CN112325768A - Precise measurement method for mounting servomotor of hydroelectric generating set based on laser tracking measurement - Google Patents

Precise measurement method for mounting servomotor of hydroelectric generating set based on laser tracking measurement Download PDF

Info

Publication number
CN112325768A
CN112325768A CN202011112312.3A CN202011112312A CN112325768A CN 112325768 A CN112325768 A CN 112325768A CN 202011112312 A CN202011112312 A CN 202011112312A CN 112325768 A CN112325768 A CN 112325768A
Authority
CN
China
Prior art keywords
servomotor
installation
piston rod
circumference
measuring
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202011112312.3A
Other languages
Chinese (zh)
Other versions
CN112325768B (en
Inventor
郭光文
吴光富
江小兵
刘宇鉴
程志华
卫书满
邱章云
曹国华
曹廷根
姚应盖
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China Gezhouba Group Survey & Design Institute Co ltd
China Gezhouba Group Co Ltd
Original Assignee
Gezhouba Surveying And Mapping Geographic Information Technology Co ltd
China Gezhouba Group Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Gezhouba Surveying And Mapping Geographic Information Technology Co ltd, China Gezhouba Group Co Ltd filed Critical Gezhouba Surveying And Mapping Geographic Information Technology Co ltd
Priority to CN202011112312.3A priority Critical patent/CN112325768B/en
Publication of CN112325768A publication Critical patent/CN112325768A/en
Application granted granted Critical
Publication of CN112325768B publication Critical patent/CN112325768B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • 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
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

A method for precisely measuring the installation of a servomotor of a hydroelectric generating set based on laser tracking measurement adopts a three-dimensional laser tracking measurement technology, firstly, the circumferences of two earring holes on a control ring are precisely measured, the circle center coordinates of the earring holes are obtained by adopting a circumference fitting method, and a set installation coordinate system is established. On the basis, the center coordinates and the elevations of the cylinder of the servomotor piston rod and the pin hole at the end part of the cylinder of the servomotor piston rod are measured under the two states of complete extension and complete retraction respectively, and finally, the direction and the elevation of the servomotor piston rod are calculated in a unit installation coordinate system, and the span between the left servomotor and the right servomotor is calculated. The invention overcomes the complex steps in the traditional measuring method adopted by the original servomotor installation, and has the characteristics of improving the measuring precision and reliability and improving the working efficiency.

