CN111288893A - Screw rotor laser measurement trajectory planning method under multi-factor constraint - Google Patents
Screw rotor laser measurement trajectory planning method under multi-factor constraint Download PDFInfo
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Abstract
A screw rotor laser measurement track planning method under multi-factor constraint relates to the field of optical precision detection. The method comprises the following steps: 1) building a four-coordinate laser measuring system: combining a point laser displacement sensor with the existing four-coordinate measuring system to form a four-coordinate laser measuring system; 2) and (3) performing measurement error correction experiment on the point laser displacement sensor: building an experimental device for measuring error correction of the point laser displacement sensor, respectively performing error correction of the point laser displacement sensor on an incident inclination angle, an incident rotation angle and an incident swing angle measuring depth, and building a four-dimensional error model diagram of the point laser displacement sensor of the incident inclination angle, the incident rotation angle, the incident swing angle measuring depth and the measuring error; 3) solving the relation between the end face normal and the curved surface normal of the profile point of the end face of the screw rotor, and the relation between an incident inclination angle and an incident swing angle, and between an incident rotation angle and the incident swing angle; 4) designing a measuring track; 5) implementation of measurement trajectory planning and measurement error compensation.
Description
Technical Field
The invention relates to the field of optical precision detection, in particular to a screw rotor laser measurement track planning method under multi-factor constraint.
Background
The screw compressor has the advantages of reliable operation, compact structure, high energy efficiency, low vibration noise, long service life and the like, and is widely applied to the fields of aviation power machinery, automobile industry, compressors, mining machinery and the like. The laser non-contact measurement is a research direction for detecting the machining precision of the screw rotor due to the characteristics of high-precision and quick detection, no damage to the surface of a workpiece and the like.
At present, in the application of a laser displacement sensor (laser triangulation method) in screw rotor and free-form surface part measurement, laser measurement is carried out on an end face tooth profile of the screw rotor, mainly based on rotary scanning and error compensation, and laser measurement on free-form surface parts is also mainly carried out on simple path planning and error compensation on inclination angles and rotation angles. When the laser triangulation method is used for measuring a curved surface, the inclination angle and the rotation angle errors caused by the fact that the laser beam is not perpendicular to the normal direction of a measuring point are critical factors influencing the measuring precision, and the overall measuring precision is influenced.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides a screw rotor laser measurement trajectory planning method under multi-factor constraint, which can quickly and accurately extract data points of the tooth profile of the end face of the screw rotor.
In order to achieve the purpose, the invention adopts the following technical scheme:
a screw rotor laser measurement trajectory planning method under multi-factor constraint comprises the following steps:
1) building a four-coordinate laser measuring system: combining a point laser displacement sensor with an existing four-coordinate measuring system to form the four-coordinate laser measuring system, wherein the four-coordinate laser measuring system comprises a linear axis X axis, a Y axis, a Z axis and a rotating shaft C axis, the point laser displacement sensor is arranged at the tail end of the X axis, and a workpiece is fixed on the rotating shaft C axis by a tip;
2) and (3) performing measurement error correction experiment on the point laser displacement sensor: building an experimental device for measuring error correction of the point laser displacement sensor, respectively performing error correction of the point laser displacement sensor on an incident inclination angle, an incident rotation angle and an incident swing angle measuring depth, and building a four-dimensional error model diagram of the point laser displacement sensor of the incident inclination angle, the incident rotation angle, the incident swing angle measuring depth and the measuring error;
3) solving the relation between the end face normal and the curved surface normal of the profile point of the end face of the screw rotor, and the relation between an incident inclination angle and an incident swing angle, and between an incident rotation angle and the incident swing angle;
4) designing a measuring track: by adjusting the relative posture of the laser measuring plane and the screw rotor, the path planning of measuring the laser beam along the end surface normal direction of each point of the tooth profile of the screw rotor (the end surface normal dead zone (light path interference zone) automatically approaches the end surface normal direction of the measuring point) is realized under the condition of ensuring the minimum change of the incident swing angle measuring depth;
5) implementation of measurement trajectory planning and measurement error compensation: and selecting a rotor profile, implementing a screw rotor end face tooth profile measurement track planning scheme, and compensating data points to finally obtain an actual value of the screw rotor end face tooth profile.
