CN114346759A

CN114346759A - Device for hole online detection and hole finish machining and machining method thereof

Info

Publication number: CN114346759A
Application number: CN202210230294.1A
Authority: CN
Inventors: 李博; 朱志坤; 姜振喜; 黄明聪; 李卫东; 沈昕; 张桂; 游莉萍
Original assignee: Chengdu Aircraft Industrial Group Co Ltd
Current assignee: Chengdu Aircraft Industrial Group Co Ltd
Priority date: 2022-03-10
Filing date: 2022-03-10
Publication date: 2022-04-15
Anticipated expiration: 2042-03-10
Also published as: CN114346759B

Abstract

The invention provides a device for hole online detection and hole finish machining and a machining method thereof. A calibration coordinate system is established by placing a calibration piece, the calibration holes are calibrated by an image collector, the deflection angle and the offset between the device and the machine tool coordinate system are eliminated, and a linear relation between the surface coordinate of the skin part to be measured and the distance measured by the laser displacement sensor group is obtained; when the primary hole is measured, the hole center coordinates of the primary hole to be measured of the skin part to be measured and the normal vector of the primary hole to be measured can be obtained through shooting pictures and image processing calculation, online detection of the primary hole to be measured is achieved, fine machining of the primary hole to be measured is immediately completed by the fine machining cutter according to the measuring result, and hole machining efficiency and hole machining precision are improved.

Description

Device for hole online detection and hole finish machining and machining method thereof

Technical Field

The invention relates to the technical field of inspection and detection, in particular to a device for hole online detection and hole finish machining and a machining method thereof.

Background

With the rapid development of aviation manufacturing technology, large composite material skins are increasingly applied to airplane appearance parts. The composite skin is usually connected with the metal structural parts in the aircraft interior by rivets, so that spot-facing holes need to be formed in the skin. In the traditional manufacturing process, a worker firstly completes the rough machining of a socket hole by a hand-held drill, namely a primary hole is manufactured; and then finishing the spot facing hole in sequence by using a special manual tool, wherein the finish machining comprises hole expanding, reaming and spot facing. Not only is manual hole making inefficient, but hole making accuracy is also limited by worker skill level. An airplane has tens of thousands of counter bores, and manual hole making has become one of the bottleneck problems limiting the improvement of the airplane manufacturing efficiency.

In order to improve the hole forming efficiency and the hole forming precision, the numerical control hole forming process is introduced into the spot facing and hole finishing process of the skin part. Because a large error exists between the hole position of the manually-made primary hole and the theoretical hole position on the part model, a hole finish machining program cannot be directly programmed by adopting the theoretical hole position. Therefore, before finishing the hole, the hole position of the initial hole, including the coordinates of the hole center and the normal vector of the hole, must be accurately measured, and then finishing is performed according to the measured value of the hole position.

With the rapid development of digital detection technology, new detection technologies represented by machine vision technology are increasingly applied to the field of industrial detection. The machine vision technology belongs to a non-contact detection technology, does not have collision risk existing in a traditional contact type probe, and can detect a narrow area which cannot be reached by the contact type probe. The medium for storing information when the machine vision detects the object is an image, the image contains a large amount of useful information, and other attributes of the object to be detected can be analyzed by means of an image processing technology. For example, when the hole position information of the initial hole is detected, the processing quality of the hole, such as the roundness of the hole, the presence or absence of burrs in the hole opening, and the surface roughness of the dimple region, can also be evaluated by analyzing the image.

Therefore, utilize machine vision technique design a device, with its integration on the digit control machine tool main shaft, use with the cooperation of hole finish machining cutter, can reach hole on-line measuring and the purpose of hole finish machining simultaneously, to improving the manufacturing accuracy of dimple hole, promote aircraft manufacturing efficiency and have the significance.