Description

Precise measurement method for mounting servomotor of hydroelectric generating set based on laser tracking measurement
Technical Field
The invention belongs to the technical field of mounting of a servomotor of a water turbine generator set, and relates to a precise measurement method for mounting of the servomotor of the water turbine generator set based on laser tracking measurement.
Background
For the installation of the servomotor of the water turbine generator set, the current universal measuring method firstly stretches a transverse piano wire above the designed position of the servomotor along the axis direction of the servomotor, then hangs a weight line on the transverse piano wire, and adopts an electric method to detect the plane installation position and direction of the servomotor; and a precise level gauge is adopted to detect the mounting elevation and level of the servomotor. The measuring method has low precision and reliability, low working efficiency and great influence on installation precision of the joint jack and construction period.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method for precisely measuring the installation of the servomotor of the hydroelectric generating set based on laser tracking measurement.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a method for precisely measuring the installation of a servomotor of a hydroelectric generating set based on laser tracking measurement comprises the following steps:
step 1, measuring the circumference and the elevation of an ear ring hole of a control ring which is installed in place;
step 2, obtaining the circle center coordinate of the control ring ear ring hole by adopting a circumference fitting method, and establishing an installation coordinate system;
step 3, measuring the circumference and the elevation of the servomotor piston rod cylinder and the servomotor piston rod pin hole at the end part of the servomotor under the two states of complete extension and complete retraction in the installation coordinate system, and obtaining the circle center coordinate of the servomotor piston rod cylinder and the servomotor piston rod cylinder by adopting a circumference fitting method;
and 4, analyzing and calculating to obtain the servomotor installation space position and attitude parameters.
In the step 1: a laser tracker is erected on a control ring between a left servomotor and a right servomotor, the circumference of an ear ring hole of the control ring is measured, the circle center coordinate of the control ring is obtained by adopting a circumference fitting method, and the elevation of the upper surface of the ear ring hole of the control ring is measured.
In the step 2: and establishing an installation coordinate system by using the center line of the unit as a reference by adopting a coordinate orthomorphism transformation method. The coordinate orthomorphism transformation is provided with seven transformation parameters which comprise three translation parameters, three rotation parameters and a scale factor, and the transformation equation is as follows:
Figure BDA0002728999130000021
for the measurement of the laser tracker, a scale scaling factor S of coordinate transformation is 1, and in a unit installation coordinate system O-XYZ, three translation parameters are an origin coordinate O of a coordinate system of a measuring stationi(xi,yi,zi) The three rotation parameters are rotation angles of the coordinate system of the measuring station around the coordinate axis thereof in sequence, and the rotation angles around the x, y and z axes thereof are set as rotation angles
Figure BDA0002728999130000022
ωi、γiThen, the rotation matrix:
Figure BDA0002728999130000023
in the step 3: the servomotor piston rod is completely extended out, a cylinder of the servomotor piston rod is measured by a laser tracker, and the circumference of a servomotor end pin hole and the elevation of the upper surface of the servomotor end pin hole are measured; and then, completely retracting the servomotor piston rod, and measuring the circumference of the servomotor end pin hole and the elevation of the upper surface of the servomotor end pin hole again.
In the step 4:
a, acquiring a spatial three-dimensional position and a spatial three-dimensional posture of a servomotor when a piston rod of the servomotor is completely extended by adopting a cylinder fitting method, and judging the installation linearity and horizontal line of the servomotor and the parallelism and distance of a left servomotor and a right servomotor;
b, obtaining the center coordinates of the pin holes at the end parts of the servomotor by adopting a circumference fitting method, and judging the installation linearity of the servomotor, the parallelism and the distance of the left servomotor and the right servomotor in the same way; judging the levelness of the servomotor according to the actually measured elevations of the control ring ear ring hole and the servomotor end pin hole;
and c, checking the conclusions of the two steps mutually to ensure the reliability of the measurement result.
A method for precisely measuring the installation of a servomotor of a hydroelectric generating set based on laser tracking measurement adopts a three-dimensional laser tracking measurement technology, firstly, the circumferences of two earring holes on a control ring are precisely measured, the circle center coordinates of the earring holes are obtained by adopting a circumference fitting method, and a set installation coordinate system is established. On the basis, the center coordinates and the elevations of the cylinder of the servomotor piston rod and the pin hole at the end part of the cylinder of the servomotor piston rod are measured under the two states of complete extension and complete retraction respectively, and finally, the direction and the elevation of the servomotor piston rod are calculated in a unit installation coordinate system, and the span between the left servomotor and the right servomotor is calculated. The invention overcomes the complex steps in the traditional measuring method adopted by the original servomotor installation, and has the characteristics of improving the measuring precision and reliability and improving the working efficiency.
