CN112432622A - Curved surface normal direction measuring device and method based on single distance measuring sensor - Google Patents
Curved surface normal direction measuring device and method based on single distance measuring sensor Download PDFInfo
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- CN112432622A CN112432622A CN202011221869.0A CN202011221869A CN112432622A CN 112432622 A CN112432622 A CN 112432622A CN 202011221869 A CN202011221869 A CN 202011221869A CN 112432622 A CN112432622 A CN 112432622A
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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
- G01B21/20—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 contours or curvatures, e.g. determining profile
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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
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Abstract
The invention discloses a curved surface normal direction measuring device based on a single distance measuring sensor, which comprises a base, a base component, a pressing component and a distance measuring sensor component, wherein the base component is rotatably arranged on the base; the distance measuring sensor assembly comprises a sensor support and a distance measuring sensor, the distance measuring sensor is installed on the sensor support, and the sensor support is installed on the pressing assembly. The invention also discloses a curved surface normal measuring method based on the single distance measuring sensor. The curved surface normal direction measuring device based on the single distance measuring sensor aims to solve the problem that the measurement precision is kept because a plurality of distance measuring sensors are needed in the conventional curved surface normal direction measurement.
Description
Technical Field
The invention belongs to the technical field, and particularly relates to a curved surface normal direction measuring device and method based on a single distance measuring sensor.
Background
Before large-scale complex curved surface parts represented by aerospace vehicles and carriage skins of high-speed rail trains are assembled, connecting holes need to be drilled in the curved surfaces, in order to improve the connecting strength, the stress state of connecting parts and the fatigue life, higher requirements are provided for the directional precision of the holes, and by taking an airplane as an example, the angle deviation between the axis of the holes and the normal direction of the curved surfaces is usually required to be not more than 0.5 degrees, and higher precision requirements are provided for novel airplanes with excellent performance. Once the angle deviation exceeds 0.5 degrees, the damage of the connecting part is easily aggravated, the fatigue life is greatly reduced, and great potential safety hazard is generated.
The metal skin adopted by the aeronautical and astronautic aircraft and the high-speed train carriage is a sheet metal part, so that the product precision is not high; due to the limitation of the process level, the profile deviation of the composite material skin adopted by the novel airplane is large; even if the skin profile is measured by adopting laser scanning, photogrammetry and other modes, the skin rigidity is lower due to the fact that the large skin and the tool have assembly errors and bear the influence of changing temperature and acting force, and positioning deviation inevitably occurs, so that the accurate installation position of the skin cannot be predicted. In this case, the direction of the hole cannot be determined theoretically, and the normal direction of the drilled area can be measured only by means of actual measurement. At present, a plurality of sensors for measuring distances, such as eddy current sensors, ultrasonic sensors, laser ranging sensors, and the like, are generally installed on a processing device, the positions of several points in a drilling area are determined according to the installation positions of the sensors and the actual measurement distance between the drilling area and the sensors, and a curved surface equation of the drilling area is established by using the several points, so that the normal direction of the drilling area is obtained.
The eddy current sensor and the ultrasonic sensor have more limitation conditions on application objects and environments, are low in precision and large in size, so that the laser ranging sensor is less adopted and is generally high in precision, convenient to use and small in size at present. Assuming that the borehole region is a plane, at least three points are required to determine the plane equation, and in order to improve the fitting accuracy of the plane equation, a sensor is usually added, and 4 points are used to fit the plane equation of the borehole region. In order to improve the surface fitting accuracy, the drilling area can be assumed to be a spherical surface, a cylindrical surface or a more complex surface aiming at different structures, and then more sensors are needed to be adopted to fit the surface equation. In summary, at least 4 sensors are arranged at the front end of the drilling actuator in order to measure the normal direction of the drilling area. Because the indexes such as the position precision, the aperture precision, the dimple depth precision and the like of the drilling hole are required to be controlled, and the state of the drilling area and the state of the cutter are monitored in real time, a measuring and monitoring device such as a length meter, a cutter detection sensor, an industrial camera, an industrial video camera and the like is also required to be installed at the front end of the drilling actuator. The installation of these indispensable sensors can increase the size of the front end of the actuator, which not only results in an abnormally complex front end structure of the actuator, but also affects the working range of the actuator, and the user has to face or give up the dilemma of increasing quality risk in measurement and monitoring, or narrowing the working range and limiting the use.
