °.
Assuming that the pre-calibrated angle a ° is 67.52941 °, finding the decimal point 0.52941 degrees in the above set finds 63.52941 ° and m ° 63.52941 °.
Due to errors, the to-be-calibrated angle division equipment 4 stops rotating after the to-be-calibrated angle cannot pass through the rotation theory, and the to-be-calibrated angle division equipment 4 stops rotating through collimation of the surface of the polyhedron 2 and the autocollimator 3.
Because the heptadecahedron can be aligned with the autocollimator 3 only when the heptadecahedron rotates 21.17647 °, 42.35294 °, 63.52941 °, 84.70588 °, 105.88235 °, 127.05882 °, 148.23529 °, 169.41176 °, 190.58823 °, 211.76471 °, 232.94118 °, 254.11764 °, 275.29412 °, 296.47059 °, 317.64706 °, 338.82353 °, and 360 °, after the heptadecahedron rotates 67.52941 ° with the angle-measuring device 4 to be calibrated, any face of the heptadecahedron can be aligned with the autocollimator 3, therefore, it is necessary to calculate the difference between the pre-calibration angle 67.52941 ° and 63.52941 ° by a few degrees, and then compensation is performed by rotating the multi-tooth indexing table 1, so that after the angle-measuring device 4 to be calibrated rotates 67.52941 °, the corresponding face of the heptadecahedron after the heptadecahedron rotates 63.52941 ° is aligned with the autocollimator 3, and the angle-measuring device 4 to be calibrated stops rotating.
For example, when m ° -63.52941 °, d ° -63.52941 ° -67.52941 ° -4 °.
The step S230 specifically includes the following steps:
s231, judging whether the compensation angle d is larger than 0 degree; if greater than 0 deg., step S232 is performed, and if less than 0 deg., step S233 is performed.
If the compensation angle d degrees are larger than 0, the pre-calibration angle is larger than the rotation angle required by the collimation of the heptadecahedron; if the compensation angle d is smaller than 0, the pre-calibration angle is smaller than the rotation angle required by the alignment of the heptadecahedron.
Step S32, if the compensation angle d is larger than 0 degree, firstly, the multi-tooth dividing table 1 rotates d degrees along the rotation direction of the angular indexing device 4 to be calibrated, then the angular indexing device 4 to be calibrated rotates, the angular indexing device to be calibrated stops rotating until the m/b reading of the autocollimator returns to x, and at the moment, the actual rotation angle c degree of the angular indexing device to be calibrated is recorded.
For example, when the pre-set angle is 102.88235 °, the compensation angle d ° is 105.88235 ° -102.88235 ° -3 °.
At this time, the multi-tooth indexing table 1 is rotated by 3 ° in the rotation direction of the angular indexing device 4 to be calibrated, and then the angular indexing device 4 to be calibrated is rotated in the rotation direction of the angular indexing device 4 to be calibrated, until the autocollimator reading (105.88235/21.17647) returns to x for 5 times, the angular indexing device 4 to be calibrated stops rotating, and at this time, the actual rotation angle c of the angular indexing device 4 to be calibrated is recorded.
The theoretical angle of rotation for rotating the angle indexing device 4 to be calibrated is 102.88235 °, but due to errors the actual angle of rotation of the angle indexing device 4 to be calibrated deviates from the theoretical angle of rotation 102.88235 °, and the actual angle of rotation c ° of the angle indexing device 4 to be calibrated is read by an encoder inside the angle indexing device 4 to be calibrated, for example c ° -102.84235 °.
Step S232, if the compensation angle d is smaller than 0 degree, firstly, rotating the multi-tooth indexing table 1 by d degrees along the direction opposite to the rotating direction of the angular indexing device 4 to be calibrated, then rotating the angular indexing device 4 to be calibrated until the m/b reading of the autocollimator returns to x, stopping rotating the angular indexing device 4 to be calibrated, and recording the actual rotating angle c of the angular indexing device to be calibrated.
For example, when the predetermined angle is 67.52941 °, the compensation angle d ° is 63.52941 ° -67.52941 ° -4 °.
At this time, the multi-tooth indexing table 1 is rotated by-4 ° in the opposite direction to the rotation direction of the angular indexing device 4 to be calibrated, and then the angular indexing device 4 to be calibrated is rotated according to the rotation direction of the angular indexing device 4 to be calibrated until the reading of the autocollimator 3 is 63.52941/21.17647, which is 3 times back to x, the angular indexing device 4 to be calibrated is stopped from being rotated, and the actual rotation angle c of the angular indexing device 4 to be calibrated is recorded.
