CN114216405A - Three-dimensional measuring device and method for straight shank type twist drill - Google Patents
Three-dimensional measuring device and method for straight shank type twist drill Download PDFInfo
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
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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
- G01B21/045—Correction of measurements
Abstract
The invention discloses a three-dimensional measuring device and a measuring method for a straight shank type twist drill, which can be used for measuring coaxiality errors and radial jump variables of the straight shank type twist drill. The measuring device comprises: the device comprises a laser scanning device, a rotating device, a control device and a PC (personal computer); the rotating device horizontally clamps and fixes the handle part of the straight-handle twist drill, the control module controls the motor to drive the rotating platform to drive the straight-handle twist drill to rotate around the axis of the rotating platform, and the control module synchronously triggers the laser scanning device to acquire axial profile data of the straight-handle twist drill in the rotating process; performing device calibration and system parameter calibration according to the proposed system calibration method, and performing three-dimensional reconstruction on the straight shank twist drill profile according to the proposed measurement method for measuring the coaxiality error and the radial jump variable of the straight shank twist drill; the invention adopts the optical-mechanical-electrical integration technology, has high measurement precision and strong robustness, and solves the problems of low efficiency and poor precision of the three-dimensional measurement of the straight shank twist drill in the prior art.
Description
Technical Field
The invention relates to the technical field of measurement of straight shank type twist drills, in particular to a three-dimensional measuring device and a measuring method of a straight shank type twist drill.
Background
Drilling in machining is a very important link, and the quality of a drill directly influences the quality, efficiency and cost of a machined workpiece in the machining production process. The coaxiality error and the radial jump variable are important reference standards for evaluating the quality of the twist drill. Currently, traditionally, special checking tools such as a V-shaped bracket, a steel ball and lever dial indicator or a yaw meter and a measurement method of a combined auxiliary tool are mostly used, the method is based on a mode of manually rotating a twist drill and observing the dial indicator or the yaw meter by human eyes, the efficiency is low, the precision is poor, and the method depends on the proficiency of operators; in addition, a three-dimensional coordinate Measuring machine cmm (coordinate Measuring machine) is a common contact type Measuring method, which can be used for Measuring form and position parameters, and has high accuracy and strong stability, but when the number of sampling points is large, the efficiency is low, and a professional is required to perform operation.
The key research is developed by experts and scholars at home and abroad aiming at the measurement of coaxiality errors and jump variables of mechanical workpieces. Yongmeng Liu et al (A correlation measurement method by using the three-dimensional capacitive sensors, Precision Engineering,2019,141: 127-. Xin Jin et al (Coaxiality detection method with non-adjustment for insertion errors J, International journal of nanomanizing 2020,16(3):273-286) propose a Coaxiality measuring method based on the assembly position, which can be used for automatically compensating the assembly and installation errors. Zhemin Tang et al (Coaxiality evaluation based on double material condition, Measurement,2019,141:287-295) studied a Coaxiality tolerance evaluation model for evaluating the assemblability of workpieces, and established a virtual measuring instrument model for Coaxiality evaluation by analyzing the geometric shape information acquired by a real measuring instrument, and the method has better adaptability. Zhong Chai et al (Non-contact Measurement method of coaxiality for the compound gear draft compound of level gear and spline [ J ], measuring, 2021,168:108453) propose a method for measuring coaxiality error of compound gear, utilize laser displacement sensor to obtain the section contour line of the measured object, separate the vertex data of the gear, adopt the circle fitting method to fit the center of the cross section, and then combine the particle swarm optimization algorithm to fit the spline curve to obtain the reference axle center, realize the Measurement of coaxiality error by calculating the distance between the gear axis and the spline curve axis. Liang et al (New Measurement Method for spring shaping Performance Evaluation Using Laser Displacement Sensor, Chinese Journal of Mechanical Engineering,2018,31:1-9) propose a Laser Displacement Sensor-based non-contact Measurement prototype for automatic Evaluation of the Rolling Performance of sample strip axis. The forging set size measuring system based on the CCD is researched by gold and the like (large-scale step shaft forging coaxiality measurement based on the CCD [ J ]. Jilin university school newspaper (engineering edition), 2013,43(3): 948-. The method has the advantages that the coaxiality detection device based on the two-dimensional laser displacement sensor is designed for the coaxiality detection problem of axle housing bearing holes of axle reducers, and the method has the advantages of being fast and convenient, high in detection precision and the like, and provides guidance for the coaxiality measurement problem of enterprises. Lgnel light and the like (study on coaxiality measuring technology of holes of large mechanical parts [ J ]. photoelectron. laser, 2017,12(7): 694-. Zhang Renwei et al (research on coaxiality measuring method of two-dimensional laser displacement sensor [ J ]. laser and infrared, 2014,44(12):1335-1338) adopt the two-dimensional laser displacement sensor to measure the coaxiality of the inner surface of the hollow cylinder, provide a method for selecting the two-dimensional laser displacement sensor according to the diameter of the inner surface of the cylinder and a design skill, and provide certain guidance for industrial production.