In view of the above, it is desirable to provide a curved surface normal measurement device and method based on a single distance measurement sensor for solving the problem that the measurement accuracy is maintained due to the need of a plurality of distance measurement sensors in the conventional curved surface normal measurement.
Disclosure of Invention
Technical problem to be solved
The invention aims to solve the technical problem that the measurement precision is kept because a plurality of distance measuring sensors are needed in the conventional curved surface normal measurement.
(II) technical scheme
The invention provides a measuring device based on a single distance measuring sensor for a curved surface normal direction, which comprises a base, a base component, a pressing component and a distance measuring sensor component, wherein the base component is rotatably arranged on the base;
the distance measuring sensor assembly comprises a sensor support and a distance measuring sensor, the distance measuring sensor is installed on the sensor support, and the sensor support is installed on the pressing assembly.
Further, the distance measuring sensor assembly further comprises an air pipe joint, and the air pipe joint is installed on the sensor support.
Furthermore, the base comprises a base mounting plate, a positioning pin and a rotating shaft, and the positioning pin and the rotating shaft are both arranged on the base mounting plate; the base component is installed on the base mounting plate, and is positioned by the positioning pin, and the base component winds the rotating shaft to rotate.
Further, the base component comprises a base mounting plate and a pressing component positioning pin, and the pressing component positioning pin is arranged on the base mounting plate.
Furthermore, the compressing assembly comprises a compressing unit, a compressing unit connecting screw and a spring pad, wherein the compressing unit is installed on the base installation plate through the compressing unit connecting screw and the spring pad and is positioned through a compressing assembly positioning pin.
Further, the measuring device based on the curved surface normal direction of the single distance measuring sensor further comprises a sensor screw mounting assembly, and the distance measuring sensor assembly is mounted on the pressing assembly through the sensor screw mounting assembly.
Further, the sensor screw mounting assembly comprises a first mounting screw, a second mounting screw, a first gasket, a second gasket, a first rubber sleeve and a second rubber sleeve;
the first mounting screw penetrates the first gasket in sequence, the first rubber sleeve and the distance measuring sensor assembly and the pressing assembly in threaded connection, and the second mounting screw penetrates the second gasket in sequence, the second rubber sleeve and the distance measuring sensor assembly and the pressing assembly in threaded connection.
The second aspect of the present invention provides a measuring method for the above measuring device based on the normal direction of the curved surface of the single distance measuring sensor, comprising the following steps:
establishing a coordinate system on a measuring device, wherein an origin O of the coordinate system is positioned at the center of a pressing component, and the axial direction of a central hole of the pressing component is a Z axis;
during the first measurement, the measuring device is not moved, and a first measuring point P on the product is obtained1；
When the second measurement is carried out to N times, the measuring device rotates around the Z axis to sequentially obtain a second measuring point P on the product2To the Nth measuring point PNWherein N is not less than 3 and is a positive integer;
according to the first measurement point P1And the second measurement point P2To said Nth measuring point PNAnd acquiring the normal direction of the plane.
Further, when N is larger than 3, at least 4 measuring points are obtained, a plane equation is fitted according to a least square method, and the normal direction of the plane is obtained.
Further, the axis of the central hole of the pressing assembly is the axis of the spindle during drilling.
(III) advantageous effects
The technical scheme of the invention has the following advantages:
the invention provides a curved surface normal direction measuring device based on a single distance measuring sensor, which comprises a base, a base component, a pressing component and a distance measuring sensor component, wherein the base component is rotatably arranged on the base; the distance measuring sensor assembly comprises a sensor support and a distance measuring sensor, the distance measuring sensor is installed on the sensor support, and the sensor support is installed on the pressing assembly. The motion characteristics of the equipment are utilized to construct a virtual distance measuring sensor, the measuring effect of a plurality of distance measuring sensors is achieved, the problems of size increase of the end part of the actuator, difficulty in precision maintenance and the like caused by the excessive number of the distance measuring sensors can be solved, the structural size of the pressure foot is greatly reduced, the structure of the actuator is optimized, the application range of the actuator is expanded, and the equipment cost is reduced.