The experimental device for measuring error correction of the point laser displacement sensor comprises a laser interferometer, a light path component, a six-degree-of-freedom fixing frame, the point laser displacement sensor, a sine gauge, an index plate, a standard gauge block and a numerical control machining center; the six-degree-of-freedom fixing frame is arranged on a Z axis of the numerical control machining center, and the Z axis can move under the control of the numerical control machining center; the index plate is arranged on a workbench of the numerical control center, the sine gauge is arranged on the index plate right below the point laser displacement sensor, and the sine gauge can rotate at a corner along with the index plate; the optical path component comprises a first reflecting mirror and a second reflecting mirror, wherein the first reflecting mirror is fixed on a workbench of the numerical control machining center, the second reflecting mirror is positioned above the first reflecting mirror and fixed on a Z axis of the numerical control machining center, and the laser interferometer and the first reflecting mirror are horizontally arranged oppositely; the incident inclination angle is set up by a sine gauge and a standard gauge block, the size of the incident inclination angle is adjusted by adjusting the height of the standard gauge block, and the size of the incident rotation angle and the incident swing angle are adjusted by adjusting a rotary dividing disc and a six-degree-of-freedom fixing frame.
The incidence inclination angle is-45 degrees, the incidence rotation angle is 0-180 degrees, and the incidence swing angle measurement depth is-10 mm.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
1. the method comprises the steps of establishing a mathematical model of the geometric characteristics of a measured object surface, such as an incident inclination angle and an incident rotation angle of the measured object surface of a point laser displacement sensor, analyzing the influence of the parameters on the measurement precision by combining experiments, and establishing a free-form surface four-dimensional error compensation model based on a laser measurement system;
2. based on a four-coordinate laser measurement system, under the constraint of multiple factors such as light path interference, incident pendulum angle measurement depth, measurement angle (incident angle, incident inclination angle) and measurement path in laser measurement, by adjusting the relative posture of a laser measurement plane and a screw rotor, a path planning scheme is realized in which laser beams are measured along the end face normal of each point of the screw rotor tooth profile (an end face normal dead zone (a light path interference zone) automatically approaches to the end face normal of the measurement point) under the condition of ensuring the minimum change of the incident pendulum angle measurement depth, and the screw rotor end face tooth profile data points are quickly and accurately extracted.
Drawings
FIG. 1 is a schematic diagram of a four coordinate laser measurement system;
FIG. 2 is a schematic diagram of the experimental apparatus for error correction of a point laser displacement sensor (laser interferometer 1, optical path component 2, six-degree-of-freedom fixing frame 3, point laser displacement sensor 4, sine gauge 5, dividing plate 6, standard gauge block 7, and numerical control machining center 8);
FIG. 3 is a diagram of a four-dimensional error model of a point laser displacement sensor;
FIG. 4 is a graph showing the relationship between the normal direction of the end face and the normal direction of the curved surface;
FIG. 5 is a diagram showing the relationship between the incident inclination angle, the incident rotation angle and the incident swing angle;
FIG. 6 is a normal non-blind area measurement trajectory planning diagram;
FIG. 7 is a normal blind zone measurement trajectory planning diagram;
fig. 8 is a diagram of path planning and measurement results.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects of the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.
1. Building four-coordinate laser measuring system platform
The measuring center based on the laser displacement sensor is a four-coordinate measuring instrument, as shown in figure 1, the measuring instrument comprises a linear axis X axis, a Y axis, a Z axis and a rotating axis C axis, the laser displacement sensor is installed at the tail end of the X axis and moves along with three moving axes in space, and a workpiece is fixed on the rotating axis C by a tip and rotates for 360 degrees. And each shaft adopts a Renyshao grating to perform signal feedback positioning, and adopts a Keynshi LK-H050 laser displacement sensor as a laser measuring head.