The method improves the measurement accuracy of the twist drill to a certain extent. The following problem shocking remains to be solved: 1) the measurement precision of the twist drill is low; 2) in the measurement process of the existing method, a large amount of manual operation is mostly needed, the automation degree is low, and the production efficiency is low; 3) the existing measuring method needs to have large dependence degree on personnel and external environment and poor stability. Therefore, the twist drill angle measuring device adopting the electromechanical integrated mode replaces the traditional measuring mode, improves the coaxiality and jumping quantity measuring precision of the twist drill, reduces the complexity of instrument operation, and improves the service efficiency of the measuring device, thereby improving the processing quality and the production efficiency of the twist drill and effectively prolonging the service life of the twist drill.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to disclose a straight shank type twist drill three-dimensional measuring device and a measuring method thereof, which are used for measuring the coaxiality error and the radial jump variable of a straight shank twist drill.
The technical scheme of the invention is as follows:
a three-dimensional measuring device for a straight shank type twist drill comprises a measuring platform, a rotating device, a laser scanning device, a control device and a PC (personal computer);
the PC comprises a host and a display connected with the host through signals;
the laser scanning device is used for acquiring axial profile two-dimensional data of the straight shank twist drill and comprises a linear laser profiler, a clamp, a bolt nut, a cross beam and a support, wherein the support is fixedly arranged on the measuring platform, the cross beam is fixedly arranged on the support, and the linear laser profiler is fixedly arranged on the cross beam through the clamp, the bolt nut and the clamp;
the rotating device is used for clamping and fixing the straight shank twist drill and comprises a rotating table, a centering and clamping device, a first servo motor and a second servo motor, wherein the rotating table is arranged on the measuring platform, the centering and clamping device is arranged in the rotating table, the first servo motor is in transmission connection with the rotating table, and the second servo motor is in transmission connection with the centering and clamping device;
the control device is used for acquiring a straight shank twist drill ready signal and a rotary table rotation signal and triggering the laser scanning device to synchronously acquire straight shank twist drill outline data and comprises a programmable controller, a differential encoder and a photoelectric sensor, wherein the programmable controller is connected with a host through a signal, the differential encoder is connected with a first servo motor through a signal, and the photoelectric sensor is arranged below the straight shank twist drill;
the rotating device horizontally clamps the handle part of the straight-handle twist drill, the laser contourgraph in the laser scanning device is installed above the straight-handle twist drill at a distance D, and the straight-handle twist drill realizes data acquisition and three-dimensional point cloud synthesis through rotation of the rotating device and synchronous triggering of the laser scanning device.
Furthermore, the line laser profiler of the laser scanning device comprises an industrial camera, an optical filter, a lens and a laser emitter, wherein the projection surface of the laser emitter is parallel to the axis of a rotating table in the rotating device, the axis of the rotating table in the rotating device is parallel to the laser plane of the laser scanning device, and the optical filter is arranged between the industrial camera and the lens and used for filtering the reflection of the metal surface.
Furthermore, the contact surface in the centering and clamping device in the rotating device is arc-shaped, so that the straight shank twist drill can be effectively attached to the handle part of the straight shank twist drill, and the straight shank twist drill is prevented from loosening or falling off.