Drawings
Fig. 1 is a schematic structural diagram of a measuring device based on a single distance measuring sensor in a normal direction of a curved surface according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a base in a measuring device based on a single distance measuring sensor in a curved surface normal direction according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a base assembly in a single-distance-measuring-sensor-based curved surface normal measurement device according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a pressing assembly in a measuring apparatus based on a single distance measuring sensor in a normal direction of a curved surface according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a distance measuring sensor assembly in a measuring device based on a single distance measuring sensor in a curved surface normal direction according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a sensor screw mounting assembly in a measuring device based on a single distance measuring sensor and a curved surface normal direction according to an embodiment of the present invention;
fig. 7 is a schematic flowchart of a method for measuring a normal direction of a curved surface based on a single distance measuring sensor according to an embodiment of the present invention;
fig. 8 is a schematic view of a measurement process of a measurement method based on a normal direction of a curved surface of a single distance measuring sensor according to an embodiment of the present invention.
In the figure:
1. a base; 11. a base mounting plate; 12. positioning pins; 13. a rotating shaft; 2. a base assembly; 21. a base mounting plate; 22. a compression assembly locating pin; 3. a compression assembly; 31. the pressing unit, 32 and the pressing unit are connected with screws; 33. a spring pad; 4. a ranging sensor assembly; 41. a sensor support; 42. a ranging sensor; 43. a gas pipe joint; 5. a sensor screw mounting assembly; 51. a first mounting screw; 52. a second mounting screw; 53. a first gasket; 54. a second gasket; 55. a first rubber sleeve; 56. and a second rubber sleeve.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In describing the present invention, it is to be understood that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
At present, a plurality of (at least three) sensors arranged at the end part of an actuator are generally adopted to measure the normal direction of a curved surface, and measuring methods comprise vector cross multiplication, a plane fitting method, a four-point spherical surface fitting method, a quadric surface fitting method, a NURBS curve method, a triangular grid method and the like.
(1) Vector cross multiplication
When three sensors are used, one measuring point is respectively connected with the other two measuring points to form two vectors, and the cross product of the two vectors is perpendicular to the plane of the two vectors (namely, the plane of the three measuring points). When four sensors are employed, the way in which the vectors are constructed is slightly different: every two points are connected to form a vector. The vector cross multiplication is simple, but all measurement points are directly involved in the calculation without screening, so once the measurement values with large errors are involved in the calculation, the accuracy is difficult to control.
(2) Plane fitting method
Assuming that the small area near the hole is approximately planar, one planar equation can be constructed using three measurements, and a planar equation can be constructed using the least squares method using four measurements. The plane fitting method is simple and easy to implement, and the least square method is adopted to construct the plane equation, so that the fitting precision can be improved.
(3) Four-point sphere method
Assuming that the small area near the hole is approximately spherical, the spherical equation has four unknowns, and the spherical equation can be solved by using the four measurement points. The method is simple in calculation and moderate in precision.
(4) Quadratic surface fitting method
Assuming that the small area near the aperture is a relatively complex quadric surface, e.g., ellipsoid, paraboloid, hyperboloid, cone, etc., there are 10 unknowns in total, and thus at least 10 measurement points are required to solve the quadric surface. This method has a higher accuracy but requires more sensors to be arranged and is therefore less applicable.
(5) NURBS surface method
Assuming that the small area near the hole is a more complex curved surface, the parameters needed for describing the curved surface are more, and thus more measurement points are needed to obtain the equation, and more measurement data are usually obtained by methods such as scanning, etc., and the NURBS curved surface method is less used because it is inconvenient to install a scanning instrument at the front end of the actuator and the method is not suitable for real-time measurement.
The existing method needs at least three distance measuring sensors, and in most cases, four distance measuring sensors are installed, because the measuring angles, the measuring distances and the mutual position relations of the distance measuring sensors are limited, for example, light beams can not cross; when the measuring light spots are relatively close to each other, interference is generated, and the distance measuring sensors are difficult to arrange reasonably. In order to avoid spot interference and beam crossing, a larger arrangement space is adopted, and the structural size of the end part of the actuator is increased. The number of sensors increases not only the cost but also the problems in the aspects of measurement accuracy maintenance, maintenance and the like.