Drawings
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
FIG. 1 is a schematic structural diagram of the present invention.
FIG. 2 is a schematic diagram of the orthomorphic transformation of coordinates according to the present invention.
In the figure: the servomotor comprises a control ring ear ring hole 1, a servomotor end pin hole 2, a servomotor piston rod 3 and a servomotor 4.
Detailed Description
As shown in fig. 1-2, a method for precisely measuring the installation of a servomotor of a hydroelectric generating set based on laser tracking measurement comprises the following steps:
step 1, measuring the circumference and elevation of a control ring ear ring hole 1 which is installed in place;
step 2, obtaining the circle center coordinate of the control ring ear ring hole 1 by adopting a circumference fitting method, and establishing an installation coordinate system;
step 3, measuring the circumference and the elevation of the servomotor piston rod 3 cylinder and the servomotor piston rod 3 pin hole 2 at the end part of the force booster in the two states of complete extension and complete retraction in the installation coordinate system, and obtaining the center coordinates of the circle by adopting a circumference fitting method;
and 4, analyzing and calculating to obtain the servomotor installation space position and attitude parameters.
In the step 1: a laser tracker is erected on a control ring between the left servomotor 4 and the right servomotor 4, the circumference of the control ring ear ring hole 1 is measured, the circle center coordinate of the control ring ear ring hole is obtained by adopting a circumference fitting method, and the elevation of the upper surface of the control ring ear ring hole 1 is measured. The method aims to introduce a three-dimensional laser tracking measurement technology to replace a heavy hammer line electric measurement method, realize the accurate measurement of the servomotor installation reference, improve the establishment speed of the servomotor installation reference, greatly improve the measurement accuracy and reliability, and improve the operation efficiency.
In the step 2: and establishing an installation coordinate system by using the center line of the unit as a reference by adopting a coordinate orthomorphism transformation method. The coordinate orthomorphism transformation is provided with seven transformation parameters which comprise three translation parameters, three rotation parameters and a scale factor, and the transformation equation is as follows:
Figure BDA0002728999130000031
for the measurement of the laser tracker, a scale scaling factor S of coordinate transformation is 1, and in a unit installation coordinate system O-XYZ, three translation parameters are an origin coordinate O of a coordinate system of a measuring stationi(xi,yi,zi) Three rotation parameters are measuring station seatThe rotation angles of the marks around the coordinate axes are set as
Figure BDA0002728999130000032
ωi、γiThen, the rotation matrix:
Figure BDA0002728999130000033
the method aims to directly and accurately measure the circumference of the control ring ear ring which is installed in place, obtain the coordinates of the circle center of the control ring ear ring by adopting a circumference fitting method, and then establish a unit installation coordinate system by adopting coordinate orthomorphism transformation, thereby avoiding the precision loss caused by reference transmission in the traditional measuring method; calculating and analyzing measurement data in a unified coordinate system, and quickly obtaining the position, the axis direction, the elevation and the horizontal parameters of the mounting plane of the servomotor; the transformation from a coordinate system of the measuring station to a unit installation coordinate system is realized by using a coordinate orthomorphism transformation method; the servomotor installation space position and attitude parameters are obtained by methods of cylinder fitting, circumference fitting and the like, so that the construction measurement workload is reduced, and the operation efficiency is improved
In the step 3: the servomotor piston rod 3 is completely extended out, a laser tracker is adopted to measure the cylinder of the servomotor piston rod 3, and the circumference of the servomotor end pin hole 2 and the elevation of the upper surface of the servomotor end pin hole 2 are measured; then the servomotor piston rod 3 is completely retracted, and the circumference of the servomotor end pin hole 2 and the elevation of the upper surface of the servomotor end pin hole 2 are measured again.
In the step 4:
a, acquiring a spatial three-dimensional position and a spatial three-dimensional attitude of the servomotor piston rod 3 when the servomotor piston rod is completely extended by adopting a cylinder fitting method, and judging the installation linearity and horizontal line of the servomotor 4 and the parallelism and distance of the left and right servomotors 4;
b, obtaining the center coordinates of the servomotor end pin hole 2 by adopting a circumference fitting method, and judging the installation linearity of the servomotor 4, and the parallelism and distance of the left servomotor 4 and the right servomotor 4; judging the levelness of the servomotor 4 according to the actually measured elevations of the control ring ear ring hole 1 and the servomotor end pin hole 2;
and c, checking the conclusions of the two steps mutually to ensure the reliability of the measurement result.
The above-described embodiments are merely preferred embodiments of the present invention, and should not be construed as limiting the present invention, and features in the embodiments and examples in the present application may be arbitrarily combined with each other without conflict. The protection scope of the present invention is defined by the claims, and includes equivalents of technical features of the claims. I.e., equivalent alterations and modifications within the scope hereof, are also intended to be within the scope of the invention.