2. Calibration experiment for measuring errors of point laser displacement sensor
FIG. 2 is a schematic structural composition diagram of an experimental device for calibrating measurement errors of a point laser displacement sensor, wherein the experimental device for calibrating the measurement errors of the point laser displacement sensor is provided with a laser interferometer 1, a light path component 2, a six-degree-of-freedom fixing frame 3, a point laser displacement sensor 4, a sine gauge 5, an index plate 6, a standard gauge block 7 and a numerical control machining center 8;
the laser interferometer 1 and the light path component 2 are fixed on a Z axis and a workbench of the numerical control machining center 8 by a magnetic meter frame, and the Z axis can move under the control of a numerical control system; the six-degree-of-freedom fixing frame 3 is installed on a Z axis of a numerical control machining center 8, the dividing disc 6 is installed on a workbench, the sine gauge 5 is placed on the dividing disc 6 right below the point laser displacement sensor 1 and can rotate in a rotating angle along with the dividing disc 6, the light path component comprises a first reflecting mirror and a second reflecting mirror, the first reflecting mirror is fixed on the workbench of the numerical control machining center, the second reflecting mirror is located above the first reflecting mirror and fixed on the Z axis of the numerical control machining center, and the laser interferometer and the first reflecting mirror are horizontally arranged oppositely; the incidence inclination angle is built by a sine gauge 5 and a standard gauge block 7, the purpose of adjusting the incidence inclination angle is achieved by adjusting the height of the standard gauge block 7, and the incidence rotation angle and the incidence swing angle are adjusted by adjusting a rotary dividing disc 6 and a six-degree-of-freedom fixing frame 3.
The method respectively corrects the errors of the point laser displacement sensor when the incident inclination angle is-45 degrees to-45 degrees, the incident rotation angle is 0 degree to +/-180 degrees, and the measuring depth of the incident swing angle is-10 mm to 10mm, and establishes a four-dimensional error model diagram of the point laser displacement sensor of the incident inclination angle, the incident rotation angle, the measuring depth of the incident swing angle and the measuring error, as shown in figure 3, the diagram (a) is the four-dimensional error model diagram of the point laser displacement sensor of the incident rotation angle of 0 degree to-180 degrees, and the diagram (b) is the four-dimensional error model diagram of the point laser displacement sensor of the incident rotation angle of 0 degree to 180 degrees.
3. The relation between the end face normal and the curved surface normal, and the relation between the incident inclination angle and the incident rotation angle and the incident swing angle respectively
1) End face normal direction and curved surface normal direction relation
As shown in fig. 4, point P is a data point of the screw rotor end face tooth profile, PN is the end face normal direction, PN' is the curved surface normal direction, a coordinate system P-XYZ is established, the Z axis is parallel to the screw rotor axis, the X axis coincides with the end face normal direction PN, the laser measurement plane EPF is parallel to the Z axis, an included angle α between the end face normal direction and the curved surface normal direction is the measured object plane tilt angle, and an included angle γ between the measurement plane EPF and the end face normal direction is the measured object plane tilt angle.
The formula defining the helicoid of the screw rotor is shown in formula (1):
wherein x (t), y (t) are spiral face end face section parameter equations, p is lead, t and u are spiral face parameter variables, and the normal expression of the spiral face is shown in formula (2):
wherein r is a vector from any point on the curved surface to the origin, nx,ny,nzIs the component of the normal vector n in three directions on a cartesian coordinate system.