Disclosure of Invention

Aiming at the problems of low manufacturing efficiency and poor machining quality of the counter sink hole in the prior art, the invention provides a device for hole online detection and hole finish machining and a machining method thereof. Calibrating the calibrated hole through an image collector, and eliminating the deflection angle and the offset between the device for on-line hole detection and hole finish machining and a machine tool coordinate system to obtain a linear relation between the surface coordinate of the skin part to be detected and the distance measured by the laser displacement sensor group; during initial hole measurement, the hole center coordinates are obtained and the normal vector of the hole is calculated through picture shooting and image processing calculation, online hole detection is achieved, finish machining of the hole is immediately completed by the finish machining cutter according to the measured hole center coordinates and the measured normal vector of the hole, and hole machining efficiency and hole machining precision are improved.

In order to achieve the above purpose, the invention comprises the following concrete contents:

the invention provides a device for hole online detection and hole finish machining, which is used for being installed on a machine tool spindle, establishing a calibration coordinate system by a calibration hole on a placed calibration piece, detecting and machining a primary hole to be detected of a skin part to be detected, and comprises a machining tool and a detection device;

the machining tool is arranged on the machine tool main shaft;

the detection device comprises an image collector and a laser displacement sensor group;

the image collector is arranged on the machine tool main shaft, and the image collecting direction is parallel to the processing direction of the tool nose of the processing tool;

the laser displacement sensor group is fixedly arranged at one end of the image collector for image collection.

In order to better implement the present invention, further, the laser displacement sensor group includes a first displacement sensor, a second displacement sensor and a third displacement sensor which are uniformly arranged at intervals within 360 degrees;

the included angle between the laser emission direction of the first displacement sensor, the second displacement sensor and the third displacement sensor and the plane of the machine tool workbench is 60 degrees.

In order to better implement the invention, further, the image collector comprises a telecentric lens and an industrial camera;

the telecentric lens is arranged at the lower end of the industrial camera;

the laser displacement sensor group is fixedly arranged at one end of the telecentric lens for image acquisition.

In order to better realize the invention, a fixed connector is further arranged between the image collector and the machine tool spindle;

the image collector is fixedly connected with the machine tool spindle through a fixed connector.

In order to better implement the present invention, further, the fixed connector is a bracket;

one end of the bracket is fixedly connected with the main shaft of the machine tool, and the other end of the bracket is connected with the image collector.

In order to better realize the invention, one end of the bracket, which is connected with the main shaft of the machine tool, is provided with a through hole and a screw;

and the screw penetrates through the through hole to be connected with the machine tool spindle.

In order to better realize the invention, a light supplement lamp is arranged at one end of the image collector for image collection;

the laser displacement sensor group is arranged on the light supplement lamp.

The invention also provides a hole online detection and hole finish machining method based on the device for hole online detection and hole finish machining; the method comprises the following steps:

step 1: installing the machining tool and the image collector of the device for on-line hole detection and hole finish machining on a main shaft of a machine tool, installing a laser displacement sensor group at one end of the image collector for image collection, manufacturing a calibration hole on a calibration piece, placing the calibration piece with the manufactured calibration hole on a worktable of the machine tool, and taking the upper surface of the calibration hole as Z₀A plane, which takes the hole center of the calibration hole as the origin of coordinates, the vertical direction as the positive direction of the Z axis, and the axis parallel to the X axis of the machine tool coordinate system of the machine tool as the X axis of the calibration coordinate system, and establishes the calibration coordinate system O-X_aY_aZ_a；

Step 2: in the established calibration coordinate system O-X_aY_aZ_aIn which two designated photographing positions P are set₁、P₂Moving the machine tool spindle to P₁、P₂The calibration holes are photographed at two positions to be in P₁、P₂Holes in the pictures shot at the two positions are combined in one picture, and an included angle between the picture edge in the combined picture and the X axis of the machine tool coordinate system is eliminated;

in the established calibration coordinate system O-X_aY_aZ_aIn which two designated photographing positions P are set₃、P₄Moving the machine tool spindle to P₃、P₄The calibration holes are photographed at two positions and calculated to be P₃、P₄The hole center coordinates of the shot pictures are positioned, and the deflection angle between the device for hole online detection and hole finish machining and a machine tool coordinate system is eliminated according to the hole center coordinates of the shot pictures;

