CN111664813B - Free surface arbitrary hole normal vector measuring device and method and compensation method - Google Patents
Free surface arbitrary hole normal vector measuring device and method and compensation method Download PDFInfo
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- CN111664813B CN111664813B CN202010415181.XA CN202010415181A CN111664813B CN 111664813 B CN111664813 B CN 111664813B CN 202010415181 A CN202010415181 A CN 202010415181A CN 111664813 B CN111664813 B CN 111664813B
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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
- G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
Abstract
The invention provides a free surface arbitrary hole normal vector measuring device, a method and a compensation method; the disclosed normal vector measuring device and method are used for measuring the normal vector of any hole to be measured on a curved surface or a plane in any shape, and meanwhile, the compensation method for measuring the perpendicularity by the normal vector of any hole in a free-form surface is provided, so that the measurement perpendicularity is further compensated by the normal vector measuring device and method. The device and the method realize the measurement of the normal vector of the hole to be measured, in particular to the normal vector measurement and the verticality compensation of the hole manufactured on the curved surface with any shape.
Description
Technical Field
The invention belongs to the field of automatic equipment manufacturing, and particularly relates to a free surface arbitrary hole normal vector measuring device, a free surface arbitrary hole normal vector measuring method and a free surface arbitrary hole normal vector compensating method.
Background
With the development of the aviation industry, the number of large-sized integral structural members with complex curvature on the airplane is increased. Meanwhile, in order to meet the requirements of market customization, small-batch and multi-variety products, equipment used in the assembly process is required to have a universal function, and the assembly requirements of rapidness, accuracy and rapidness can be met. Therefore, the requirements for large-scale equipment and digital manufacturing equipment are continuously increased, and especially for machining frequently involved complex curved surface structures, the hole position precision and the normal vector precision of machine tool hole making are required to be extremely high.
For the processing of curved surface structures, flexible processing techniques such as normal vector measurement and spatial coordinate conversion are generally applied in the processing process. Particularly in the field of aviation assembly and manufacturing, the number of manufactured holes is extremely large, and the service life and safety of an aviation product are directly influenced by the size, verticality and surface processing quality of the manufactured holes; particularly, a large number of riveting holes need to be processed on the skin of an aviation product; in order to ensure the use performance of aviation products, the rivet and the hole wall need to be tightly attached, and the nail head and the skin have smooth surfaces and are not protruded. The verticality of the hole directly influences whether the rivet and the hole are assembled in a qualified manner; therefore, in order to process a hole with the verticality meeting the requirement, a normal vector measuring device for any hole with a free-form surface and a verticality compensation method are indispensable. At present, the research on the complete free-form surface normal vector measurement is more at home and abroad, but the research on the normal vector measurement and compensation method of the hole on the surface is less.
The prior patents are obtained through searching the prior domestic and foreign patent technical documents as follows:
the Chinese patent authorization publication number is 201110284942.2, the invention name is: a device and a method for measuring normal vectors at any point of a free-form surface are provided. The device draws curves on the free-form surface twice through four spherical contacts to form orthogonal planes, and performs angle correction on the central axis of an external machining arm to obtain the normal vector of a point to be measured. But the method can only measure the complete curved surface and cannot measure the normal vector of the processed hole on the curved surface.
The Chinese patent authorization publication number is 201410271543.7, the invention name is: the device is characterized in that the device is provided with a curved surface normal vector measuring device for measuring curved surface normal vectors, and the curved surface normal vector measuring device can be used for measuring curved surface normal vectors. But it can only measure the complete surface and does not involve measuring the normal vector of the hole.
In conclusion, no special free-form surface arbitrary hole normal vector measuring device and perpendicularity compensation method exist in China.
Disclosure of Invention
The invention provides a device, a method and a compensation method for measuring normal vectors of any holes on a free surface, aiming at the problems that the prior art does not have normal vector measurement of the holes, especially the device which can be adapted to the normal vector measurement of the holes made on a curved surface with any shape is lacked; the disclosed normal vector measuring device and method are used for measuring the normal vector of any hole to be measured on a curved surface or a plane in any shape, and meanwhile, the compensation method for measuring the perpendicularity by the normal vector of any hole in a free-form surface is provided, so that the measurement perpendicularity is further compensated by the normal vector measuring device and method.