According to a first aspect of the embodiments of the present invention, there is provided a measuring apparatus based on a normal direction of a curved surface of a single distance measuring sensor, as shown in fig. 1 to 5, comprising a base 1, a base assembly 2, a pressing assembly 3 and a distance measuring sensor assembly 4, wherein the base assembly 2 is rotatably installed on the base 1, and the pressing assembly 3 is installed on the base assembly 2; the distance measuring sensor assembly 4 comprises a sensor support 41 and a distance measuring sensor 42, wherein the distance measuring sensor 42 is arranged on the sensor support 41, and the sensor support 41 is arranged on the pressing assembly 3.
In this embodiment, install range sensor 42 on compressing tightly subassembly 3 through sensor support 41, realize fixing range sensor 42, the rotation of range sensor 42 is realized to the rotation through base subassembly 2, thereby measure the distance with between a plurality of coordinates, construct "virtual" range sensor, reach the effect that a plurality of range sensor measured, can solve the increase of executor tip size that range sensor quantity too much leads to, precision maintenance and maintenance difficulty scheduling problem, reduce the structural dimension of pressure foot by a wide margin, optimize the structure of executor, expand the application range of executor, reduce equipment cost.
In some alternative embodiments, as shown in FIG. 5, the ranging sensor assembly 4 further comprises an air tube connector 43, the air tube connector 43 being mounted on the sensor mount 41.
In some alternative embodiments, as shown in fig. 2, the base 1 includes a base mounting plate 11, a positioning pin 12 and a rotating shaft 13, and the positioning pin 12 and the rotating shaft 13 are both disposed on the base mounting plate 11; the base assembly 2 is mounted on a base mounting plate 11 and positioned by a positioning pin 12, and the base assembly 2 rotates around a rotating shaft 13.
In some alternative embodiments, as shown in fig. 3, the base assembly 2 includes a base mounting plate 21 and hold-down assembly positioning pins 22, the hold-down assembly positioning pins 22 being provided on the base mounting plate 21.
In some alternative embodiments, as shown in fig. 4, the pressing assembly 3 includes a pressing unit 31, a pressing unit connecting screw 32 and a spring pad 33, the pressing unit 31 is mounted on the base mounting plate 21 through the pressing unit connecting screw 32 and the spring pad 33, and is positioned by the pressing assembly positioning pin 22.
In some alternative embodiments, as shown in fig. 1, the measuring device based on the normal direction of the curved surface of the single distance measuring sensor further comprises a sensor screw mounting component 5, and the distance measuring sensor component 4 is mounted on the compression component 3 through the sensor screw mounting component 5.
In some alternative embodiments, as shown in fig. 6, the sensor screw mounting assembly 5 includes a first mounting screw 51, a second mounting screw 52, a first spacer 53, a second spacer 54, a first glue sleeve 55, and a second glue sleeve 56;
the first mounting screw 51 sequentially penetrates through the first gasket 53 and the first rubber sleeve 55 and is in threaded connection with the distance measuring sensor assembly 4 and the pressing assembly 3, and the second mounting screw 52 sequentially penetrates through the second gasket 54 and the second rubber sleeve 56 and is in threaded connection with the distance measuring sensor assembly 4 and the pressing assembly 3.
According to a second aspect of the embodiments of the present invention, there is provided a measuring method for the measuring apparatus based on the normal direction of the curved surface of the single distance measuring sensor, as shown in fig. 7, including the following steps:
s1, establishing a coordinate system on the measuring device, wherein the origin O of the coordinate system is located at the center of the pressing component, and the axial direction of the center hole of the pressing component is a Z axis;
s2, during the first measurement, the measuring device is not moved, and a first measuring point P on the product is obtained1；
S3, during the second measurement to the N times, the measuring device rotates around the Z axis to sequentially obtain a second measuring point P on the product2To the Nth measuring point PNWherein N is not less than 3 and is a positive integer;
s4, according to the first measurement point P1And a second measurement point P2To the Nth measuring point PNAnd acquiring the normal direction of the plane.