A measuring method of a straight shank type twist drill three-dimensional measuring device comprises the following steps:
1) establishing a coordinate system;
2) before three-dimensional measurement, a step calibration block is needed to be used for calibration;
3) horizontally placing the straight shank twist drill in a centering and clamping device of a rotating table, and triggering a photoelectric sensor and sending a ready signal;
4) the programmable controller receives the measurement ready signal and sends out measurement starting information;
5) under the drive of a first servo motor, a centering and clamping device clamps the straight shank twist drill, and a programmable controller sends a rotation starting signal;
6) under the drive of a second servo motor, the rotating platform drives the straight shank twist drill to rotate, the differential encoder acquires a rotating signal of the rotating platform, and the differential encoder triggers a linear laser profiler to acquire a frame of straight shank twist drill profile data;
7): and repeating the step 6) until the rotating angle of the rotating platform reaches 360 degrees, stopping rotating and collecting data, wherein the collected final straight shank twist drill profile data is XZ { (x)uv,zuv) 1,2, …, U; where U represents the number of frames the line laser profiler acquired, V represents the number of data points per frame that the line laser profiler acquired, (x) 1,2, …, Vuv,zuv) The data of the nth frame which represents the line laser profile instrument;
8): calculating three-dimensional data TD { (x {) of the straight shank twist drill profile according to equation (5)'uv,y′uv,z′uv) 1,2, …, U; 1,2, …, V, thereby realizing three-dimensional measurement of the straight shank twist drill:
wherein, thetauDenotes the angle (x ') of rotation of the turntable at the time of data acquisition by the u-th trigger line laser profiler'uv,y′uv,z′uv) Indicating that the straight shank twist drill corresponds to the rotation angle thetauThe three-dimensional point cloud data of (1).
Further, the step 1) is specifically as follows:
measuring coordinate system of straight shank twist drill three-dimensional measuring device is OWXWYWZWThe axis of the rotating table is in the direction from inside to outside as OWXWAxial direction, perpendicular to O from bottom to top in the light plane of the line laser profilerWXWAxial direction of OWZWAxial direction, perpendicular to OWXWZWIn the plane direction of OWYWAn axial direction; describing the pose of the linear laser profiler by using Euler angles, and expressing the roll angle around the OWYWAngle of rotation of the shaft, pitchAngle denotes a winding OWXWAngle of rotation of the shaft, yaw angle representing rotation about OWZWThe angle of rotation of the shaft;
further, the step 2) is specifically as follows:
the step calibration block is in a step cylinder shape, and the total length of the step calibration block is laThe diameter of the step calibration block is phi daThe length of the step section is lcDiameter of the step section is PhidbThe distance between the left end of the step section and the left end of the step calibration block is lbFive points P on the step calibration blockA、PB、PC、PDAnd PE，PBAnd PCRespectively as the left and right end points, P, of the step calibration blockAAnd PDPoints, P, for the left and right sides of the step scaling blockEA right end point of the step calibration block; the method specifically comprises the following steps:
2.1): the step calibration block is horizontally arranged in a centering clamping device of the rotating table, the line laser profiler is arranged on a position, which is farthest from the step calibration block, of a view field on a support, and the distance between the projection surface of a laser transmitter of the line laser profiler and the axis of the step calibration block is HmaxAnd ensuring that the edge of the laser emitter projection surface of the line laser profiler is parallel to the axis of the step calibration block, wherein HmaxRepresenting the far field parameters of a known line laser profiler;
2.2): adjusting the line laser profiler at OWZWThe position of the axial direction until the step calibration block completely appears in the imaging visual field of the online laser profile instrument specifically comprises the following steps: adjusting the height of the line laser profile instrument on the bracket from high to low until the formula (1) is satisfied;
wherein T ∈ {1,2, …, T },
XB＝{(xBt,zBt)|t＝1,2,…,T}，
XC＝{(xCt,zCt)|t＝1,2,…,T}，
XE＝{(xEt,zEt) 1,2, …, T is scanning times of the line laser profiler, XB, XC and XE are respectively corresponding to the point P on the ladder calibration block collected by the line laser profilerB、PCAnd PEA set of two-dimensional coordinate points;
