CN114184121B - Milling rotor tool apron point position and pose online detection method and device - Google Patents
Milling rotor tool apron point position and pose online detection method and device Download PDFInfo
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- CN114184121B CN114184121B CN202111431864.5A CN202111431864A CN114184121B CN 114184121 B CN114184121 B CN 114184121B CN 202111431864 A CN202111431864 A CN 202111431864A CN 114184121 B CN114184121 B CN 114184121B
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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
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
- E01C23/08—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades
- E01C23/085—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades using power-driven tools, e.g. vibratory tools
- E01C23/088—Rotary tools, e.g. milling drums
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses an online detection method for the position and the posture of a milling rotor tool apron splicing point, which comprises the following step of detecting the marking point of a tracking disc; establishing a working coordinate system; the alignment machine tool and the milling drum guide the neutralization pose adjustment; clamping a tool apron; calculating a milling drum coordinate system; detecting the pose of a cutter seat; calculating a tool apron positioning parameter; calculating positioning deviation; and adjusting the positioning parameters until the splicing point is completed. The device comprises a support frame, an industrial camera component, a tracking disc, a flange half shaft, a flexible clamping device, a milling drum, an industrial personal computer and a display screen. The invention can improve the detection precision of the position and the posture of the tool holder assembly point, simultaneously can detect a plurality of positioning parameters of the tool holder including the axial distance, the milling radius, the circumferential angle, the mounting angle and the side inclination angle in real time and once, has high detection efficiency, solves the industrial problems of untimely measurement, great reworking difficulty, long time and the like of the tool holder after full welding, and improves the processing efficiency and quality of a milling rotor.
Description
Technical Field
The invention relates to highway pavement maintenance construction equipment, in particular to a milling rotor tool apron splicing position and pose online detection method and device.
Background
The total mileage of the roads in China reaches 500 ten thousand kilometers, and many roads gradually enter the large and medium maintenance period, so that the market demand of the road surface building maintenance machinery is huge. The milling rotor is used as a core part of a pavement milling mechanical product, and directly influences the construction performance of a host machine product and the favour of customers. Because the milling rotor has complex structure, more positioning parameters and high manufacturing difficulty, the construction performance and quality of the milling rotor depend on the design level and the manufacturing level. At present, domestic manufacturers gradually build a tool apron semi-automatic point splicing device, solve the problems of low processing efficiency and poor precision caused by traditional scribing positioning, but along with repeated use of the tool apron point splicing device, the positioning precision is continuously reduced, meanwhile, an on-line tool seat pose detection means is absent in the tool apron point splicing process, early warning and compensation cannot be carried out on the out-of-tolerance condition of the tool apron point splicing, the milling rotor still has the problems of low processing precision, low consistency and the like, the flatness of pavement milling and trimming is reduced, even the construction problems of cutter body abrasion, eccentric wear and the like occur, and the development of milling machinery is severely limited.
The prior device capable of realizing automatic positioning of a milling rotor cutter holder, chinese patent (202010270157.1) discloses an automatic welding device of a finish milling drum cutter holder, a left half shaft and a right half shaft are used for clamping and centering a milling drum flange, a position changer is connected with the left half shaft and the right half shaft, the circumferential direction of the milling drum is positioned, a motor drives a screw rod to rotate, a welding machine is driven to move along a linear guide rail, automatic positioning and welding of the cutter holder are realized, and the device respectively controls the working frequency of a stepping motor of the welding machine and the position changer according to the number of heads, the screw pitch and the length of the finish milling drum cutter holder which are arranged in a spiral line, so that the feeding speed of the welding machine is matched with the rotating speed of the position changer, and the requirement of spiral welding of the welding cutter holder is realized;
the Chinese paper entitled "Special welding machine structure and working procedure for milling wheel" discloses a special welding machine for milling rotor, which adopts horizontal structure and mainly consists of slide seat, servo sliding table, servo scribing and tool apron point-splicing mechanism, position changing machine, three-grabbing chuck and tip. The welding machine is assembled with the milling drum flange plate through the left half shaft and the right half shaft, then the clamping of the half shafts is completed through the left three-grabbing chuck and the right thimble, the position of the point splicing mechanism is adjusted in the axial direction and the radial direction through the servo device, the milling drum is rotationally positioned through the position changing machine, finally the position of the point splicing position of the tool apron is determined through the matching of the positioning pin and the tool apron mounting hole, and the device can realize the functions of centering of the point splicing special machine with the milling drum, automatic positioning of the point splicing position of the tool apron and the like, so that the positioning efficiency and the positioning precision of the point splicing position of the tool apron are improved.