Claims (5)

1. A method for precisely measuring the installation of a servomotor of a hydroelectric generating set based on laser tracking measurement is characterized by comprising the following steps:
step 1, measuring the circumference and elevation of a control ring ear ring hole (1) which is installed in place;
step 2, obtaining the circle center coordinate of the control ring ear ring hole (1) by adopting a circumference fitting method, and establishing an installation coordinate system;
step 3, measuring the circumference and the elevation of the servomotor piston rod (3) cylinder and the servomotor piston rod (3) in two states of complete extension and complete retraction in the installation coordinate system, and obtaining the circle center coordinate of the servomotor piston rod by adopting a circumference fitting method;
and 4, analyzing and calculating to obtain the servomotor installation space position and attitude parameters.
2. The method for precisely measuring the installation of the servomotor of the hydroelectric generating set based on laser tracking measurement according to claim 1, wherein in the step 1: a laser tracker is erected on a control ring between the left servomotor (4) and the right servomotor (4), the circumference of the control ring ear ring hole (1) is measured, the circle center coordinate of the control ring ear ring hole is obtained by adopting a circumference fitting method, and the elevation of the upper surface of the control ring ear ring hole (1) is measured.
3. The method for precisely measuring the installation of the servomotor of the hydroelectric generating set based on laser tracking measurement according to claim 1, wherein in the step 2: using positive deformation of coordinatesThe method is characterized in that an installation coordinate system taking the central line of the unit as a reference is established. The coordinate orthomorphism transformation is provided with seven transformation parameters which comprise three translation parameters, three rotation parameters and a scale factor, and the transformation equation is as follows:
Figure FDA0002728999120000011
for the measurement of the laser tracker, a scale scaling factor S of coordinate transformation is 1, and in a unit installation coordinate system O-XYZ, three translation parameters are an origin coordinate O of a coordinate system of a measuring stationi(xi,yi,zi) The three rotation parameters are rotation angles of the coordinate system of the measuring station around the coordinate axis thereof in sequence, and the rotation angles around the x, y and z axes thereof are set as rotation angles
Figure FDA0002728999120000012
ωi、γiThen, the rotation matrix:
Figure FDA0002728999120000013
4. the method for precisely measuring the installation of the servomotor of the hydroelectric generating set based on laser tracking measurement according to claim 1, wherein in the step 3: the servomotor piston rod (3) is completely extended out, a laser tracker is adopted to measure the cylinder of the servomotor piston rod (3), and the circumference of the servomotor end pin hole (2) and the elevation of the upper surface of the servomotor end pin hole (2) are measured; and then, completely retracting the servomotor piston rod (3), and measuring the circumference of the servomotor end pin hole (2) and the height of the upper surface of the servomotor end pin hole (2) again.
5. The method for precisely measuring the installation of the servomotor of the hydroelectric generating set based on laser tracking measurement according to claim 1, wherein in the step 4:
a, acquiring a spatial three-dimensional position and a spatial three-dimensional posture of a servomotor piston rod (3) when the servomotor is completely extended by adopting a cylinder fitting method, and judging the installation linearity and horizontal line of the servomotor (4) and the parallelism and distance of the left and right servomotors (4);
b, obtaining the circle center coordinate of the servomotor end pin hole (2) by adopting a circumference fitting method, and judging the installation linearity of the servomotor (4) and the parallelism and distance of the left servomotor (4) and the right servomotor (4) in the same way; judging the levelness of the servomotor (4) according to the actually measured elevations of the control ring ear ring hole (1) and the servomotor end pin hole (2);
and c, checking the conclusions of the two steps mutually to ensure the reliability of the measurement result.
CN202011112312.3A 2020-10-16 2020-10-16 Precise measurement method for mounting servomotor of hydroelectric generating set based on laser tracking measurement Active CN112325768B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202011112312.3A CN112325768B (en) 2020-10-16 2020-10-16 Precise measurement method for mounting servomotor of hydroelectric generating set based on laser tracking measurement

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202011112312.3A CN112325768B (en) 2020-10-16 2020-10-16 Precise measurement method for mounting servomotor of hydroelectric generating set based on laser tracking measurement

Publications (2)

Publication Number Publication Date
CN112325768A true CN112325768A (en) 2021-02-05
CN112325768B CN112325768B (en) 2021-08-24

Family

ID=74313581

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202011112312.3A Active CN112325768B (en) 2020-10-16 2020-10-16 Precise measurement method for mounting servomotor of hydroelectric generating set based on laser tracking measurement

Country Status (1)

Country Link
CN (1) CN112325768B (en)

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS57187010A (en) * 1981-05-11 1982-11-17 Kansai Electric Power Co Inc:The Method for cleaning and dust removing of fine dust removing device
CN2674399Y (en) * 2004-02-05 2005-01-26 杭州亚太水电设备成套技术有限公司 Hydroturbine guide vane servomotor displacement transmitter
CN202732194U (en) * 2012-06-15 2013-02-13 常州液压成套设备厂有限公司 Servomotor of water guide mechanism
CN203163697U (en) * 2013-04-18 2013-08-28 国家电网公司 Laser displacement transmitting device for guide vane servomotor of water turbine
CN103670879A (en) * 2013-11-29 2014-03-26 南通高盛机械制造有限公司 Servomotor
CN106968875A (en) * 2017-05-31 2017-07-21 国家电网公司 Pump turbine gate positing measurement apparatus and method
CN207004712U (en) * 2017-07-04 2018-02-13 乌江渡发电厂 Servomotor Stroke Displacement Transducer steel wire rope positioner
CN109341533A (en) * 2018-11-07 2019-02-15 哈尔滨电机厂有限责任公司 A kind of process measuring seat ring wire hole
CN210422882U (en) * 2019-08-16 2020-04-28 深圳市恩莱吉能源科技有限公司 Paddle adjuster and stroke detection device thereof