2.3): adjusting the roll angle of the line laser profiler until the formula (2) is satisfied, so that the projection surface of the laser emitter of the line laser profiler is parallel to the axis of the rotating table;
wherein K ∈ {1,2, …, K },
RA＝{(xAk,zAk)|k＝1,2,…,K}，
RB＝{(xBk,zBk)|k＝1,2,…,K}，
RC＝{(xCk,zCk)|k＝1,2,…,K}，
RD＝{(xDk,zDk) 1, | K ═ 1,2, …, K }; k denotes line laserThe number of scans by the light profiler; RA, RB, RC and RD correspond to points P on the step calibration block collected by the line laser profiler respectivelyA、PB、PCAnd PDA set of two-dimensional coordinate points; Δ zthA preset collimation threshold value;
2.4): adjusting the line laser profiler at OWYWThe position in the axial direction is determined until the formula (3) is satisfied, the axis of the rotating table is positioned in the laser plane of the linear laser profiler, at the moment, the adjustment of the three-dimensional measuring device of the straight shank twist drill is completed, and the distance D between the laser profiler and the straight shank twist drill in the laser scanning device is calculated according to the formula (4);
wherein I ∈ {2,3, …, I-1},
YB＝{(xBi,zBi)|i＝1,2,…,I}，
YC＝{(xCi,zCi) 1,2, …, I }; i represents the scanning times of the line laser profiler; YB and YC respectively correspond to a point P on a ladder calibration block collected by a line laser profilerBAnd PCIs determined.
The invention has the following beneficial effects:
1) the three-dimensional measurement mode of the straight shank twist drill is realized, and the coaxiality error and the radial jump variable can be measured simultaneously.
2) The three-dimensional scanning measurement method based on the line laser profiler has high measurement precision and strong stability.
3) The three-dimensional measuring device based on mechanical and electrical integration reduces manual intervention, improves the automation degree of coaxiality error and radial jump quantity measurement, and improves the measuring efficiency.
Drawings
FIG. 1 is a schematic view of a three-dimensional measuring device of a straight shank twist drill according to the present invention;
FIG. 2 is a front view of the three-dimensional measuring device of the straight shank twist drill of the present invention;
FIG. 3 is a top view of the three-dimensional measuring device of the straight shank twist drill according to the present invention;
FIG. 4 is a right side view of the relative position of the line laser profiler and the turntable according to the present invention;
FIG. 5 is an illustration of a calibration block debugging of the present invention;
FIG. 6 is an illustration of a step calibration block of the present invention;
FIG. 7 is an illustration of a measurement coordinate system according to the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
A straight shank type twist drill three-dimensional measuring device comprises a test platform 14, a test table top 12, a laser scanning device, a rotating device, a control device and a PC (personal computer), wherein the PC comprises a display 1 and a host 17, the laser scanning device comprises a linear laser profiler 6, a clamp 7, a bolt nut 9, a cross beam 10 and a support 11, the rotating device comprises a rotating table 4, a centering clamping device 5, a first servo motor 3 and a second servo motor 15, the control device comprises a programmable controller 16, a differential encoder 18 and a photoelectric sensor 13, the rotating device horizontally clamps a shank part of a straight shank twist drill, the laser profiler 6 in the laser scanning device is arranged above the straight shank twist drill at a distance D, and the straight shank twist drill three-dimensional measuring device realizes data acquisition and three-dimensional point cloud synthesis through rotation of the rotating device and synchronous triggering of the laser scanning device; in this embodiment, a straight shank twist drill three-dimensional measuring device is shown in fig. 1,2 and 3.
The line laser profiler 6 of the laser scanning device comprises an industrial camera 21, an optical filter 24, a lens 23 and a laser emitter 22, wherein the projection plane of the laser emitter 22 is parallel to the axis of the rotary table 4 in the rotating device, the axis of the rotary table 4 in the rotating device is parallel to the laser plane of the laser scanning device, the center of the rotary table is provided with a circular hole, and a centering clamping device 5 is arranged at the center of the rotary table 4; in the present embodiment, a straight shank twist drill is shown in fig. 4 in three-dimensional measurement.