The device is a milling rotor tool apron splicing device, semi-automatic splicing positioning of the milling rotor tool apron can be realized, positioning accuracy is improved to a certain extent, but the precision of the tool apron splicing process is mainly influenced by the working procedures of milling drum clamping, tool apron positioning and the like, and centering errors exist between a left half shaft and a right half shaft and a milling drum flange in the milling drum clamping working procedure, so that certain fluctuation exists in the milling radius of the splicing tool apron; in the blade holder positioning procedure, clearance fit is adopted between the blade holder and the positioning pin, the blade holder positioning consistency is reduced, meanwhile, the two milling rotor blade holder splicing point devices cannot perform on-line detection and adjustment on the blade holder pose, the blade holder splicing point positioning precision and consistency cannot be better guaranteed, and the milling rotor construction quality is affected.
Therefore, the invention provides the on-line detection method and the device for the position and the position of the milling rotor tool apron, which improve the positioning precision and the consistency of the milling rotor tool apron and solve the problems in the construction of the milling rotor.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a milling rotor tool apron splicing position and pose online detection method and device.
In order to achieve the above object, in a first aspect, an embodiment of the present invention provides a method for online detecting a position and an pose of a milling rotor tool apron, including the following steps:
firstly, installing a plurality of tracking discs on a flange half shaft of a milling drum, and fixing the tracking discs with the flange half shaft;
secondly, detecting positioning punctuation on the tracking discs based on a plurality of industrial camera components, identifying and storing all the positioning punctuation on the tracking discs;
measuring the end surfaces and the circle centers of the left side and the right side of the milling drum respectively by using a side fixed light pen in sequence by taking the positioning standard point as a reference, connecting the left side and the right side measuring circle centers as axes, taking the axes center as an origin, establishing a workpiece coordinate system, establishing a mapping relation between the workpiece coordinate system and the position of a detection point, calculating the rotation angle and the position of the workpiece coordinate system according to the position of the detection point, and compensating the clamping error of the milling drum and a flange half shaft;
measuring the position of a flexible clamping device on the point splicing machine tool in real time based on the workpiece coordinate system, and guiding and centering the point splicing machine tool and the milling drum;
fifthly, completing pose adjustment of the point splicing machine tool and rotary positioning of the milling drum according to the tool apron design parameters;
sixthly, inserting the tool apron into the flexible clamping device for clamping and positioning;
seventh, triggering the industrial camera assembly, collecting images of the positioning punctuation and the flexible clamping device, and calculating the position of a workpiece coordinate system;
eighth step, calculating the point position coordinates of the tool tip and the normal vector of the tool apron mounting surface according to the punctuation position on the flexible clamping device;
ninth, calculating positioning parameters of the milling rotor according to the point position coordinates of the tool nose and the normal vector of the tool apron mounting surface;
tenth, comparing the positioning parameters with design parameters, and calculating the positioning deviation of the tool apron;
eleventh, comparing the positioning deviation with a deviation set value, if the positioning deviation does not exceed the set value, directly entering a twelfth step, and if the positioning deviation exceeds the set value, returning to a fifth step until the positioning deviation is smaller than the set value;
twelfth, storing the tool apron detection parameters and deviation parameters;
and thirteenth step, judging whether all the splicing points of the tool apron are completed, if not, continuing to circularly perform the operations from the fifth step to the thirteenth step until all the splicing points of the tool apron are completed.
Further, in the ninth step, the positioning parameters include an axial distance of the milling rotor, a milling radius, a circumferential angle, a mounting angle, and a side rake angle.