Step S3, subtracting the pre-calibration angle a ° of the to-be-calibrated angle indexing device 4 from the actual rotation angle c ° of the to-be-calibrated angle indexing device 4, and obtaining the error of the pre-calibration angle a ° of the to-be-calibrated angle indexing device 4.
Since the pre-calibration angle a ° of the to-be-calibrated angle indexing device 4 is equal to the theoretical calibration angle a ° of the to-be-calibrated angle indexing device 4, the error of the pre-calibration angle a ° of the to-be-calibrated angle indexing device 4 is equal to the theoretical rotation angle — the actual rotation angle.
For example: the theoretical turning angle 67.52941 ° -the actual turning angle 67.50941 ° -0.02 °, 0.02 ° being the error of the pre-calibration angle 63.52941 ° of the angular indexing device 4 to be calibrated.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
The above embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (4)
1. An angle calibration method is characterized by comprising the following steps:
s1, coaxially fixing the multi-tooth dividing table and the polyhedron on angle division equipment to be calibrated, arranging the autocollimator and the polyhedron on the same optical axis, recording the reading of the autocollimator as x, wherein the number of the surfaces of the polyhedron is an integer which is not divided by 360 degrees;
s2, judging whether a pre-calibration angle a DEG of the angle-division equipment to be calibrated is a multiple n of a central angle b DEG of the polyhedron, wherein the central angle b DEG is equal to 360 DEG divided by the number of the surfaces of the polyhedron; if the pre-calibration angle a DEG of the angle indexing equipment to be calibrated is a multiple n of the b DEG of the central angle of the polyhedron, executing the step S210, and if the pre-calibration angle a DEG is not the multiple n of the b DEG of the central angle of the polyhedron, executing the steps S220-S230;
step S210, rotating the to-be-calibrated angle indexing equipment until the nth reading of the autocollimator returns to x, stopping rotating the to-be-calibrated angle indexing equipment, and recording the actual rotation angle c degrees of the to-be-calibrated angle indexing equipment;
s220, searching an angle m degrees which is the same as the decimal point part of the pre-calibration angle a degrees in the product of the central angle b degrees and the multiple n;
step S230, subtracting the found angle m degrees from the pre-calibration angle a degrees to obtain a compensation angle d degrees; rotating the multi-tooth indexing table according to the compensation angle d degrees, then rotating the to-be-calibrated angle indexing equipment until the m/b reading of the autocollimator returns to x, stopping rotating the to-be-calibrated angle indexing equipment, and recording the actual rotation angle c degrees of the to-be-calibrated angle indexing equipment;
step S3, subtracting the pre-calibration angle a DEG of the to-be-calibrated angle indexing equipment from the actual rotation angle c DEG of the to-be-calibrated angle indexing equipment to obtain the error of the pre-calibration angle a DEG of the to-be-calibrated angle indexing equipment.
2. The angle calibration method according to claim 1, further comprising, after step S1, the steps of:
s0, adjusting the angle of the polyhedron to make one surface thereof aligned with the autocollimator, that is, x is 0.
3. The angle calibration method according to claim 1, wherein step S230 specifically includes the following steps:
s231, judging whether the compensation angle d is larger than 0 degree; if greater than 0 °, execute step S232, if less than 0 °, execute step S233;
step S232, firstly, rotating the multi-tooth indexing table by d degrees along the rotating direction of the to-be-calibrated angle indexing equipment, then rotating the to-be-calibrated angle indexing equipment until the m/b reading of the autocollimator returns to x, stopping rotating the to-be-calibrated angle indexing equipment, and recording the actual rotating angle c degrees of the to-be-calibrated angle indexing equipment;
step S233, if the compensation angle d is smaller than 0 degree, firstly, rotating the multi-tooth indexing table by d degrees along the direction opposite to the rotating direction of the to-be-calibrated angle indexing equipment, then rotating the to-be-calibrated angle indexing equipment until the m/b reading of the autocollimator returns to x, stopping rotating the to-be-calibrated angle indexing equipment, and at the moment, recording the actual rotating angle c degree of the to-be-calibrated angle indexing equipment.
4. The angle calibration method according to claim 1, wherein in step S2, the actual rotation angle c ° of the to-be-calibrated angle-indexing device is obtained according to an encoder inside the to-be-calibrated angle-indexing device.
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