In the implementation ofIn this manner, a distance measuring sensor is mounted to the end of the actuator, typically to the compression unit. A coordinate system is established on the equipment, the origin O of the coordinate system is positioned at the center of the pressing unit, the axial direction of the center hole of the pressing unit (which is also the axial line of the main shaft during drilling) is a Z axis, and the X axis and the Y axis can be arbitrarily selected. The measurement starting point of the distance measuring sensor is No，NoHas the coordinates of (x)0,y0,z0) Then the measurement origin vector is ON0，ON0＝(x0 y0 z0)TThe direction vector is T0，T0＝(l0 m0 n0)T。
The drilling area can be assumed to be various curved surfaces, and the measurement method is described by taking a plane equation as an example. Let the plane equation of the borehole area be:
Ax+By+Cz+D＝0 (1)。
as shown in FIG. 8, the first measurement is performed with a distance measuring sensor having a measurement value L1(i.e., the measured "distance") the distance measuring sensor measures a point P on the plane1Coordinate (x) of1 y1 z1) Comprises the following steps:
x1＝x0+L1l0 (2)；
y1＝y0+L1m0 (3)；
z1＝z0+L1n0 (4)。
point P1Located in a plane, and satisfies the following conditions:
A(x0+L1l0)+B(y0+L1m0)+C(z0+L1n0)+D＝0 (5)；
measuring device rotating angle theta around Z axis1To obtain a coordinate transformation matrix R1：
After the measuring device rotates, the distance measuring sensorIs measured by the measurement start point vector ofoIs turned ON1：
After the measuring device rotates, the measuring direction vector of the distance measuring sensor is formed by ToIs changed into T1：
After the measuring device rotates, the measuring value of the distance measuring sensor is L during the second measurement2The measuring point of the distance measuring sensor on the plane is represented by P1To P2，P2Coordinate (x) of2 y2 z2) Comprises the following steps:
x2＝(x0cosθ1-y0sinθ1)+L2(l0cosθ1-m0sinθ1) (9)；
y2＝(x0sinθ1+y0cosθ1)+L2(l0sinθ1+m0cosθ1) (10)；
z2＝z0+L2n0 (11)。
point P2Also located in the plane, the following conditions are satisfied:
A(x0cosθ1-y0sinθ1)+AL2(l0cosθ1-m0sinθ1)+B(x0sinθ1+y0cosθ1)+BL2(l0sinθ1+m0cosθ1)+C(z0+L2n0)+D＝0 (12)；
similarly, the measuring device rotates around the Z axis by an angle theta2The measured value of the distance measuring sensor is L3The measuring point of the distance measuring sensor on the plane is P3Is full ofThe following conditions are satisfied:
A(x0cosθ2-y0sinθ2)+AL3(l0cosθ2-m0sinθ2)+B(x0sinθ2+y0cosθ2)+BL3(l0sinθ2+m0cosθ2)+C(z0+L3n0)+D＝0 (13)；
equations (5), (12) and (13) are combined, and the equations are arranged as:
solving equation (14) yields:
as can be seen from equation (15), unknowns A, B and C may be embodied in the form:
A＝A0D (16)；
B＝B0D (17)；
C＝C0D(18)；
vector [ AB C ] formed by coefficients A, B and C]TPerpendicular to the plane, will vector [ AB C]TUnitized, obtained vector
I.e. the normal vector to the plane.
In some alternative embodiments, when N > 3, at least 4 measurement points are acquired, and the plane equation is fitted according to the least squares method, and the normal to the plane is acquired.
In some alternative embodiments, the axis of the central bore of the hold-down assembly is the axis of the spindle when drilling.
The curved surface normal measurement method and the curved surface normal measurement device based on the single distance measurement sensor provided by the embodiment of the invention have the advantages that the movement characteristics of equipment are utilized, the number of the distance measurement sensors can be reduced, the space for installing the distance measurement sensors is saved, the structural size of a pressure foot is greatly reduced, the equipment miniaturization is favorably realized, the application range is expanded, the equipment cost is reduced by fewer distance measurement sensors, the workload of calibration, maintenance and the like of the distance measurement sensors is reduced, a virtual distance measurement sensor is constructed, the measurement effect of a plurality of distance measurement sensors is achieved, and the problems of size increase of the end part of an actuator, difficulty in precision maintenance and the like caused by the excessive number of the distance measurement sensors can be solved.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. The measuring device based on the normal direction of the curved surface of the single distance measuring sensor is characterized by comprising a base (1), a base assembly (2), a pressing assembly (3) and a distance measuring sensor assembly (4), wherein the base assembly (2) is rotatably arranged on the base (1), and the pressing assembly (3) is arranged on the base assembly (2);
range finding sensor subassembly (4) include sensor support (41) and range finding sensor (42), range finding sensor (42) are installed on sensor support (41), sensor support (41) install in compress tightly on subassembly (3).