Further, in the ninth step, according to the position of the tool tip and the normal vector of the tool holder mounting surface calculated in the eighth step, and the axis center obtained in the third step, a calculation model of the tool bit position, the normal vector, and the positioning parameters of the milling rotor tool and the tool holder is established to calculate the positioning parameters.
Further, in the eighth step, the duplex industrial camera component detects the spatial position of the punctuation on the chuck, the light pen is used for measuring the flexible expansion chuck and the circular feature, the plane feature is translated upwards for a distance, and the relative relation among the position of the tool bit, the normal vector and the punctuation is established by calibrating the flexible expansion chuck.
Further, in the fifth to thirteenth steps, the tool holder is rotationally positioned by a positioner.
In a second aspect, an embodiment of the present invention provides an online detection device for a milling rotor tool apron splicing position and pose, which can implement the online detection method for a milling rotor tool apron splicing position and pose, including a support frame, an industrial camera component, a tracking disc, a flange half shaft, a flexible clamping device, a milling drum, an industrial control computer and a display screen, wherein the support frame is arranged on one side of the milling drum, a splicing machine tool is arranged on the other side of the milling drum, the flexible clamping device is arranged on the splicing machine tool, at least two industrial camera components are movably mounted on the support frame, the total shooting range of all the industrial camera components covers the flexible clamping device, the milling drum and all the tracking discs, the flange half shafts are respectively arranged on flanges on the left side and the right side of the milling drum, the tracking discs are arranged on the flange half shafts and have a certain distance from the end faces of the milling drum, the tracking discs are provided with positioning marks, the industrial control computer is arranged beside the support frame, the display screen is mounted on the support frame, a measuring light pen is arranged between the tracking disc and the end faces of the milling machine tool, and the flexible clamping device is provided with a position shifter;
the flexible clamping device comprises a pin shaft sleeve, a rotating shaft, a rotating handle, a punctuation point, a bolt disc, a three-grabbing expansion chuck and a tool apron, wherein the bolt disc and the three-grabbing expansion chuck are arranged at two ends of the pin shaft sleeve, the punctuation point is arranged on the outer side of the bolt disc, the rotating shaft is in threaded installation on the inner side of the bolt disc, the rotating handle is arranged on the outer side of the rotating shaft, the output end of the rotating shaft is mechanically connected with the input end of the three-grabbing expansion chuck, and the tool apron is detachably installed on the inner side of the three-grabbing expansion chuck.
Further, the industrial camera components are symmetrically arranged on the supporting frame.
Further, an angle adjusting structure is arranged between the industrial camera component and the bracket.
Further, a wedge-shaped shaft is arranged between the rotating shaft and the three-grab expansion chuck.
Further, the number of the flexible clamping devices and the number of the tool holders are several.
Compared with the prior art, the invention has the beneficial effects that:
1. through setting up tracking dish and location mark point on milling drum semi-axis, make the device can discern milling drum rotation center, realize milling drum flange and the compensation of the clamping deviation between the semi-axis, improve blade holder makeup point position appearance detection accuracy, this detection device can detect a plurality of positioning parameters including axial distance, milling radius, circumference angle, installation angle and side dip angle to the blade holder in real time simultaneously, and detection efficiency is high.
2. The manufacturing precision and the quality of the milling rotor are improved. The on-line detection device for the position and the posture of the tool apron splicing point is used for determining whether to adjust the positioning parameters of the tool apron according to the detection result of the position and posture of the tool apron after the tool apron is fully welded to the position and the posture of the tool apron before the welding of the tool apron splicing point, so that the problems of untimely measurement, great reworking difficulty, long time and the like of the tool apron after the tool apron is fully welded are solved, and the machining efficiency and the quality of a milling rotor are improved.