The laser scanning device is used for acquiring axial profile two-dimensional data of the straight shank twist drill, the rotating device is used for clamping and fixing the straight shank twist drill, the rotating device is driven by the second servo motor 15 to clamp and fix the shank of the straight shank twist drill through the centering and clamping device 5, the rotating device is driven by the first servo motor 3 to drive the centering and clamping device 5 through the rotating platform 4, the straight shank twist drill rotates around the axis of the rotating platform 4, and the clamp 7, the bolt and nut 9, the cross beam 10 and the support 11 in the laser scanning device are used for adjusting the installation position and the posture of the line laser profiler 6.
The contact surface in the centering and clamping device 5 in the rotating device is arc-shaped, so that the straight shank twist drill can be effectively attached to the handle part of the straight shank twist drill, and the straight shank twist drill is prevented from loosening or falling off.
The control device is used for acquiring a straight shank twist drill ready signal and a rotary table rotation signal and triggering the laser scanning device to synchronously acquire straight shank twist drill profile data; the laser scanning device collects two-dimensional axial profile data of the straight shank twist drill; measuring coordinate system of straight shank twist drill three-dimensional measuring device is OWXWYWZWThe axis of the rotating table is in the direction from inside to outside as OWXWAxial direction, perpendicular to O from bottom to top in the light plane of the linear laser profiler 6WXWAxial direction of OWZWAxial direction, perpendicular to OWXWZWIn the plane direction of OWYWAn axial direction; the pose of the line laser profiler 6 is described by an Euler angle, and a roll angle represents the position around OWYWAngle of rotation of the shaft, pitch angle, expressed about OWXWAngle of rotation of the shaft, yaw angle representing rotation about OWZWThe angle of rotation of the shaft, in this embodiment, is measured in a coordinate system such asAs shown in fig. 5.
An optical filter 24 is arranged between the industrial camera 21 and the lens 23 in the linear laser profiler 6 and is used for filtering the reflection of the metal surface.
A three-dimensional measuring device for straight shank type twist drills needs to be calibrated by adopting a step calibration block before three-dimensional measurement is carried out, the step calibration block is in a step cylindrical shape, and the total length of the step calibration block is laIs 120mm, and the diameter of the step calibration block is phi da8mm, a step section length of lc10mm, and the diameter of the step section is PhidbIs 14mm, and the distance from the left end of the step section to the left end of the step calibration block is lbIs 70mm, in this embodiment, the step scaling block is shown in FIG. 6; five points P on the ladder calibration blockA、PB、PC、PDAnd PE，PBAnd PCRespectively as the left and right end points, P, of the step calibration blockAAnd PDPoints, P, for the left and right sides of the step scaling blockEA right end point of the step calibration block; in the present embodiment, P in the profile of the line laser profiler 6A、PB、PC、PDAnd PEAs shown in fig. 7, the calibration is specifically performed according to the following steps:
step 1.1: the step calibration block is horizontally arranged in a centering clamping device 5 of a rotating table 4, a line laser profiler 6 is arranged on a support at the position which is farthest from a view field of the step calibration block, and the distance from the projection surface of a laser transmitter 22 of the line laser profiler 6 to the axis of the step calibration block is HmaxAnd ensures that the edge of the projection surface of the laser emitter 22 of the line laser profiler 6 is parallel to the axis of the step calibration block, wherein HmaxRepresenting the far field parameters of the known line laser profiler 6;
