CN112945169B - Precision calibration device and method for digital three-dimensional gap measurement system - Google Patents
Precision calibration device and method for digital three-dimensional gap measurement system Download PDFInfo
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- CN112945169B CN112945169B CN202110135195.0A CN202110135195A CN112945169B CN 112945169 B CN112945169 B CN 112945169B CN 202110135195 A CN202110135195 A CN 202110135195A CN 112945169 B CN112945169 B CN 112945169B
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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
- G01B21/16—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 distance of clearance between spaced objects
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/042—Calibration or calibration artifacts
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- Length Measuring Devices By Optical Means (AREA)
Abstract
A precision calibration device and method for a digital three-dimensional measurement system are disclosed, the device comprises a platform, a support is fixed on the platform, and the upper end of the support is connected with a first flat plate; a multi-degree-of-freedom displacement table is fixed on the platform, a second flat plate is connected to the multi-degree-of-freedom displacement table, and the second flat plate is matched with the first flat plate; the first plate is fixed, and the second plate has six degrees of freedom in space; the method is that when calibrating, the second flat plate is controlled to move by the multi-freedom-degree displacement platform, the clearance value obtained by the digital three-dimensional measurement system is compared with a theoretical value, and the clearance value measured by the digital three-dimensional measurement system is calibrated; the invention can calibrate the precision of the digital three-dimensional measurement system, and the calibration result has stability and accuracy.
Description
Technical Field
The invention belongs to the technical field of precision measurement, and particularly relates to a precision calibration device and method of a digital three-dimensional gap measurement system.
Background
The aircraft assembly is the leading, critical and core part of the aircraft manufacturing process, and directly influences the final quality, the manufacturing cost and the development period of the aircraft by driving each link of aircraft development. The butt joint assembly of the wing body is one of important links of the aircraft assembly, the fatigue life and the reliability of a wing body assembly body are determined to a great extent by the distribution state of the assembly clearance of the wing body, and the measurement and the control of the assembly clearance become common key problems in the butt joint assembly process of the wing body.
The root of the difficulty in measuring the assembly gap of the butt joint of the wing body lies in the long and narrow distribution characteristic of the assembly gap in the butt joint area. The clearance measurement in this area is usually performed by an operator drilling into the center wing through the oil cavity port cover and using a feeler gauge. However, the operation space of the area is small, the requirements on the height and the body shape of an operator are met, and a special operator needs to be equipped. In order to ensure the butt joint quality of the wing body, the outer wing usually needs to be adjusted for multiple times, the gap is measured once every time the outer wing is adjusted, the operation process is time-consuming and labor-consuming, and the technical bottleneck of accelerating the butt joint of the wing body in batch production is formed.
In view of the high rigidity characteristic of the wing body to the seam, the gap measuring method based on digitization has practical feasibility. The digital clearance measurement method is to indirectly solve the clearance of the wing body by acquiring the relative pose relation between the butt joint parts.
The gaps between the long and narrow areas can be obtained through digital three-dimensional measurement, but no proper method exists for calibrating the precision of the digital three-dimensional measurement system at present, the precision of the digital three-dimensional measurement system is evaluated through a manual measurement result at the present stage, and the calibration precision of the method can change along with the state of field workers and is not stable and accurate.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a precision calibration device and a precision calibration method for a digital three-dimensional measurement system, which can calibrate the precision of the digital three-dimensional measurement system, and the calibration result has stability and accuracy.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a precision calibration device for a digital three-dimensional measurement system comprises a platform 3, wherein a support 2 is fixed on the platform 3, and the upper end of the support 2 is connected with a first plate 11; a multi-degree-of-freedom displacement table 4 is fixed on the platform 3, a second flat plate 12 is connected on the multi-degree-of-freedom displacement table 4, and the second flat plate 12 is matched with the first flat plate 11;
the first flat plate 11 is fixed, and the second flat plate 12 has six degrees of freedom in space;
when the calibration is carried out, the second flat plate 12 is controlled to move by the multi-degree-of-freedom displacement table 4, the clearance value obtained by the digital three-dimensional measurement system is compared with a theoretical value, and the clearance value measured by the digital three-dimensional measurement system is calibrated.