3. The support frame and the milling drum with fixed relative positions are matched with an industrial camera component and an industrial personal computer, a workpiece coordinate system is established by taking the rotation center of the milling drum as an origin, the position of the flexible clamping device is measured, the processes of position adjustment of the point splicing machine tool, rotation positioning of the milling drum in the circumferential direction, clamping and positioning of the cutter holder, calculation of positioning parameters, point splicing of the cutter holder and the workpiece and the like are completed according to the design parameters of the cutter holder, a calculation model between the cutter holder and the workpiece is established for calculation, the workpiece coordinate system is combined with the adjustment of the point splicing of the cutter holder, the position variables of the milling drum and the point splicing machine tool are controlled, adverse effects on detection of the cutter holder are reduced, and the detection precision is further improved.
Drawings
FIG. 1 is a front view of the on-line detection device for the pose of a knife seat of the present invention;
FIG. 2 is a side view of the tool apron pose online detection device of the invention;
FIG. 3 is a schematic view of the flexible gripping device of the present invention;
FIG. 4 is a schematic illustration of the normal vector calculation of the insert tip location and insert holder mounting surface of the present invention;
FIG. 5 is a flow chart of on-line detection of the tool apron pose according to the invention;
FIG. 6 is a schematic view of a tool apron positioning parameter calculation model according to the present invention;
in the figure: 1. a support frame; 2. an industrial camera assembly; 3. a tracking disc; 4. a flange half shaft; 5. a flexible clamping device; 6. milling drum; 7. an industrial personal computer; 8. a display screen; 9. locating punctuation; 10. a light pen; 51. a pin shaft jacket; 52. a rotation shaft; 53. rotating the handle; 54. marking points; 55. a bolt disc; 56. a three-grip expansion chuck; 57. a tool apron.
Detailed Description
The following description of the embodiments of the present invention will be made more apparent and fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by one of ordinary skill in the art without undue burden on the person of ordinary skill in the art based on embodiments of the present invention, are within the scope of the present invention.
Embodiment one:
as shown in fig. 1 to 2, the on-line detection device for the milling rotor cutter seat pose of the present invention comprises: the milling machine comprises a support frame 1, an industrial camera assembly 2, a tracking disc 3, a flange half shaft 4, a flexible clamping device 5, a milling drum 6, an industrial personal computer 7, a display screen 8 and the like, wherein the support frame 1 is arranged on one side of the milling drum 6, at least two left and right industrial camera assemblies 2 are symmetrically arranged on the support frame 1, the two industrial camera assemblies 2 can adjust the distance, the pitching and the side tilting angles, and the common visual field of the industrial camera assemblies 2 is ensured to completely cover the length of a milling rotor and the length of the two tracking discs 3; the flange semi-axis 4 is installed on milling drum 6 flange in the left and right sides respectively, and the tracking dish 3 is installed on flange semi-axis 4 to there is certain distance with milling drum 6 terminal surface, guarantees that light pen 10 measures the required space distance of milling drum 6 terminal surface and circle characteristic, and locating mark point 9 is fixed on the tracking dish 3, and industrial computer 7 is placed next to support frame 1, and display screen 8 is installed on support frame 1.
As shown in fig. 3, the flexible gripping device 5 of the present invention comprises: the pin shaft sleeve 51, the rotating shaft 52, the rotating handle 53, the punctuation 54, the bolt disc 55, the three-grab expansion chuck 56, the tool apron 57 and the like are formed, the rotating handle 53 is screwed down to drive the rotating shaft 52 to move towards the three-grab expansion chuck 56, the three-grab expansion chuck 56 is driven by the wedge shaft to expand outwards along the radial direction, and finally high-precision centering positioning of the tool apron 57 is completed.
The industrial camera component 2 is symmetrically arranged on the support frame 1, the same piece of the industrial camera component 2 is covered as little as possible, the length of the two tracking discs 3 and the milling drum 6 is contained, after the shooting range of the industrial camera component 2 is adjusted, the position and the angle of the industrial camera component 2 are fixed, the relative positions of the two industrial camera components 2 are not movable, and the shooting stability is ensured.
Wherein, be provided with angle adjustment structure between industry camera subassembly 2 and the support 1 for initially adjust industry camera subassembly 2's shooting scope.