step 1.2: adjusting the line laser profiler 6 at OWZWThe axial position until the step calibration block completely appears in the imaging field of the line laser profiler 6 specifically is as follows: adjusting the height of the line laser profiler 6 on the bracket 11 from high to low until the formula (1) is satisfied;
wherein T ∈ {1,2, …, T },
XB＝{(xBt,zBt)|t＝1,2,…,T}，
XC＝{(xCt,zCt)|t＝1,2,…,T}，
XE＝{(xEt,zEt) 1,2, …, T being the scanning times of the line laser profiler 6, XB, XC and XE corresponding respectively to the point P on the step calibration block acquired by the line laser profiler 6B、PCAnd PEA set of two-dimensional coordinate points;
step 1.3: adjusting the roll angle of the line laser profiler 6 until the formula (2) is satisfied, so that the projection plane of the laser emitter 22 of the line laser profiler 6 is parallel to the axis of the rotating table 4;
wherein K ∈ {1,2, …, K },
RA＝{(xAk,zAk)|k＝1,2,…,K}，
RB＝{(xBk,zBk)|k＝1,2,…,K}，
RC＝{(xCk,zCk)|k＝1,2,…,K}，
RD＝{(xDk,zDk) 1, | K ═ 1,2, …, K }; k represents the scanning times of the line laser profiler 6; RA, RB, RC and RD correspond to points P on the step calibration block acquired by the line laser profiler 6 respectivelyA、PB、PCAnd PDA set of two-dimensional coordinate points; Δ zthA preset collimation threshold value;
step 1.4: adjusting the line laser profiler 6 at OWYWThe position in the axial direction is determined until the formula (3) is satisfied, the axis of the rotating platform 4 is positioned in the laser plane of the linear laser profiler 6, at the moment, the adjustment of the straight shank twist drill three-dimensional measuring device is completed, and the distance D between the laser profiler 6 and the straight shank twist drill in the laser scanning device is calculated according to the formula (4);
wherein I ∈ {2,3, …, I-1},
YB＝{(xBi,zBi)|i＝1,2,…,I}，
YC＝{(xCi,zCi) 1,2, …, I }; i represents the scanning times of the line laser profiler 6; YB and YC correspond to the point P on the ladder calibration block collected by the line laser profiler 6, respectivelyBAnd PCIs determined.
A measuring method of a straight shank type twist drill three-dimensional measuring device comprises the following specific steps:
step 2.1: the straight shank twist drill is horizontally placed in the centering and clamping device 5 of the rotating table 4, and the photoelectric sensor 13 is triggered and sends out a ready signal;
step 2.2: the programmable controller 16 receives the measurement ready signal and sends out measurement starting information;
step 2.3: under the drive of a second servo motor 15, the centering and clamping device 5 clamps the straight shank twist drill, and the programmable controller 16 sends a rotation starting signal;
step 2.4: under the drive of the first servo motor 3, the rotating platform 4 drives the straight shank twist drill to rotate, the differential encoder 18 acquires a rotation signal of the rotating platform 4, and the differential encoder 18 triggers the linear laser profiler 6 to acquire a frame of straight shank twist drill profile data;
step 2.5: repeating the step 2.4 until the rotation angle of the rotating platform 4 reaches 360 degrees, stopping rotating and data acquisition, wherein at this time, the acquired final straight shank twist drill profile data is XZ { (x)uv,zuv) 1,2, …, U; where U represents the number of frames acquired by the line laser profiler 6 and V represents the number of data points per frame acquired by the line laser profiler 6, (x) — 1,2, …, V }, whereuv,zuv) The vth data representing the u frame acquired by the line laser profiler 6;
step 2.6: calculating three-dimensional data TD { (x {) of the straight shank twist drill profile according to equation (5)'uv,y′uv,z′uv) 1,2, …, U; v is 1,2, …, V }, so as to realize three-dimensional measurement of the straight shank twist drill profile;
wherein, thetauIndicates the angle (x ') at which the turntable 4 rotates when the u-th trigger line laser profiler 6 acquires data'uv,y′uv,z′uv) Indicating straight shank twist drill corresponds toAngle of rotation thetauThe three-dimensional point cloud data of (1).