The specific implementation content of the invention is as follows:
the invention provides a free-form surface arbitrary hole normal vector measuring device, which comprises a plug gauge, a circular tray and a target ball, wherein the plug gauge is arranged on the circular tray;
the plug gauge is of a step-shaped structure and comprises a thick cylinder at the upper part, a cone frustum at the middle part and a thin cylinder at the lower part; the surface with the larger radius of the cone frustum is connected with the bottom end surface of the thick cylinder, and the surface with the smaller radius is connected with the top end surface of the thin cylinder;
the top end face of the thick cylinder is fixedly connected to the circle center point of the bottom face of the circular tray; the top surface of the circular tray is provided with an a target groove, a b target groove, a c target groove and a d target groove which are respectively symmetrical; and the target balls are arranged in the target groove a, the target groove b, the target groove c and the target groove d.
The invention also provides a method for measuring the normal vector of any hole of the free-form surface, which comprises the steps of inserting a plug gauge into a hole to be measured on the free-form surface, then establishing a laser tracker coordinate system, and respectively obtaining the corresponding point coordinates a1= (X11, Y11, Z11), b1= (X12, Y12, Z12), c1= (X13, Y13, Z13) and d1= (X14, Y14, Z14) of a target ball in an a target groove, a target ball in a target groove and a target groove in d in the laser tracker coordinate system; and further obtaining a plane consisting of four target ballsEquation of surface A1x+B1y+C1z+D1=0, and then calculates the plane equation a1x+B1y+C1z+D1A normal vector S1 of =0, wherein the normal vector S1 is a normal vector of the hole to be measured.
The invention also provides a perpendicularity compensation method for measuring the normal vector of the free-form surface arbitrary hole, which comprises the steps of firstly establishing a coordinate system of a laser tracker, arranging a metal flat plate, placing a target ball on the metal flat plate, enabling the target ball to perform curvilinear motion on the metal flat plate, then tracking and recording the curvilinear motion of the target ball through the laser tracker to obtain a plurality of point coordinates, and fitting the plurality of point coordinates to obtain a plane equation A2x+B2y+C2z+D2=0, and obtaining a normal vector S2, where the normal vector S2 is a normal vector of the metal flat plate in the coordinate system of the laser tracker; and then, making N holes on the metal flat plate and compensating the verticality deviation of the made holes according to the normal vector of the metal flat plate.
In order to better implement the present invention, in the operation of performing compensation of hole making perpendicularity measurement, firstly, a normal vector measurement device is used to perform normal vector measurement on a first hole of N holes made in a metal flat plate to obtain a normal vector Sn1 of the first hole, then a deviation included angle θ 1 between a circular tray and the metal flat plate is obtained through the normal vector Sn1 and the normal vector S2, the deviation included angle θ 1 is a hole making perpendicularity deviation of the first hole, and hole making perpendicularity compensation is performed by using θ 1, so that compensation of hole making perpendicularity deviation is achieved.
In order to better realize the method, after the deviation included angle theta 1 of the first hole is measured, normal vectors Sn 2-SnN of second-Nth holes are measured respectively; calculating a deviation included angle theta 2-a deviation included angle theta n according to the normal vector Sn 2-the normal vector SnN; then averaging the deviation included angles theta 1-theta n to obtain the deviation included angle
Then, in actual operation, the included angle is deviated
The swing angle compensation device is used for carrying out swing angle compensation on an end effector of a hole making machine.
In order to better implement the present invention, further, after the perpendicularity compensation is performed, a verification is performed, and the specific verification operation includes: measuring a normal vector of the hole manufactured after the perpendicularity is compensated by using a normal vector measuring device, and comparing the measured normal vector with a theoretical normal vector to obtain a deviation included angle; setting a deviation included angle threshold value in advance, and if the obtained deviation included angle is smaller than the deviation included angle threshold value, successfully compensating; if the obtained deviation included angle is larger than the deviation included angle threshold value, the compensation is judged to be failed, and the compensation is needed to be carried out again.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) the normal vector measurement of any hole of any shape of curved surface or plane is realized;
(2) the measuring method is simple and easy to operate;
(3) the measurement accuracy is high.