The curved surface normal direction and the end surface normal direction of the P point of the spiral surface can be obtained according to the formula (1) and the formula (2) and are shown as the formula (3):
the included angle α between the end face normal and the curved surface normal (i.e. the measured object plane inclination angle) is shown in formula (4):
2) solving the relation between the incident inclination angle and the incident rotation angle and the incident swing angle respectively;
as shown in fig. 5, the measurement plane Δ EPF and the cross-section Δ ABC are coplanar, and an O-XYZ coordinate system is established, where the Z axis coincides with the incident light PE, the X axis coincides with AC, and the incident light and the P point normal form an angle α, where the P point normal form is:
PN＝[1 0 tanα](5)
measuring plane Δ EPF by rotation angle γ about X to obtain a measurement plane Δ E 'PF', determining rotated incident tilt angle α 'from object plane normals PN and E', and plane Δ E 'PF' is coplanar with section Δ a 'B' C ', establishing coordinate system O-X' Y 'Z', with Z 'axis coincident with E' P and X 'axis coincident with a' C ', then P point normal is in O-X' Y 'Z' coordinate system:
the angle of inclination α' is:
the angle β 'between the plane of measurement Δ E' PF 'and the plane of section Δ A' B 'C' is the angle of incidence after rotation, where PNX1The face normal vector can be written as:
then
According to the formula, the incident swing angle can be converted into the incident rotation angle and the incident inclination angle which have a certain relation, and if an incident swing angle error model is required to be solved, the incident swing angle error model can be obtained by establishing the incident inclination angle and rotation angle error model.
4. Measurement trajectory design
The invention adopts a linkage measurement mode, namely, when in laser detection, the laser measuring head moves along the X axis in a radial direction and moves along the Y axis in a transverse direction, and simultaneously the screw rotor rotates along the C axis of the precision turntable, so that the axis of the laser measuring head is always parallel to the normal vector direction of a point to be measured during detection, and the movement of the laser measuring head along the X axis is used for keeping the optimal measurement distance between the point to be measured and the laser measuring head.
And planning the measurement track of the normal non-blind area. As shown in fig. 6, the working range of the spot laser displacement sensor is 50 ± 10mm, the measurement accuracy is highest at the center of the working range, and the measurement center distance is d, so as to ensure that the laser sensor is at the optimal measurement distance, because the laser probe is moved along the X-axis direction as much as possible, the laser probe is always at the optimal distance d from the point to be measured. Suppose PmThe point is a measurement starting point, after a measurement system is calibrated (ensuring that a laser beam is parallel to an X axis), the X axis and a Y axis are controlled, and a laser measuring head is moved to a position PmAt the corresponding theoretical coordinate value (normal vector direction, distance of d maintained by X-axis light beam), P is converted by controlling C-axis to rotate screw rotormRotating the point onto the laser beam to ensure that the reading of the laser displacement sensor changes around the value d (approaching the optimal measurement distance), and recording the current value d0. Find the next point Pm+1With the current PmAngle theta between normal vector and direction of pointmControlling the C shaft to rotate the screw rotor by thetamDegree of Pm+1Rotating the normal vector direction of the point to the horizontal direction, and solving the current Pm+1Coordinate values of the points, and then P is obtainedmP of a pointm+1Relative coordinates of points (Δ x)m,Δym) Controlling the X-axis and the Y-axis to move the laser probe to translate the laser beam to Pm+1Pointing to the normal vector direction and recording the reading d of the current laser displacement sensor0+Δdm+1Completing the measurement track planning of the non-interference area。
And planning the measurement track of the normal blind area. As shown in FIG. 7, PnFor the current measuring point, the laser measuring head measures a data value d at position 10+ΔdnThen, the next point P is obtainedn+1With the current PnAngle theta between normal vector and direction of pointnBy judging, P is knownn+1The extension line of the normal vector of the point interferes with the screw rotor tooth profile, namely, the light path interferes (as shown in 4 in the figure), the laser cannot move to the normal vector direction to collect data points, and in order to ensure that the laser can measure and the measuring direction is as close to the normal vector direction as possible, the laser beam can carry out P at the tangential line (6 in the figure) of the screw rotor tooth profilen+1Collecting data points of points, and calculating the rotation angle thetan', then there are:
θn＝θn'+γn
γnis namely Pn+1And (3) measuring the object plane swing angle by point laser. Controlling the C shaft to rotate the screw rotor by thetanDegree and solve for current Pn+1Coordinate values of the points, and then P is obtainednP of a pointn+1Relative coordinates of points (Δ x)n,Δyn) Controlling the X-axis and the Y-axis to move the laser probe to translate the laser beam to Pn+1At point (i.e. 2 in the figure), and record the reading d of the current laser displacement sensor0+Δdn+1. If there is mechanical interference between the laser probe and the screw rotor tooth profile (i.e. the laser probe enters the screw rotor tooth space as shown in 5 in the figure), the X-axis needs to be controlled to move the laser probe out of the tooth space (as shown in 3 in the figure), and the reading of the current laser displacement sensor is d0+Δdn+1+ l, the motion value of each axis corresponding to the measurement point is (Δ x)n',Δyn,θn') wherein:
Δxn'＝Δxn-l
by the measuring scheme, the path planning of the interference area can be completed.