Wherein, be provided with translation mechanism between milling drum 6 and the support frame 1, make can carry out relative motion between two industry camera subassembly 2 and the work piece before carrying out the second step, under the unchangeable circumstances of guaranteeing two industry camera subassembly 2 relative position, finely tune milling drum 6's position, or guarantee under the unchangeable circumstances of work piece position, adjust the position of two industry camera subassembly 2 to guarantee the punctuation detection effect of industry camera subassembly 2.
Embodiment two:
the on-line detection method for the position and the posture of the milling rotor tool apron assembly point as shown in figures 4 to 6 comprises the following steps:
firstly, clamping a tracking disc: two tracking discs 3 are arranged on the left flange half shaft 4 and the right flange half shaft 4 of the milling drum 6, and the tracking discs 3 and the flange half shafts 4 are locked;
secondly, detecting tracking disc punctuation: detecting positioning punctuation points 9 on the tracking discs 3 based on the duplex industrial camera component 2, identifying all calibration positions in the circumferential direction on the left tracking disc 3 and the right tracking disc 3, and storing the detected positioning punctuation point 9 coordinates;
thirdly, establishing a workpiece coordinate system: the end surfaces and circle centers of the left side and the right side of the milling drum 6 are respectively measured in sequence by using the positioning mark points 9 detected in the second step as references and the side positioning light pen 10, and the left measuring circle center and the right measuring circle center are connected as an axis O 1 O 2 Taking the axis center O as an origin, taking the right side of the milling drum 6 as a positive direction of a z axis, taking a connecting line between a tool tip point of the first point cutter seat 57 and an axis drop foot as an x axis direction, establishing a workpiece coordinate system, establishing a mapping relation between the workpiece coordinate system and a detection point position, calculating a rotation angle and a position of the workpiece coordinate system through the detection point position, and compensating a clamping error of the milling drum 6 and the flange half shaft 4;
fourthly, guiding and centering the splicing machine tool: based on the workpiece coordinate system established in the third step, measuring the position of the flexible clamping device 5 installed on the point splicing machine tool in real time, and guiding and centering the point splicing machine tool and the milling drum 6;
the purpose of centering and guiding the point splicing machine tool and the milling drum is to move the point splicing machine tool to the axial center point position of the milling drum, and the point splicing machine tool is mainly used for axially positioning the point splicing special machine;
fifthly, adjusting the positions of the splicing machine tool and the wheel drums: finishing the pose adjustment of the point splicing machine tool and the circumferential rotary positioning of the milling drum 6 according to the design parameters of the tool apron 57;
sixth, clamping the tool apron: inserting the tool apron 57 into the flexible chuck of the flexible clamping device 5, screwing the flexible chuck, and clamping and positioning the tool apron 57;
seventh, calculating a milling drum coordinate system: the industrial camera component 2 is triggered by a button to acquire images of the positioning punctuation 9 and the flexible clamping device 5 on the tracking disc 3, and the position of a workpiece coordinate system is calculated by the relative position relation of the positioning punctuation 9;
eighth step, monitoring the pose of the tool apron: calculating the position of the cutter point and the normal vector of the mounting surface of the cutter holder 57 according to the position of the punctuation point 54 of the flexible clamping device 5;
as shown in fig. 4, the duplex industrial camera assembly 2 detects the spatial position of the index point 54 on the chuck, measures the flexible expansion chuck and the circular feature with the stylus 10, translates the planar feature upward by a distance L, and establishes the tool bit position P by calibrating the flexible expansion chuck 0 Normal vector n 0 Relative to punctuation 54.
Ninth, calculating fixed-point parameters of the tool apron: as shown in fig. 6, the axial distance, milling radius, circumferential angle, mounting angle, side inclination angle, etc. of the positioning parameters of the milling rotor are calculated from the position of the tool tip and the normal vector of the mounting surface of the tool holder 57;
as shown in fig. 4 and 6, the normal vector of the insert point position and the mounting surface of the insert holder 57 calculated according to the eighth step and the axis O obtained in the third step 1 O 2 And an axis center O, the z-axis coordinate value of the knife edge position point coordinate is d, and the knife edge position point is P 0 Normal vector n 0 Point of position P of the cutting edge 0 The projection point on the z axis is P 1 Establishing the bit position P 0 Normal vector n 0 The calculation of the positioning parameters is performed with a calculation model of the positioning parameters of the milling rotor tool and the holder 57.