in the established calibration coordinate system O-X_aY_aZ_aIn-setting specified photographing position P₅Moving the machine tool spindle P₅The position of the calibration hole is photographed, and the center of the calibration hole is eliminated and is positioned at P₅The offset distance sum of the middle points of the photo edges of the photos shot at the positions is carried out until the hole center of the calibration hole is coincided with the center of the photos;

in the established calibration coordinate system O-X_aY_aZ_a5 photographing positions P with same X, Y coordinates and different Z coordinates₆、P₇、P₈、P₉、P₁₀Moving the machine tool spindle to P₆、P₇、P₈、P₉、P₁₀Calibrating the laser displacement sensor group by the position, and obtaining a linear relation between the surface coordinate of the skin part to be measured and the distance measured by the laser displacement sensor group through linear fitting;

and step 3: manufacturing a primary hole to be measured on a skin part to be measured in a manual hole manufacturing mode, fixing the skin part to be measured on a tool, establishing a measurement coordinate system O-X by taking corner points of the tool as an origin of coordinates, taking a horizontal direction to the right as an X + direction and a vertical direction to the upward as a Z + direction_sY_sZ_sMeasuring the initial hole to be measured in a measurement coordinate system O-X_sY_sZ_sThe coordinates of the center of the hole are calculated, and the O-X coordinate system of the primary hole to be measured in the measurement coordinate system is calculated_sY_sZ_sA lower plane normal vector;

and 4, step 4: measuring the initial hole to be measured in the measuring coordinate system O-X according to the measurement in the step 3_sY_sZ_sAnd aligning the center coordinates and the plane normal vector of the lower hole to the skin part to be measured by using a finish machining tool, machining a new hole covering the corresponding initial hole to be measured on the skin part to be measured as an initial hole for subsequent machining, and finishing the finish machining of the initial hole to be measured by using the machined new hole as the initial hole to be measured.

In order to better implement the present invention, further, the specific step of eliminating the included angle between the edge of the photo in the merged photo and the X axis of the machine coordinate system in step 2 includes:

step A1: sequentially moving the main shaft of the machine tool to P under a calibration coordinate system₁、P₂The position of the calibration hole is photographed and will be at P₁、P₂The holes in the two pictures taken at the positions are combined in one picture and are calculated through image processing

Corner, wherein

The angle is an included angle between the photo edge of the combined photo and the X axis of the machine tool coordinate system;

step A2: order to

；

Step A3: will be provided with

Inputting the Z-axis rotation compensation value into the calibration coordinate system to rotate the calibration coordinate system around the Z-axis of the machine tool coordinate system

Angle, repeat step a 1;

step A4: when in use

Absolute value less than

Is allowed value of

Performing step A5;

when in use

Absolute value of not less than

Is allowed value of

Let us order

And repeating the step A3 and the step A4 until

Absolute value less than

Is allowed value of

；

Step A5: recording of this time

The value is obtained.

In order to better implement the present invention, further, the specific step of eliminating the included angle between the picture edge in the merged picture and the Y axis of the machine tool coordinate system and the included angle between the picture edge in the merged picture and the X axis of the machine tool coordinate system in step 2 includes:

step B1: moving the main shaft of the machine tool to the position P under the calibration coordinate system₃、P₄Position at P₃、P₄The position is used for photographing the calibration hole and is calculated through image processing

、

,

The included angle between the device for hole online detection and hole finish machining and the Y axis of a machine tool coordinate system,

the included angle between the device for hole online detection and hole finish machining and the X axis of the machine tool coordinate system is shown;

step B2: order to

；

Step B3: will be provided with

An X-axis rotation compensation value input to a calibration coordinate system

Inputting the Y-axis rotation compensation value into the calibration coordinate system to rotate the calibration coordinate system around the X-axis of the machine tool coordinate system

Angle and rotation about the Y axis of the machine coordinate system

Angle, repeat step B1;

step B4:

when in use

Are respectively less than

Is allowed value of

Performing step B5;

when in use

Absolute value of not less than

Is allowed value of

At the same time

Absolute value less than

Is allowed value of

Let us order

And repeating the processes of the step B3 and the step B4 until

Are respectively less than

Is allowed value of

；

When in use

Absolute value less than

Is allowed value of

At the same time

Absolute value of not less than

Is allowed value of

Let us order

And repeating the processes of the step B3 and the step B4 until

Are respectively less than

Is allowed value of

；

When in use

Absolute value of not less than

Is allowed value of

At the same time

Absolute value of not less than

Is allowed value of

Let us order

And repeating the processes of the step B3 and the step B4 until

Are respectively less than

Is allowed value of

；

Step B5: recording of this time

The value is obtained.