The method for utilizing the precision calibration device for the digital three-dimensional measurement system comprises the following steps:
step 1, attaching a first flat plate 11 and a second flat plate 12 to enable a gap between the first flat plate and the second flat plate to be 0;
step 2, controlling the multi-degree-of-freedom displacement table 4 to move, enabling the second flat plate 12 to generate pose change in space, recording the moving distance and the rotating angle of the second flat plate 12 along the XYZ direction, and taking the gap between the first flat plate 11 and the second flat plate 12 at the moment as a theoretical value G 0 ；
Step 3, solving the gap G between the first plate 11 and the second plate 12 by using a digital three-dimensional measurement system 1 And is combined with the theoretical value G 0 Subtracting to obtain the error Err = G of the digital three-dimensional measurement system 1 -G 0 。
The step 2 specifically comprises the following steps: the second plate 12 moves along the X-axis by a distance L x The second plate 12 is moved along the Y-axis by a distance L y The second plate 12 moves along the Z-axis by a distance L z The rotation angles of the second plate 12 around XYZ axes are α, β, and γ, respectively, and P is used 1 Initial coordinate matrix representing the second plate 12, using P 2 Representing the initial coordinate matrix of the first plate 11, the displaced coordinate matrix of the second plate 12 is calculated by the formula:
P new ＝R·P 1 +T
where R is a rotation matrix and T is a translation matrix, expressed as:
T＝[L x L y L z ] T
obtaining the coordinate matrix of the second plate 12 after the displacement, subtracting the coordinate matrix of the first plate 11 to obtain the gap distribution between the first plate 11 and the second plate 12 as a theoretical value G 0 I.e. G 0 ＝P new -P 2 。
Compared with the prior art, the invention has the following beneficial effects:
the device is based on high-precision displacement control of a multi-degree-of-freedom displacement table 4, the closed-loop feedback resolution is 1nm, the repeated positioning precision is 10m, and the angle control closed-loop feedback resolution is 1u degrees; the repeated positioning precision is 50u degrees, and the device can work at 0-100 ℃.
When the device is used for calibrating the digital three-dimensional measurement system, the device can simulate the three-dimensional gap distribution state of a long and narrow space, the accuracy of the digital three-dimensional measurement system is ensured, the calibration precision has stability, the theoretical error of the gap between flat plates is 1nm-10nm, the precision of the digital three-dimensional measurement system is usually 10 mu m-5000 mu m, the use temperature is 0-100 ℃, and the device can be fully applied to the calibration of the digital three-dimensional measurement system.
Drawings
FIG. 1 is a schematic view of the structure of the apparatus of the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and examples.
Referring to fig. 1, a precision calibration device for a digital three-dimensional measurement system comprises a platform 3, wherein a support 2 is fixed on the platform 3, and the upper end of the support 2 is connected with a first plate 11; a multi-degree-of-freedom displacement table 4 is fixed on the platform 3, a second flat plate 12 is connected on the multi-degree-of-freedom displacement table 4, and the second flat plate 12 is matched with the first flat plate 11;
the first flat plate 11 is fixed, and the second flat plate 12 has six degrees of freedom in space;
when the calibration is carried out, the second flat plate 12 is controlled to move by the multi-degree-of-freedom displacement table 4, the gap value obtained by the digital three-dimensional measurement system is compared with a theoretical value, and the gap value measured by the digital three-dimensional measurement system is calibrated by utilizing the characteristic that the control precision of the multi-degree-of-freedom displacement table 4 on the distance in a plane reaches 1nm-10 nm.
The method for utilizing the precision calibration device for the digital three-dimensional measurement system comprises the following steps:
step 1, attaching a first flat plate 11 and a second flat plate 12 to enable a gap between the first flat plate and the second flat plate to be 0;
step 2, controlling the multi-degree-of-freedom displacement table 4 to move, enabling the second flat plate 12 to generate pose change in space, recording the moving distance and the rotating angle of the second flat plate 12 along the XYZ direction, and taking the gap between the first flat plate 11 and the second flat plate 12 at the moment as a theoretical value G 0 ；
The method comprises the following specific steps: the second plate 12 moves along the X-axis by a distance L x The second plate 12 is moved along the Y-axis by a distance L y The second plate 12 moves along the Z-axis by a distance L z The rotation angles of the second plate 12 around XYZ axes are α, β, and γ, respectively, and P is used 1 Initial coordinate matrix representing the second plate 12, using P 2 Representing the initial coordinate matrix of the first plate 11, the displaced coordinate matrix of the second plate 12 is calculated by the formula:
P new ＝R·P 1 +T
where R is a rotation matrix and T is a translation matrix, expressed as:
T＝[L x L y L z ] T
obtaining the coordinate matrix of the second plate 12 after the displacement, subtracting the coordinate matrix of the first plate 11 to obtain the gap distribution between the first plate 11 and the second plate 12 as a theoretical value G 0 I.e. G 0 ＝P new -P 2 ；
Step 3, solving the gap G between the first plate 11 and the second plate 12 by using a digital three-dimensional measurement system 1 And is combined with the theoretical value G 0 Subtracting to obtain the error Err = G of the digital three-dimensional measurement system 1 -G 0 。
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (1)
1. An accuracy calibration device for a digital three-dimensional measurement system, comprising a platform (3), characterized in that: a support (2) is fixed on the platform (3), and the upper end of the support (2) is connected with a first flat plate (11); a multi-degree-of-freedom displacement table (4) is fixed on the platform (3), a second flat plate (12) is connected to the multi-degree-of-freedom displacement table (4), and the second flat plate (12) is matched with the first flat plate (11);
the first flat plate (11) is fixed, and the second flat plate (12) has six degrees of freedom in space;
when the calibration is carried out, the second flat plate (12) is controlled to move by the multi-degree-of-freedom displacement table (4), the gap value obtained by the digital three-dimensional measurement system is compared with a theoretical value, and the gap value measured by the digital three-dimensional measurement system is calibrated;
the method for calibrating the precision of the digital three-dimensional measurement system comprises the following steps:
step 1, attaching a first flat plate (11) and a second flat plate (12) to enable a gap between the first flat plate and the second flat plate to be 0;
step 2, controlling the multi-degree-of-freedom displacement table (4) to move so that the second flat plate (12) generates pose change in space, recording the moving distance and the rotating angle of the second flat plate (12) along the XYZ direction, and taking the gap between the first flat plate (11) and the second flat plate (12) at the moment as a theoretical value G 0 ；
Step 3, solving the gap G between the first flat plate (11) and the second flat plate (12) by using a digital three-dimensional measurement system 1 And is combined with the theoretical value G 0 Subtracting to obtain the error Err = G of the digital three-dimensional measurement system 1 -G 0 ；
The step 2 specifically comprises the following steps: the second plate (12) is moved along the X-axis by a distance L x The second plate (12) is moved along the Y-axis by a distance L y The second plate (12) moves along the Z axis by a distance L z The rotation angles of the second plate (12) around XYZ axes are alpha, beta, and gamma, respectively, and P is used 1 An initial coordinate matrix representing the second plate (12), using P 2 An initial coordinate matrix representing the first plate (11) is formed byThe coordinate matrix of the displaced second plate (12) is calculated by the formula:
P new ＝R·P 1 +T
where R is a rotation matrix and T is a translation matrix, expressed as:
T＝[L x L y L z ] T
obtaining the coordinate matrix of the second flat plate (12) after the displacement, subtracting the coordinate matrix of the first flat plate (11) to obtain the gap distribution between the first flat plate (11) and the second flat plate (12) as a theoretical value G 0 I.e. G 0 ＝P new -P 2 。
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| JP2007315815A (en) * | 2006-05-23 | 2007-12-06 | Kyowa Electron Instr Co Ltd | Three-dimensional displacement measuring system |
| CN108801135A (en) * | 2016-05-31 | 2018-11-13 | 哈尔滨工业大学 | Nuclear fuel rod pose automatic identification equipment |
| CN110421562A (en) * | 2019-07-24 | 2019-11-08 | 中国地质大学（武汉） | Mechanical arm calibration system and scaling method based on four item stereo visions |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103267503B (en) * | 2013-04-24 | 2015-11-18 | 中国航空工业集团公司北京长城航空测控技术研究所 | The dynamic calibration testing table of engine blade tip clearance survey sensor |
| CN105043333B (en) * | 2015-03-13 | 2017-10-03 | 哈尔滨工程大学 | A kind of small underwater position of manipulator angle measurement method |
| CN111737822B (en) * | 2020-06-28 | 2022-09-27 | 大连理工大学 | Point cloud data-based three-dimensional morphology evaluation method for fitting clearance of aviation component |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007315815A (en) * | 2006-05-23 | 2007-12-06 | Kyowa Electron Instr Co Ltd | Three-dimensional displacement measuring system |
| CN108801135A (en) * | 2016-05-31 | 2018-11-13 | 哈尔滨工业大学 | Nuclear fuel rod pose automatic identification equipment |
| CN110421562A (en) * | 2019-07-24 | 2019-11-08 | 中国地质大学（武汉） | Mechanical arm calibration system and scaling method based on four item stereo visions |
Non-Patent Citations (1)
| Title |
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| 基于平差优化技术的高精度三维标定方法;赵亚南等;《组合机床与自动化加工技术》;20200520(第05期);全文 * |
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