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS57187010A (en) * 1981-05-11 1982-11-17 Kansai Electric Power Co Inc:The Method for cleaning and dust removing of fine dust removing device
CN2674399Y (en) * 2004-02-05 2005-01-26 杭州亚太水电设备成套技术有限公司 Hydroturbine guide vane servomotor displacement transmitter
CN202732194U (en) * 2012-06-15 2013-02-13 常州液压成套设备厂有限公司 Servomotor of water guide mechanism
CN203163697U (en) * 2013-04-18 2013-08-28 国家电网公司 Laser displacement transmitting device for guide vane servomotor of water turbine
CN103670879A (en) * 2013-11-29 2014-03-26 南通高盛机械制造有限公司 Servomotor
CN106968875A (en) * 2017-05-31 2017-07-21 国家电网公司 Pump turbine gate positing measurement apparatus and method
CN207004712U (en) * 2017-07-04 2018-02-13 乌江渡发电厂 Servomotor Stroke Displacement Transducer steel wire rope positioner
CN109341533A (en) * 2018-11-07 2019-02-15 哈尔滨电机厂有限责任公司 A kind of process measuring seat ring wire hole
CN210422882U (en) * 2019-08-16 2020-04-28 深圳市恩莱吉能源科技有限公司 Paddle adjuster and stroke detection device thereof

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
李林伟等: "激光精密测量技术在大型水轮发电机组安装中的应用", 《水电能源科学》 *
陈良勇等: "向家坝水电站ALSTOM机组水轮机接力器安装与调整工艺", 《科技创新导报》 *

Also Published As

Publication number Publication date
CN112325768B (en) 2021-08-24

Similar Documents

Publication Publication Date Title
CN104048791B (en) A kind of diesis beam type six-dimensional force of low retinoic acid syndrome and torque sensor
CN102288123B (en) Method for accurately positioning three-dimensional non-contact measurement of welding deformation
CN102944163B (en) Device and method for measuring profile tolerance of annular dovetail groove of any axial section
CN103114732B (en) Cast steel penetration pipe node space positioning method
CN102953552B (en) Method for positioning through hole of pipe truss
CN103847981A (en) Assembly and inspection method of dual-curvature skin type part
CN106546380A (en) A kind of stepless space criteria vectorial force calibrating installation
CN108317999B (en) Communication iron tower inclination angle measuring method based on inertial sensor
CN109100073B (en) Six-dimensional force sensor based on strain inversion and measuring method thereof
CN103389081A (en) Method for positioning intersecting mouth space of pipe truss secondary rod
CN109405817A (en) A kind of circular abutment measuring for verticality method
CN106767501B (en) A method of measurement large cylinder circularity
CN105571503A (en) Wind-power blade vertical static loading two-way displacement deformation precise measuring method and device
CN114952861B (en) Robot kinematics parameter error accurate identification method based on pose measurement data
CN112325768B (en) Precise measurement method for mounting servomotor of hydroelectric generating set based on laser tracking measurement
CN205808708U (en) A kind of optical flat clamping for spindle rotation error test device adjusts structure
CN206399428U (en) A kind of Multifunctional mapping instrument
CN113446979B (en) Accurate measuring device for space angle of steel wire rope and wind power blade in full-size static force loading test of wind power blade
CN206493337U (en) A kind of test device of industrial robot repetitive positioning accuracy
CN109115378A (en) A kind of flexural pivot force test device and its test method
CN203811098U (en) Depth measurement auxiliary tool for inner hole circular grooves
CN107914185A (en) Deep blind hole cover body rapid measurement device and measurement, compensation processing method
CN105043192B (en) The measuring device and method in a kind of spud leg pin hole center of circle
CN113503856A (en) Tunnel trolley positioning measurement method and system
CN114111672A (en) Method for quickly calibrating sensor installation position parameters measured by multiple displacement sensors in normal direction

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20230321

Address after: 430000 Jiefang Avenue 558, Qiekou District, Wuhan City, Hubei Province

Patentee after: CHINA GEZHOUBA GROUP SURVEY & DESIGN INSTITUTE Co.,Ltd.

Patentee after: CHINA GEZHOUBA GROUP Co.,Ltd.

Address before: No.17, Xiba 2nd Road, Xiling District, Yichang City, Hubei Province

Patentee before: GEZHOUBA SURVEYING AND MAPPING GEOGRAPHIC INFORMATION TECHNOLOGY Co.,Ltd.

Patentee before: CHINA GEZHOUBA GROUP Co.,Ltd.