In order to better implement the invention, further, the elimination of the calibration hole center in step 2 is performed in P₅Offset distance of position to midpoint of photo edge of photoAnd calibrating the hole center to be at P₅The specific steps of the offset distance of the edge center of the photo taken at the position include:

step C1: positioning the main shaft of the machine tool to P under a calibration coordinate system₅After the position, a picture shot before the calibration hole is coincided with the center of the picture is shot, and the distance between the center of the hole and the center of the picture shot before the calibration hole is coincided with the center of the picture is calculated through image processing

；

Step C2: order to

；

Step C3: will be provided with

An X-axis offset compensation value input to a calibration coordinate system

Inputting the Y-axis offset compensation value into the calibration coordinate system to move the calibration coordinate system along the X-axis of the machine tool coordinate system

And moving along the Y axis of the machine coordinate system

Repeating the procedure of step C1;

step C4: the following 4 cases are treated respectively:

when in use

Absolute values are respectively less than

Is allowed value of

Go to step C5;

when in use

Absolute value of not less than

Is allowed value of

At the same time

Absolute value less than

Is allowed value of

Let us order

. Repeating the processes of the step C3 and the step C4 until

Absolute values are respectively less than

Is allowed value of

；

When in use

Absolute value less than

Is allowed value of

At the same time

Absolute value of not less than

Is allowed value of

Let us order

. Repeating the processes of the step C3 and the step C4 until

Absolute values are respectively less than

Is allowed value of

；

When in use

Absolute value of not less than

Is allowed value of

At the same time

Absolute value of not less than

Is allowed value of

Let us order

. Repeating the processes of the step C3 and the step C4 until

Absolute values are respectively less than

Is allowed value of

；

Step C5: recording of this time

The value is obtained.

In order to better implement the present invention, further, P in step 2₁、P₂Y, Z coordinates of are equal, P₃、P₄X, Y coordinates of (A) are equal, P₅Is equal to zero; p in step 5₆、P₇、P₈、P₉、P₁₀The Z coordinates of (a) are in an arithmetic progression and are symmetrically distributed on both sides of Z =0.

The invention has the following beneficial effects:

the calibration process of the device for hole online detection and hole finish machining provided by the invention eliminates the deflection angle and the offset between the device and a machine tool coordinate system, and obtains a linear relation between the surface coordinate of the skin part to be detected and the distance measured by the laser displacement sensor group; when the primary hole to be measured is measured, the coordinates of the hole center of the primary hole to be measured and the normal vector of the primary hole to be measured can be obtained through shooting pictures and image processing calculation, online detection of the hole is achieved, fine machining of the hole is immediately completed by the fine machining cutter according to the measuring result, and hole machining efficiency and hole machining precision are improved.

Drawings

Fig. 1 is an exploded view of the apparatus according to the present invention;

fig. 2 is an isometric view of the proposed device;

fig. 3 is another perspective view of the proposed device;

FIG. 4 is an isometric view of the stent;

FIG. 5 is an isometric view of a spindle of the machine tool;

FIG. 6 is an isometric view of a fill light;

FIG. 7 is a cross-sectional view of a fill light;

FIG. 8 is an isometric view of a telecentric lens;

FIG. 9 is a schematic diagram of step 1;

FIG. 10 shows a cleaning device α_nA photograph taken before a corner;

FIG. 11 shows a cleaning device α_nA photograph taken after the corner;

FIG. 12 shows a cleaning device beta_nA schematic diagram of the coordinates of the H pixel of the hole center in front of the corner;

FIG. 13 shows a cleaning device γ_nA schematic diagram of W pixel coordinates of a hole center before an angle;