Point position P of knife 0 The calculation process comprises the following steps: in the detection process, the position P of the tool bit is calculated by calculating the position of the matching punctuation mark 0 (x 0 ，y 0 ，z 0 ) And normal vector n 0 (w 0 ，p 0 ，r 0 ) The method comprises the steps of carrying out a first treatment on the surface of the At the same time the invention establishes the bit position P 0 Normal vector n 0 And calculating a model of positioning parameters of a milling rotor cutter and a cutter holder:
milling radius:
axial distance: d=p 1 -O＝z 0
Circumference angle:
mounting angle:
roll angle:
tenth, calculating fixed-point parameters of the tool apron: comparing the detection parameters with the design parameters, and calculating the positioning deviation of the tool apron 57;
eleventh step, judging whether the error is exceeded: comparing the positioning deviation of the tool apron 57 with a deviation set value, if the positioning deviation does not exceed the set value, directly entering a twelfth step, if the positioning deviation exceeds the set value, returning to a fifth step, and detecting the positioning parameter of the tool apron 57 again after the fifth step is completed until the positioning deviation is smaller than the set value;
twelfth, recording fixed-point parameters of the tool apron: saving the detection parameters and deviation parameters of the tool apron 57;
thirteenth, judging whether the spelling is completed: judging whether the splicing operation of all the tool holders 57 is finished, if not, continuing to circularly perform the fifth to thirteenth steps until the splicing operation of all the tool holders 57 is finished;
and fourteenth step, finishing the point splicing task.
In the process of splicing the tool apron in the fifth step to the thirteenth step, the tool apron is subjected to rotary positioning adjustment through a positioner.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The on-line detection method for the position and the pose of the milling rotor tool apron is characterized by comprising the following steps:
firstly, installing a plurality of tracking discs (3) on a flange half shaft (4) of a milling drum (6), and fixing the tracking discs (3) with the flange half shaft (4);
secondly, detecting positioning punctuation (9) on the tracking disc (3) based on a plurality of industrial camera components (2), identifying and storing all the positioning punctuation (9) on the tracking disc (3);
measuring the end surfaces and the circle centers of the left side and the right side of the milling drum (6) respectively by using a measuring light pen (10) in sequence by taking the positioning punctuation (9) as a reference, connecting the left measuring circle center and the right measuring circle center as axes, taking the center of the axes as an origin, establishing a workpiece coordinate system, establishing a mapping relation between the workpiece coordinate system and the position of a detection point, calculating the rotation angle and the position of the workpiece coordinate system according to the position of the detection point, and compensating the clamping error of the milling drum (6) and the flange half shaft (4);
measuring the position of a flexible clamping device (5) on the point splicing machine tool in real time based on the workpiece coordinate system, and guiding and centering the point splicing machine tool and the milling drum (6);
fifthly, completing pose adjustment of the point splicing machine tool and rotary positioning of the milling drum (6) according to design parameters of the tool apron (57);
sixthly, inserting the tool apron (57) into the flexible clamping device (5) for clamping and positioning;
seventh, triggering the industrial camera assembly (2), collecting images of the positioning punctuation (9) and the flexible clamping device (5), and calculating the position of a workpiece coordinate system;
eighth, calculating the point position coordinates of the tool tip and the normal vector of the mounting surface of the tool apron (57) according to the position of the punctuation point (54) on the flexible clamping device (5);
ninth, calculating positioning parameters of the milling rotor according to the point position coordinates of the tool nose and the normal vector of the mounting surface of the tool apron (57);
tenth, comparing the positioning parameters with design parameters, and calculating the positioning deviation of the tool apron (57);
eleventh, comparing the positioning deviation with a deviation set value, if the positioning deviation does not exceed the set value, directly entering a twelfth step, and if the positioning deviation exceeds the set value, returning to a fifth step until the positioning deviation is smaller than the set value;
twelfth, the detection parameters and deviation parameters of the tool apron (57) are stored;