2. The single range sensor based normal to surface measurement device of claim 1, wherein said range sensor assembly (4) further comprises an air pipe fitting (43), said air pipe fitting (43) being mounted on said sensor mount (41).
3. The single ranging sensor based normal surface measuring device is characterized in that the base (1) comprises a base mounting plate (11), a positioning pin (12) and a rotating shaft (13), wherein the positioning pin (12) and the rotating shaft (13) are arranged on the base mounting plate (11); the base component (2) is installed on the base installation plate (11), and is positioned by the positioning pin (12), and the base component (2) rotates around the rotating shaft (13).
4. The single range sensor based surface normal measurement device according to claim 1, wherein the base assembly (2) comprises a base mounting plate (21) and a hold-down assembly positioning pin (22), and the hold-down assembly positioning pin (22) is arranged on the base mounting plate (21).
5. The single ranging sensor based surface normal measuring device according to claim 4, characterized in that the pressing assembly (3) comprises a pressing unit (31), a pressing unit connecting screw (32) and a spring pad (33), wherein the pressing unit (31) is installed on the base mounting plate (21) through the pressing unit connecting screw (32) and the spring pad (33) and is positioned through a pressing assembly positioning pin (22).
6. The single range sensor based normal curvature measurement device of claim 1, further comprising a sensor screw mounting assembly (5), wherein the range sensor assembly (4) is mounted on the compression assembly (3) through the sensor screw mounting assembly (5).
7. The single range sensor based normal curvature measurement device of claim 6, wherein the sensor screw mounting assembly (5) comprises a first mounting screw (51), a second mounting screw (52), a first spacer (53), a second spacer (54), a first rubber sleeve (55) and a second rubber sleeve (56);
first mounting screw (51) pass in proper order first gasket (53), first gum cover (55) and with range sensor subassembly (4), compress tightly subassembly (3) spiro union, second mounting screw (52) pass in proper order second gasket (54), second gum cover (56) and with range sensor subassembly (4), compress tightly subassembly (3) spiro union.
8. A measuring method for a surface normal measuring device based on a single distance measuring sensor according to any one of claims 1 to 7, characterized by comprising the following steps:
establishing a coordinate system on a measuring device, wherein an origin O of the coordinate system is positioned at the center of a pressing component, and the axial direction of a central hole of the pressing component is a Z axis;
during the first measurement, the measuring device is not moved, and a first measuring point P on the product is obtained1；
When the second measurement is carried out to N times, the measuring device rotates around the Z axis to sequentially obtain a second measuring point P on the product2To the Nth measuring point PNWherein N is not less than 3 and is a positive integer;
according to the first measurement point P1And the second measurement point P2To said Nth measuring point PNAnd acquiring the normal direction of the plane.
9. The method as claimed in claim 8, wherein when N > 3, at least 4 measurement points are obtained, and the normal direction of the plane is obtained by fitting a plane equation according to a least square method.
10. The method for measuring the surface normal measuring device based on the single distance measuring sensor as claimed in claim 8, wherein the axis of the central hole of the pressing assembly is a spindle axis during drilling.
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| CN114111672A (en) * | 2021-11-26 | 2022-03-01 | 南京航空航天大学 | Method for quickly calibrating sensor installation position parameters measured by multiple displacement sensors in normal direction |
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| CN107957234A (en) * | 2016-10-17 | 2018-04-24 | 中国航空工业集团公司北京航空制造工程研究所 | A kind of method and device for measuring normal vector of arbitrary point of free-form surface |
| CN108344361A (en) * | 2018-01-30 | 2018-07-31 | 清华大学 | A kind of planar process vector quantity measurement method based on laser tracker |
| CN108931186A (en) * | 2018-03-28 | 2018-12-04 | 中国航空制造技术研究院 | Measurement of curved surface, origin reference location method and measuring device based on intersecting laser |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114111672A (en) * | 2021-11-26 | 2022-03-01 | 南京航空航天大学 | Method for quickly calibrating sensor installation position parameters measured by multiple displacement sensors in normal direction |
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