FIG. 14 shows a cleaning device beta_n、γ_nHole center W, H pixel coordinate schematic after corner;

FIG. 15 is a photograph taken before the calibration hole coincides with the center of the photograph;

FIG. 16 is a schematic diagram of laser displacement sensor set calibration;

FIG. 17 is a schematic diagram of measuring a primary well to be measured;

FIG. 18 is a photograph of a light spot;

FIG. 19 is a schematic view of reaming when the machining tool is a reamer;

FIG. 20 is a first portion of a process flow diagram for the apparatus of the present invention;

FIG. 21 is a second portion of a process flow diagram for the apparatus of the present invention;

FIG. 22 is a third part of a flow chart of the apparatus proposed by the present invention;

the laser positioning device comprises a machine tool spindle 1, a machine tool spindle 1-1, a first threaded hole 1-2, a second threaded hole 1-3, a third threaded hole 2, a first connecting screw 3, a second connecting screw 4, a third connecting screw 5, a machining tool 6, a fill light lamp 61, a conical structure 611, a fourth threaded hole 612, a fifth through hole 613, a sixth through hole 614, a luminous surface 615, a light beam 62, a second sleeve structure 621, a fourth threaded hole 622, a fifth threaded hole 623, a sixth threaded hole 7, a first locking screw 8, a second locking screw 9, a third locking screw 10, a first laser displacement sensor 101, a first light spot 11, a second laser displacement sensor 111, a second light spot 12, a third laser displacement sensor 121, a third light spot 13, a telecentric lens 14, a support 141, a third threaded hole 61, a conical structure 13, a second locking screw, a third locking screw, a second laser displacement sensor, a first laser displacement sensor 101, a first light spot 11, a second laser displacement sensor 111, a second light spot 12, a third laser displacement sensor 121, a third light spot 14, a telecentric lens, a second laser displacement sensor, a third laser displacement sensor, a second laser displacement, The device comprises a first sleeve structure, 142 a first through hole, 143 a second through hole, 144 a third through hole, 15 an industrial camera, 16 a calibration piece, 161 a calibration hole, 17 a picture taken before an alpha angle of a clearing device, 18 a picture taken after the alpha angle of the clearing device, 19 a picture taken before the center of the calibration hole coincides with the center of the picture, 20 a tool, 21 a skin part to be measured, 211 and a primary hole to be measured.

Detailed Description

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and therefore should not be considered as a limitation to the scope of protection. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1:

the embodiment provides a device for hole online detection and hole finish machining, which is used for being installed on a machine tool spindle 1, establishing a calibration coordinate system by using a calibration hole 161 on a placed calibration piece 16, and detecting and machining a primary hole 211 to be detected of a skin part 21 to be detected; the device for hole online detection and hole finish machining comprises a machining tool 5 and a detection device;

the processing tool 5 is arranged at an image acquisition end of the machine tool spindle 1;

the detection device comprises a light supplement lamp 6, a telecentric lens 13, an industrial camera 15, a bracket 14, a first laser displacement sensor 10, a second laser displacement sensor 11 and a third laser displacement sensor 12;

one end of the bracket 14 is connected with the machine tool spindle 1, and the other end of the bracket is connected with the telecentric lens 13;

one end of the telecentric lens 13 connected with the bracket 14 is connected with the industrial camera 15, and the other end is connected with the light supplement lamp 6;

the light supplement lamp 6 is provided with a first laser displacement sensor 10, a second laser displacement sensor 11 and a third laser displacement sensor 12 in a penetrating mode.

Further, the holder 14 includes a first sleeve structure 141;

the telecentric lens 13 comprises a first cylindrical structure 131 and a second cylindrical structure 132;

the fill light 6 comprises a second sleeve structure 62;

the first sleeve structure 141 inner diameter is larger than the first cylindrical structure 131 outer diameter;

the second sleeve structure 62 has an inner diameter greater than the outer diameter of the second cylindrical structure 132.