Drawings
FIG. 1 is a schematic view of a normal vector measuring device of the present invention without showing a target point;
FIG. 2 is a schematic view of the present invention illustrating normal vector measurements for making holes in a flat panel;
FIG. 3 is a schematic view of the normal vector measurement of the present invention for making holes in a single-curved plate;
FIG. 4 is a schematic view of the present invention showing normal vector measurements for hole making in a hyperboloid plate;
FIG. 5 is a schematic flow chart of perpendicularity compensation for normal vector measurement according to the present invention.
Wherein: 1. the plug gauge comprises a plug gauge body, 2 a circular tray, 3.1 a target groove, 3.2 a target groove, 3.3 a target groove, 3.4 a target groove, 6 a metal flat plate.
Detailed Description
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and therefore should not be considered as a limitation to the scope of protection. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1:
the invention provides a free-form surface arbitrary hole normal vector measuring device, which comprises a plug gauge 1, a circular tray 2 and a target ball 4, wherein the plug gauge 1 is arranged on the circular tray;
the plug gauge 1 is of a step-shaped structure and comprises a thick cylinder at the upper part, a cone frustum at the middle part and a thin cylinder at the lower part; the surface with the larger radius of the cone frustum is connected with the bottom end surface of the thick cylinder, and the surface with the smaller radius is connected with the top end surface of the thin cylinder;
the top end surface of the thick cylinder is fixedly connected to the circle center point of the bottom surface of the circular tray 2; a target groove a 3.1, a target groove b 3.2, a target groove c 3.3 and a target groove d 3.4 which are respectively symmetrical are arranged on the top surface of the circular tray 2; target balls 4 are arranged in the a target groove 3.1, the b target groove 3.2, the c target groove 3.3 and the d target groove 3.4.
The working principle is as follows: a circular tray 2 which is fixedly vertical to the plug gauge 1 is arranged, and a target groove a 3.1, a target groove b 3.2, a target groove c 3.3 and a target groove d 3.4 are arranged on the circular tray 2; the a target groove 3.1, the b target groove 3.2, the c target groove 3.3 and the d target groove 3.4 are used for converting the measurement of the normal vector of the hole to be measured into the arrangement of the a target groove 3.1, the b target groove 3.2, the c target groove 3.3 and the d target groove 3.4 on the circular tray 2; and (3) measuring a plane formed by the target balls 4 in the a target groove 3.1, the b target groove 3.2, the c target groove 3.3 and the d target groove 3.4.
Example 2:
the invention also provides a method for measuring the normal vector of any hole of the free-form surface, as shown in fig. 2, inserting a feeler gauge 1 into a hole to be measured on the free-form surface, then establishing a laser tracker coordinate system, and respectively obtaining the corresponding point coordinates a1= (X11, Y11, Z11), point coordinates b1= (X12, Y12, Z12), point coordinates c1= (X13, Y13, Z13), and point coordinates d1= (X14, Y14, Z14) of the target ball 4 in a target groove 3.1, a target groove 3.2, a target groove 3.3, and a target groove 3.4 in the laser tracker coordinate system; and further obtaining a plane equation A formed by four target balls 41x+B1y+C1z+D1=0, and then calculates the plane equation a1x+B1y+C1z+D1A normal vector S1 of =0, wherein the normal vector S1 is a normal vector of the hole to be measured.
The working principle is as follows: the normal vector of the hole to be measured is calculated by measuring the plane formed by the target ball 4 and then by the vertical relation between the circular tray 2 and the plug gauge 1.