5. Path planning and measurement
The optimization scheme of the screw rotor end face tooth profile measuring track and the compensation method of the four-dimensional laser attitude measuring error model provided by the scheme are verified by taking a certain rotor profile as an example. According to the planning scheme aiming at the normal blind area (interference area) and non-blind area of the end face laser measurement of the screw rotor or the planning scheme along the normal tooth profile measuring path, the laser measuring path of the screw rotor is planned, the X-axis (radial direction), the Y-axis (transverse direction) and the C-axis (rotating shaft) are linked, and meanwhile, the automatic and rapid detection of the end face profile of the screw rotor is realized in a real-time acquisition mode of a laser measuring head.
As shown in fig. 8, the diagram (b) is a line diagram of the screw rotor of this type, which is divided into four sections a, b, c and d according to a trajectory planning scheme, wherein b is a normal blind section and the others are normal non-blind sections. And (a) is a measurement track corresponding to each section, wherein the C axis is a rotating shaft of the screw rotor, the X axis is parallel to the radial direction of the laser beam, and the Y axis is the transverse direction of the laser beam. And (3) track measurement process: the first point of the section a (namely the first point of the short side of the molded line of the screw rotor) is the initial measurement point, the screw rotor rotates clockwise along with the axis C, and the laser measuring head simultaneously performs forward feeding along with the axis X and the axis Y; after the dead zone in the normal direction b is reached, the screw rotor rotates anticlockwise, and the laser measuring head moves in the negative direction along with the X axis and the Y axis; after entering the section c, the screw rotor continuously rotates anticlockwise, meanwhile, the laser measuring head moves in a negative direction along with the Y axis, and the X axis moves in a negative direction and then in a positive direction until the data acquisition of the section c is completed; and then the screw rotor rotates clockwise, the laser measuring head moves in the positive direction of the Y axis, the laser measuring head moves in the negative direction of the X axis, d sections of data points are collected until the last point of the short edge of the screw rotor, the profile measurement of one tooth groove on the end face of the screw rotor is completed, and the Z axis of the measurement center is kept unchanged in the whole process. The black section is the projection of the measurement trajectory on the XY plane, and it can be known from the figure that the last point of the long side of the current tooth profile of the screw rotor is closer to the first point of the short side of the next tooth profile, so the whole section e approaches a closed-loop motion process, and the C-axis variation is the final rotation amount of the single tooth profile.
And in the four-coordinate measurement center, the measurement center is used for controlling software to run a track planning code to obtain a laser value (a grating value and a laser measuring head acquisition value), the relationship conversion of an incident inclination angle, an incident rotation angle and an incident swing angle is carried out by using the third step, a corresponding compensation value is determined, the laser value is compensated, and finally the actual value of the end face tooth profile of the screw rotor is obtained. The error compensation of the partial interference region is shown in table 1.