Claims (6)
1. A three-dimensional measuring device for a straight shank type twist drill is characterized by comprising a measuring platform, a rotating device, a laser scanning device, a control device and a PC (personal computer);
the PC comprises a host and a display connected with the host through signals;
the laser scanning device is used for acquiring axial profile two-dimensional data of the straight shank twist drill and comprises a linear laser profiler, a clamp, a bolt nut, a cross beam and a support, wherein the support is fixedly arranged on the measuring platform, the cross beam is fixedly arranged on the support, and the linear laser profiler is fixedly arranged on the cross beam through the clamp, the bolt nut and the clamp;
the rotating device is used for clamping and fixing the straight shank twist drill and comprises a rotating table, a centering and clamping device, a first servo motor and a second servo motor, wherein the rotating table is arranged on the measuring platform, the centering and clamping device is arranged in the rotating table, the first servo motor is in transmission connection with the rotating table, and the second servo motor is in transmission connection with the centering and clamping device;
the control device is used for acquiring a straight shank twist drill ready signal and a rotary table rotation signal and triggering the laser scanning device to synchronously acquire straight shank twist drill outline data and comprises a programmable controller, a differential encoder and a photoelectric sensor, wherein the programmable controller is connected with a host through a signal, the differential encoder is connected with a first servo motor through a signal, and the photoelectric sensor is arranged below the straight shank twist drill;
the rotating device horizontally clamps the handle part of the straight-handle twist drill, the laser contourgraph in the laser scanning device is installed above the straight-handle twist drill at a distance D, and the straight-handle twist drill realizes data acquisition and three-dimensional point cloud synthesis through rotation of the rotating device and synchronous triggering of the laser scanning device.
2. The three-dimensional measuring device for the straight shank type twist drill according to claim 1, wherein the line laser profiler of the laser scanning device comprises an industrial camera, an optical filter, a lens and a laser emitter, the projection plane of the laser emitter is parallel to the axis of the rotating table in the rotating device, the axis of the rotating table in the rotating device is parallel to the laser plane of the laser scanning device, and the optical filter is arranged between the industrial camera and the lens for filtering the reflection of the metal surface.
3. The three-dimensional measuring device for the straight shank type twist drill according to claim 1, wherein the contact surface of the centering and clamping device in the rotating device is arc-shaped, so that the contact surface can be effectively attached to the shank of the straight shank type twist drill to prevent the straight shank type twist drill from loosening or falling off.
4. The measuring method of the straight shank type twist drill three-dimensional measuring device according to claim 1, characterized by comprising the steps of:
1) establishing a coordinate system;
2) before three-dimensional measurement, a step calibration block is needed to be used for calibration;
3) horizontally placing the straight shank twist drill in a centering and clamping device of a rotating table, and triggering a photoelectric sensor and sending a ready signal;
4) the programmable controller receives the measurement ready signal and sends out measurement starting information;
5) under the drive of a second servo motor, the centering and clamping device clamps the straight shank twist drill, and the programmable controller sends a rotation starting signal;
6) under the drive of a first servo motor, the rotating platform drives the straight shank twist drill to rotate, a differential encoder acquires a rotating signal of the rotating platform, and a differential encoder triggers a linear laser profiler to acquire a frame of straight shank twist drill profile data;
7): and repeating the step 6) until the rotating angle of the rotating platform reaches 360 degrees, stopping rotating and collecting data, wherein the collected final straight shank twist drill profile data is XZ { (x)uv,zuv) 1,2, …, U; where U represents the number of frames the line laser profiler acquired, V represents the number of data points per frame that the line laser profiler acquired, (x) 1,2, …, Vuv,zuv) Represents the v number of the u frame collected by the line laser profilerAccordingly;
8): calculating three-dimensional data TD { (x {) of the straight shank twist drill profile according to equation (5)'uv,y′uv,z′uv) 1,2, …, U; 1,2, …, V, thereby realizing three-dimensional measurement of the straight shank twist drill:
wherein, thetauDenotes the angle (x ') of rotation of the turntable at the time of data acquisition by the u-th trigger line laser profiler'uv,y′uv,z′uv) Indicating that the straight shank twist drill corresponds to the rotation angle thetauThe three-dimensional point cloud data of (1).