thirteenth, judging whether all the splicing points of the tool holders (57) are completed, if not, continuing to circularly perform the operations from the fifth step to the thirteenth step until all the splicing points of the tool holders (57) are completed;
wherein, mill and dig rotor blade holder makeup appearance on-line measuring device includes support frame (1), industry camera subassembly (2), tracking dish (3), flange semi-axis (4), flexible clamping device (5), mill and dig drum (6), industrial computer (7) and display screen (8), support frame (1) set up in mill one side of dig drum (6), the opposite side of dig drum (6) is provided with the makeup lathe, flexible clamping device (5) set up on the makeup lathe, movable mounting has at least two industry camera subassembly (2) on support frame (1), all the total shooting scope of industry camera subassembly (2) covers flexible clamping device (5), mills dig drum (6) and all tracking dish (3), flange semi-axis (4) set up respectively on the flange of milling drum (6) left and right sides, tracking dish (3) set up on flange semi-axis (4) and with mill and dig drum (6) terminal surface and have a certain distance, be provided with location mark point (9) on tracking dish (3), industrial computer (7) place on support frame (1) and display screen (8) and survey plane (10) are installed on support frame (1), a position changing machine is arranged between the point splicing machine tool and the flexible clamping device (5);
the flexible clamping device (5) comprises a pin shaft sleeve (51), a rotating shaft (52), a rotating handle (53), a punctuation point (54), a bolt disc (55), a three-grabbing expansion chuck (56) and a cutter holder (57), wherein the bolt disc (55) and the three-grabbing expansion chuck (56) are arranged at two ends of the pin shaft sleeve (51), the punctuation point (54) is arranged at the outer side of the bolt disc (55), the rotating shaft (52) is in threaded installation at the inner side of the bolt disc (55), the rotating handle (53) is arranged at the outer side of the rotating shaft (52), the output end of the rotating shaft (52) is mechanically connected with the input end of the three-grabbing expansion chuck (56), and the cutter holder (57) is detachably installed at the inner side of the three-grabbing expansion chuck (56).
2. The on-line detection method for the position and orientation of the milling rotor tool apron according to claim 1, wherein in the ninth step, the positioning parameters include an axial distance, a milling radius, a circumferential angle, a mounting angle and a side inclination angle of the milling rotor.
3. The on-line detection method for the position and the orientation of the milling rotor tool apron according to claim 1, wherein in the ninth step, the calculation of the positioning parameters is performed by establishing a calculation model of the tool bit position, the normal vector and the positioning parameters of the milling rotor tool and the tool apron (57) according to the tool tip position calculated in the eighth step and the normal vector of the installation surface of the tool apron (57) and the axis center obtained in the third step.
4. The on-line detection method for the position and the orientation of the milling rotor tool apron according to claim 1, wherein in the eighth step, the duplex industrial camera assembly (2) detects the spatial position of the mark point (54) on the chuck, the flexible expansion chuck and the circular feature are measured by the light pen (10), the plane feature is translated upwards for a distance, and the relative relation among the position of the tool bit, the normal vector and the mark point (54) is established by calibrating the flexible expansion chuck.
5. The on-line detection method of the position and the orientation of the milling rotor blade holder according to claim 1, wherein in the fifth step to the thirteenth step, the blade holder (57) is adjusted in rotational positioning by a positioner.
6. The on-line detection method for the position and the orientation of the milling rotor tool apron according to claim 1, wherein the industrial camera assembly (2) is symmetrically arranged on the support frame (1).
7. The on-line detection method for the position and the orientation of the milling rotor tool apron according to claim 1, wherein an angle adjusting structure is arranged between the industrial camera assembly (2) and the supporting frame (1).
8. The on-line detection method of the milling rotor tool apron splicing position and the on-line detection method of the milling rotor tool apron splicing position according to claim 1, wherein a wedge-shaped shaft is arranged between the rotating shaft (52) and the three-grabbing expansion chuck (56).
9. The on-line detection method for the position and the orientation of the milling rotor tool apron according to claim 1, wherein the number of the flexible clamping devices (5) and the tool apron (57) is a plurality.
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