TABLE 1
The method comprises the steps of establishing a mathematical model of the geometric characteristics of a measured object surface, such as an incident inclination angle and an incident rotation angle of the measured object surface of a point laser displacement sensor, analyzing the influence of the parameters on the measurement precision by combining experiments, and establishing a free-form surface four-dimensional error compensation model based on a laser measurement system;
based on a four-coordinate laser measurement system, under the constraint of multiple factors such as light path interference, incident pendulum angle measurement depth, measurement angle (incident angle, incident inclination angle) and measurement path in laser measurement, by adjusting the relative posture of a laser measurement plane and a screw rotor, a path planning scheme is realized in which laser beams are measured along the end face normal of each point of the screw rotor tooth profile (an end face normal dead zone (a light path interference zone) automatically approaches to the end face normal of the measurement point) under the condition of ensuring the minimum change of the incident pendulum angle measurement depth, and the screw rotor end face tooth profile data points are quickly and accurately extracted.
Claims (3)
1. A screw rotor laser measurement track planning method under multi-factor constraint is characterized by comprising the following steps:
1) building a four-coordinate laser measuring system: combining a point laser displacement sensor with an existing four-coordinate measuring system to form the four-coordinate laser measuring system, wherein the four-coordinate laser measuring system comprises a linear axis X axis, a Y axis, a Z axis and a rotating shaft C axis, the point laser displacement sensor is arranged at the tail end of the X axis, and a workpiece is fixed on the rotating shaft C axis by a tip;
2) and (3) performing measurement error correction experiment on the point laser displacement sensor: building an experimental device for measuring error correction of the point laser displacement sensor, respectively performing error correction of the point laser displacement sensor on an incident inclination angle, an incident rotation angle and an incident swing angle measuring depth, and building a four-dimensional error model diagram of the point laser displacement sensor of the incident inclination angle, the incident rotation angle, the incident swing angle measuring depth and the measuring error;
3) solving the relation between the end face normal and the curved surface normal of the profile point of the end face of the screw rotor, and the relation between an incident inclination angle and an incident swing angle, and between an incident rotation angle and the incident swing angle;
4) designing a measuring track: by adjusting the relative posture of the laser measuring plane and the screw rotor, the path planning of measuring the laser beam along the end surface normal of each point of the tooth profile of the screw rotor is realized under the condition of ensuring the minimum change of the incident swing angle measuring depth;
5) implementation of measurement trajectory planning and measurement error compensation: and selecting a rotor profile, implementing a screw rotor end face tooth profile measurement track planning scheme, and compensating data points to finally obtain an actual value of the screw rotor end face tooth profile.
2. The method for planning the laser measurement track of the screw rotor under the multi-factor constraint of claim 1, wherein the method comprises the following steps: the experimental device for measuring error correction of the point laser displacement sensor comprises a laser interferometer, a light path component, a six-degree-of-freedom fixing frame, the point laser displacement sensor, a sine gauge, an index plate, a standard gauge block and a numerical control machining center; the six-degree-of-freedom fixing frame is arranged on a Z axis of the numerical control machining center, and the Z axis can move under the control of the numerical control machining center; the index plate is arranged on a workbench of the numerical control center, the sine gauge is arranged on the index plate right below the point laser displacement sensor, and the sine gauge can rotate at a corner along with the index plate; the optical path component comprises a first reflecting mirror and a second reflecting mirror, wherein the first reflecting mirror is fixed on a workbench of the numerical control machining center, the second reflecting mirror is positioned above the first reflecting mirror and fixed on a Z axis of the numerical control machining center, and the laser interferometer and the first reflecting mirror are horizontally arranged oppositely; the incident inclination angle is set up by a sine gauge and a standard gauge block, the size of the incident inclination angle is adjusted by adjusting the height of the standard gauge block, and the size of the incident rotation angle and the incident swing angle are adjusted by adjusting a rotary dividing disc and a six-degree-of-freedom fixing frame.
3. The method for planning the laser measurement track of the screw rotor under the multi-factor constraint of claim 1, wherein the method comprises the following steps: the incident inclination angle is-45 degrees, the incident rotation angle is 0-180 degrees, and the incident swing angle measurement depth is-10 mm.
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