Furthermore, a first through hole 142, a second through hole 143, a third through hole 144, a first coupling screw 2, a second coupling screw 3, and a third coupling screw 4 are arranged at one end of the bracket 14 connected with the machine tool spindle 1;

the first coupling screw 2, the second coupling screw 3 and the third coupling screw 4 are connected with the machine tool spindle 1 through the first through hole 142, the second through hole 143 and the third through hole 144.

Further, the fill light further comprises a conical structure 61;

the conical structure 61 is provided with a fourth through hole 611, a fifth through hole 612 and a sixth through hole 613;

the first laser displacement sensor 10, the second laser displacement sensor 11 and the third laser displacement sensor 12 penetrate through the fourth through hole 611, the fifth through hole 612 and the sixth through hole 613 to be connected with the light supplement lamp 6;

further, a fourth threaded hole 621, a fifth threaded hole 622, a sixth threaded hole 623, a first locking screw 7, a second locking screw 8, and a third locking screw 9 are provided on the second sleeve structure 62;

the first locking screw 7, the second locking screw 8 and the third locking screw 9 penetrate through the fourth threaded hole 621, the fifth threaded hole 622 and the sixth threaded hole 623 to be connected with the telecentric lens 13.

The working principle is as follows: the device for hole on-line detection and hole finish machining provided by the embodiment has the structural characteristics that: the device comprises a finish machining cutter 5, a light supplement lamp 6, a first laser displacement sensor 10, a second laser displacement sensor 11, a third laser displacement sensor 12, a telecentric lens 13, a bracket 14, an industrial camera 15, and a first connecting screw 2, a second connecting screw 3, a third connecting screw 4, a first locking screw 7, a second locking screw 8 and a third locking screw 9 which are used for fixedly connecting all components.

The end face of the machine tool spindle 1 is provided with a first threaded hole 1-1, a second threaded hole 1-2 and a third threaded hole 1-3 which are the same. The same first through hole 142, second through hole 143 and third through hole 144 are formed at one end of the bracket 14, and the first sleeve structure 141 is formed at the other end of the bracket 14. The first coupling screw 2, the second coupling screw 3 and the third coupling screw 4 respectively pass through the first through hole 142, the second through hole 143 and the third through hole 144 and then are screwed into the first threaded hole 1-1, the second threaded hole 1-2 and the third threaded hole 1-3.

The upper end of the telecentric lens 13 is a first cylindrical structure 131, and the lower end is a second cylindrical structure 132. An adhesive is applied to the outer surface of the first cylindrical structure 131, and then the first cylindrical structure 131 is inserted into the first sleeve structure 141 and left for a period of time to ensure that the adhesive is completely cured.

The upper end of the fill light 6 is a second sleeve structure 62, and the lower end is a conical structure 61. The side surface of the second sleeve structure 62 is provided with a fourth threaded hole 621, a fifth threaded hole 622 and a sixth threaded hole 633 which are the same; the conical structure 61 is formed with the same fourth through hole 611, fifth through hole 612 and sixth through hole 613 on the side. The second sleeve structure 62 is sleeved into the second cylindrical structure 132, and then the first locking screw 7, the second locking screw 8 and the third locking screw 9 are screwed into the fourth threaded hole 621, the fifth threaded hole 622 and the sixth threaded hole 633 respectively until the screw end abuts against the outer surface of the second cylindrical structure 132.

The first laser displacement sensor 10, the second laser displacement sensor 11 and the third laser displacement sensor 12 are products of the same type, adhesives are respectively coated on the outer cylindrical surfaces of the three laser displacement sensors, then the first laser displacement sensor 10, the second laser displacement sensor 11 and the third laser displacement sensor 12 are respectively inserted into the fourth through hole 611, the fifth through hole 612 and the sixth through hole 613, and the first laser displacement sensor, the second laser displacement sensor and the third laser displacement sensor are kept still for a period of time to ensure that the adhesives are completely solidified.

And a light emitting surface 614 of the inner side surface of the conical structure 61 in the light supplementing lamp 6, wherein the light emitting surface 614 emits a light beam 615 to the skin part 16 to be measured.