Example 3:
in order to better implement the present invention based on the above example 2, as shown in fig. 3 and 4, the plug gauge 1 is introduced into the hole to be measured of a single curved surface, the target ball 4 is sequentially placed in the a target groove 3.1, the b target groove 3.2, the c target groove 3.3, and the d target groove 3.4 of the circular tray, and the points of the target ball in the laser tracker coordinate system are sequentially measured by using a laser tracker, and the measurement results are points a4= (X21, Y21, Z21), b4= (X22, Y22, Z22), c4= (X23, Y23, Z23), and d4= (X24, Y24, Z24), respectively. Fitting a plane through the point a2, the point b2, the point c2 and the point d2 to obtain the plane equation A4x+B4y+C4z+D4Normal vector S4. The direction quantity S4 obtained at this time is the normal vector of the hole in the laser tracker coordinate system.
As shown in FIG. 4, a plug gauge (11) is introduced into a hole (12) to be measured of a hyperboloid, a target ball (10)The target balls are sequentially placed into a target slot (11) of a circular tray (11), and the points of the target balls under the coordinate system of the laser tracker are sequentially measured by using the laser tracker, wherein the measurement results are respectively points a5= (X31, Y31, Z31), b5= (X32, Y32, Z32), c5= (X33, Y33, Z33) and d5= (X34, Y34, Z34). Fitting a plane through the point a, the point b, the point c and the point d to obtain a plane equation A5x+B5y+C5z+D5Normal vector S5. That is, the direction quantity S5 obtained at this time is the normal vector of the hole in the laser tracker coordinate system.
The working principle is as follows: the embodiment 2 describes a method for measuring a hole on a flat plate, and the embodiment further discloses a specific implementation method for measuring a hole to be measured on a single curved surface and a double curved surface.
The other parts of this embodiment are the same as those of embodiment 2, and thus are not described again.
Example 4:
the invention also provides a perpendicularity compensation method for measuring the normal vector of any hole of the free-form surface, as shown in figure 5, firstly establishing a laser tracker coordinate system, arranging a metal flat plate 6, placing the target ball 4 on the metal flat plate 6, enabling the target ball 4 to perform curvilinear motion on the metal flat plate 6, then tracking and recording the curvilinear motion of the target ball 4 through the laser tracker to obtain a plurality of point coordinates, and fitting the plurality of point coordinates to obtain a plane equation A2x+B2y+C2z+D2=0, and obtaining a normal vector S2 at the same time, where the normal vector S2 is a normal vector of the metal flat plate 6 in the laser tracker coordinate system; and then, making N holes on the metal flat plate 6 and compensating the verticality deviation of the holes according to the normal vector of the metal flat plate 6.
In order to better implement the present invention, in the operation of performing compensation of hole making perpendicularity measurement, firstly, a normal vector measurement device is used to perform normal vector measurement on a first hole of N holes made in the metal flat plate 6 to obtain a normal vector Sn1 of the first hole, then a deviation included angle θ 1 between the circular tray 2 and the metal flat plate 6 is obtained through the normal vector Sn1 and the normal vector S2, the deviation included angle θ 1 is a hole making perpendicularity deviation of the first hole, and hole making perpendicularity compensation is performed by using θ 1, so that compensation of the hole making perpendicularity deviation is achieved.
In order to better realize the method, after the deviation included angle theta 1 of the first hole is measured, normal vectors Sn 2-SnN of second-Nth holes are measured respectively; calculating a deviation included angle theta 2-a deviation included angle theta n according to the normal vector Sn 2-the normal vector SnN; then averaging the deviation included angles theta 1-theta n to obtain the deviation included angle
Then, in actual operation, the included angle is deviated
The swing angle compensation device is used for carrying out swing angle compensation on an end effector of a hole making machine.
In order to better implement the present invention, further, after the perpendicularity compensation is performed, a verification is performed, and the specific verification operation includes: measuring a normal vector of the hole manufactured after the perpendicularity is compensated by using a normal vector measuring device, and comparing the measured normal vector with a theoretical normal vector to obtain a deviation included angle; setting a deviation included angle threshold value in advance, and if the obtained deviation included angle is smaller than the deviation included angle threshold value, successfully compensating; if the obtained deviation included angle is larger than the deviation included angle threshold value, the compensation is judged to be failed, and the compensation is needed to be carried out again.