5. The measuring method of the straight shank type twist drill three-dimensional measuring device according to claim 4, wherein the step 1) is as follows:
measuring coordinate system of straight shank twist drill three-dimensional measuring device is OWXWYWZWThe axis of the rotating table is in the direction from inside to outside as OWXWAxial direction, perpendicular to O from bottom to top in the light plane of the line laser profilerWXWAxial direction of OWZWAxial direction, perpendicular to OWXWZWIn the plane direction of OWYWAn axial direction; describing the pose of the linear laser profiler by using Euler angles, and expressing the roll angle around the OWYWAngle of rotation of the shaft, pitch angle, expressed about OWXWAngle of rotation of the shaft, yaw angle representing rotation about OWZWThe angle of rotation of the shaft.
6. The measuring method of the straight shank type twist drill three-dimensional measuring device according to claim 4, wherein the step 2) is specifically as follows:
the step calibration block is in a step cylinder shape, and the total length of the step calibration block is laThe diameter of the step calibration block is phi daThe length of the step section is lcDiameter of the step section is PhidbThe distance between the left end of the step section and the left end of the step calibration block is lbFive points P on the step calibration blockA、PB、PC、PDAnd PE，PBAnd PCRespectively as the left and right end points, P, of the step calibration blockAAnd PDPoints, P, for the left and right sides of the step scaling blockEA right end point of the step calibration block; the method specifically comprises the following steps:
2.1): the step calibration block is horizontally arranged in a centering clamping device of the rotating table, the line laser profiler is arranged on a position, which is farthest from the step calibration block, of a view field on a support, and the distance between the projection surface of a laser transmitter of the line laser profiler and the axis of the step calibration block is HmaxAnd ensuring that the edge of the laser emitter projection surface of the line laser profiler is parallel to the axis of the step calibration block, wherein HmaxRepresenting the far field parameters of a known line laser profiler;
2.2): adjusting the line laser profiler at OWZWThe position of the axial direction until the step calibration block completely appears in the imaging visual field of the online laser profile instrument specifically comprises the following steps: adjusting the height of the line laser profile instrument on the bracket from high to low until the formula (1) is satisfied;
wherein T ∈ {1,2, …, T }, (x)Bt*,zBt*)∈XB，XB＝{(xBt,zBt)|t＝1,2,…,T}，(xCt*,zCt*)∈XC，XC＝{(xCt,zCt)|t＝1,2,…,T}，(xEt*,zEt*)∈XE,XE＝{(xEt,zEt) 1,2, …, T is scanning times of the line laser profiler, XB, XC and XE are respectively corresponding to the point P on the ladder calibration block collected by the line laser profilerB、PCAnd PEA set of two-dimensional coordinate points;
2.3): adjusting the roll angle of the line laser profiler until the formula (2) is satisfied, so that the projection surface of the laser emitter of the line laser profiler is parallel to the axis of the rotating table;
wherein K ∈ {1,2, …, K }, (x)Ak*,zAk*)∈RA，RA＝{(xAk,zAk)|k＝1,2,…,K}，(xBk*,zBk*)∈RB，RB＝{(xBk,zBk)|k＝1,2,…,K}，(xCk*,zCk*)∈RC，RC＝{(xCk,zCk)|k＝1,2,…,K}，(xDk*,zDk*)∈RD，RD＝{(xDk,zDk) 1, | K ═ 1,2, …, K }; k represents the scanning times of the line laser profiler; RA, RB, RC and RD correspond to points P on the step calibration block collected by the line laser profiler respectivelyA、PB、PCAnd PDA set of two-dimensional coordinate points; Δ zthA preset collimation threshold value;
2.4): adjusting the line laser profiler at OWYWThe position in the axial direction is determined until the formula (3) is satisfied, the axis of the rotating table is positioned in the laser plane of the linear laser profiler, at the moment, the adjustment of the three-dimensional measuring device of the straight shank twist drill is completed, and the distance D between the laser profiler and the straight shank twist drill in the laser scanning device is calculated according to the formula (4);
wherein I ∈ {2,3, …, I-1}, (x)Bi*,zBi*)∈YB，YB＝{(xBi,zBi)|i＝1,2,…,I}，(xCi*,zCi*)∈YC，YC＝{(xCi,zCi) 1,2, …, I }; i represents the scanning times of the line laser profiler; YB and YC respectively correspond to a point P on a ladder calibration block collected by a line laser profilerBAnd PCIs determined.
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