The finishing tool 5 is arranged at the lower end of the machine tool spindle 1. A horizontal distance L exists between the axis of the machine tool spindle 1 and the axis of the telecentric lens 13, and a vertical distance h exists between the tool nose of the finish machining tool 5 and the lower end of the laser displacement sensor 12.

The industrial camera 15 and the telecentric lens 13 are connected with each other by a standard C-type interface.

The pixel resolution of the picture shot by the device is W multiplied by H pixel, namely, each picture has W multiplied by H pixel points.

The pixel equivalent of the device is λ mm/pixel, i.e., the physical length corresponding to each pixel in a picture taken by the device is λ mm.

Further, the threads of the first threaded hole 1-1, the second threaded hole 1-2, the third threaded hole 1-3, the fourth threaded hole 621, the fifth threaded hole 622 and the sixth threaded hole 633 are fine internal threads;

further, threads of the first connecting screw 2, the second connecting screw 3, the third connecting screw 4, the first locking screw 7, the second locking screw 8 and the third locking screw 9 are fine threads and external threads;

further, the inner diameter of the first through hole 142 is 1-2 mm larger than the outer diameter of the thread of the first coupling screw 2;

further, the inner diameter of the first sleeve structure 141 is 0.5-1 mm larger than the outer diameter of the first cylindrical structure 131;

further, the inner diameter of the second sleeve structure 62 is 0.5-1 mm larger than the outer diameter of the second cylindrical structure 132;

further, the inner diameter of the fourth through hole 611 is 0.4-0.8 mm larger than the outer diameter of the second laser displacement sensor 11;

further, the taper angle range of the light emitting surface 614 is 90 to 150 degrees;

further, the horizontal distance L between the axis of the machine tool spindle 1 and the axis of the telecentric lens 13 is 80-120 mm;

further, the vertical distance h between the tool nose of the finish machining tool 5 and the lower end of the laser displacement sensor 12 is 30-50 mm;

further, the finish machining tool 5 comprises a reamer, a reamer and a socket drill;

further, the industrial camera 15 is a CMOS camera or a CCD camera.

Further, the telecentric lens 13 is a double telecentric lens.

Example 2:

the present embodiment proposes a method for using an apparatus for hole on-line detection and hole finishing, which is based on the apparatus for hole on-line detection and hole finishing described in embodiment 1, and includes the following steps:

step 1: installing the machining tool 5 and the detection device of the device for on-line hole detection and hole finish machining on the main shaft 1 of the machine tool, manufacturing a calibration hole 161 on a calibration piece 16, placing the calibration piece 16 with the manufactured calibration hole 161 on a workbench of the machine tool, and taking the upper surface of the calibration hole 161 as Z₀A plane, which takes the hole center of the calibration hole 161 as the origin of coordinates, the vertical direction as the positive direction of the Z axis, and the axis parallel to the X axis of the machine tool coordinate system as the X axis of the calibration coordinate system, and establishes the calibration coordinate system O-X_aY_aZ_a；

Step 2: moving the machine tool spindle 1 to the established calibration coordinate system O-X_aY_aZ_aP in (1)₁（-L，0，Z_a1）、（-L+5，0，Z_a1）P₂Two positions, L is the axis of the machine tool spindle 1 and the telecentric mirrorHorizontal distance between axes of heads 13, at P₁、P₂The calibration hole 161 is photographed at two positions, which will be at P₁、P₂The holes in the two pictures taken at the two positions are merged in a picture 17 taken before the angle alpha of a clearing device, the angle between the edge of the picture 17W taken before the angle alpha of the clearing device and the X axis of the machine coordinate system is alpha_nRotating the calibration coordinate system by-alpha around the Z axis of the machine tool coordinate system_kAngle, alpha_k=α_nTo offset alpha of the device for hole on-line detection and hole finish machining_nAngle up to alpha_nAbsolute value less than alpha_nIs allowed value of