The working principle is as follows: the method comprises the steps of measuring holes to be measured on a flat plate, calculating deviation included angles between a plurality of points to be measured and a hole making machine, averaging the calculated deviation included angles to obtain an average deviation included angle which can be widely supplemented, compensating by using the average deviation included angle, setting a deviation included angle threshold range meeting corresponding precision requirements based on precision requirements in advance, performing supplement judgment by using the deviation included angle threshold range, judging whether supplement meets the precision requirements or not, and compensating again if the supplement does not meet the precision requirements.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications and equivalent variations of the above embodiments according to the technical spirit of the present invention are included in the scope of the present invention.
Claims (1)
1. A perpendicularity compensation method for free surface arbitrary hole vector measurement is characterized in that a laser tracker coordinate system is established, a metal flat plate (6) is arranged, a target ball (4) is placed on the metal flat plate (6), the target ball (4) is enabled to conduct curvilinear motion on the metal flat plate (6), then curvilinear motion of the target ball (4) is tracked and recorded through the laser tracker, a plurality of point coordinates are obtained, the plurality of point coordinates are fitted, and a plane equation A is obtained2x+B2y+C2z+D2=0, wherein A2、B2、C2Is a coefficient, D2Is a rational number; meanwhile, a normal vector S2 is obtained, wherein the normal vector S2 is the normal vector of the metal flat plate (6) in the coordinate system of the laser tracker; then, making N holes on the metal flat plate (6) and compensating hole making verticality deviation according to a normal vector of the metal flat plate (6); n is a positive integer;
in the operation of compensating for the perpendicularity of hole making measurement, firstly, a normal vector measurement device is used for performing normal vector measurement on a first hole in N holes made in a metal flat plate (6) to obtain a normal vector Sn1 of the first hole, wherein the normal vector measurement device comprises a plug gauge (1), a circular tray (2) and a target ball (4); the plug gauge (1) is of a step-shaped structure and comprises a thick cylinder positioned at the upper part, a cone frustum positioned at the middle part and a thin cylinder positioned at the lower part; the surface with the larger radius of the cone frustum is connected with the bottom end surface of the thick cylinder, and the surface with the smaller radius is connected with the top end surface of the thin cylinder;
the top end surface of the thick cylinder is fixedly connected to the circle center point of the bottom surface of the circular tray (2); a target groove (3.1) a target groove (3.2) b target groove (3.2), a target groove (3.3) c target groove (3.3) d target groove (3.4) which are respectively symmetrical are arranged on the top surface of the circular tray (2); target balls (4) are arranged in the target groove (3.1) a, the target groove (3.2) b, the target groove (3.3) c and the target groove (3.4) d; then obtaining a deviation included angle theta 1 between the circular tray (2) and the metal flat plate (6) through a normal vector Sn1 and a normal vector S2, wherein the deviation included angle theta 1 is the hole making perpendicularity deviation of the first hole, and hole making perpendicularity compensation is carried out through the theta 1, so that the compensation of the hole making perpendicularity deviation is realized;
after the deviation included angle theta 1 of the first hole is measured, normal vectors Sn 2-SnN of second-Nth holes are measured; calculating a deviation included angle theta 2-a deviation included angle theta n according to the normal vector Sn 2-the normal vector SnN; then averaging the deviation included angles theta 1-theta n to obtain the deviation included angle
Then, in actual operation, the included angle is deviated
The swing angle compensation device is used for carrying out swing angle compensation on an end effector of the hole making machine;
after perpendicularity compensation is carried out, verification is carried out once, and specific verification operations comprise: measuring the normal vector of the hole made after compensating the verticality by using a normal vector measuring device, and comparing the measured normal vector with a theoretical normal vector to obtain a deviation included angle
(ii) a Setting a deviation included angle threshold value in advance, and if the deviation included angle is obtained
If the deviation included angle is smaller than the deviation included angle threshold value, the compensation is successful; if the deviation included angle is obtained
If the deviation included angle is larger than the deviation included angle threshold value, the compensation is judged to be failed, and the compensation is needed to be carried out again.
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| CN114897110B (en) * | 2022-07-15 | 2022-11-18 | 成都飞机工业（集团）有限责任公司 | Group hole measurement swing angle planning method, readable medium and equipment |
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