Record α at this time_kA value;

and step 3: moving the machine tool spindle 1 to the established calibration coordinate system O-X_aY_aZ_aP in (1)₃（-L，0，Z_a2）、P₄（-L，0，h1+Z_a2) Two positions, L is the horizontal distance between the axis of the machine tool spindle 1 and the axis of the telecentric lens 13, h is the vertical distance between the tool tip of the finish machining tool 5 and the lower end of the laser displacement sensor 12, and P is the vertical distance between the tool tip of the finish machining tool 5 and the lower end of the laser displacement sensor 12₃、P₄The calibration hole 161 is photographed at two positions, and the included angle between the device for hole online detection and hole finish machining and the Y axis of the machine tool coordinate system is beta_nThe included angle between the device for on-line hole detection and hole finish machining and the X axis of the machine tool coordinate system is gamma n, and the calibration coordinate system rotates beta around the X axis of the machine tool coordinate system_kAngle, beta_k=β_nTo offset beta of the device for hole on-line detection and hole finish machining_nAngle, rotating the calibration coordinate system around the X-axis of the machine coordinate system by-gamma_k，γ_k=γ_nTo offset the gamma of the device for on-line hole detection and hole finish machining_nAngle up to beta_n、γ_nAre respectively less than beta_n、γ_nIs allowed value of

Recording the time

A value;

and 4, step 4: moving the machine tool spindle 1 to the established calibration coordinate system O-X_aY_aZ_aP in (1)₅（-L，0，Z_a3) Position at P₅The position of the calibration hole 161 is photographed to obtain a photo 19 photographed before the calibration hole coincides with the center of the photo, and the distance between the center of the hole and the midpoint of the W edge of the photo 19 is calculated by image processing

The distance between the center of the hole and the midpoint of the edge 19H of the picture taken before the calibration hole coincides with the center of the picture is

Moving the calibration coordinate system along the X axis of the machine coordinate system

，

Eliminating in the picture

Shifting the calibration coordinate system along the Y axis of the machine tool coordinate system by a shift distance

，

In erasing photos

By an offset distance until

Absolute values are respectively less than

Is allowed value of

Recording the time

A value;

and 5: keeping X, Y coordinate of the machine tool main shaft 1 unchanged under a calibration coordinate system, changing the value of Z coordinate to obtain 5P X, Y with same coordinate and different Z coordinate₆、P₇、P₈、P₉、P₁₀Calibrating the first laser displacement sensor 10, the second laser displacement sensor 11 and the third laser displacement sensor 12 through the positions, and obtaining a linear relation between the Z coordinate on the surface of the skin part 21 to be measured and the distance measured by the laser displacement sensors through linear fitting;

step 6: establishing a measuring coordinate system, and rotating the measuring coordinate system around the Z axis of the machine tool coordinate system recorded in the step 2

Angle, rotating the X-axis of the measuring coordinate system around the X-axis of the machine coordinate system recorded in step 3

Angle, rotating the Y axis of the measuring coordinate system around the Y axis of the machine coordinate system recorded in step 3

Angle, during the course of step four

Respectively inputting the X-axis offset compensation value and the Y-axis offset compensation value of the measurement coordinate system, and moving the measurement coordinate system along the X axis of the machine tool coordinate system recorded in the step 4

Shifting the measuring coordinate system along the Y axis of the machine tool coordinate system by the offset distance recorded in step 4

An offset distance;

and 7: moving a machine tool spindle 1, moving a telecentric lens 13 to be above a primary hole 211 to be measured of a skin part 21 to be measured, emitting laser to the skin part 21 to be measured by a first laser displacement sensor 10, a second laser displacement sensor 11 and a third laser displacement sensor 12 to form a light spot, photographing the primary hole 211 to be measured and the formed light spot, and calculating a hole center coordinate P (x, y, z) coordinate and a hole normal vector under a measurement coordinate system by combining a primary hole 211 picture to be measured, a light spot picture, an image processing technology and the linear relation obtained in the step 5

Completing the measurement of the primary hole 211 to be measured;

and 8: using the hole center coordinate P of the initial hole 211 to be measured and the normal vector of the hole calculated in step 7

And moving the machine tool spindle 1, aligning the finish machining tool 5 to the initial hole 211 to be measured, and finishing the finish machining of the initial hole 211 to be measured.

Further, the specific steps of step 2 include:

step 2.1: sequentially moving the machine tool spindle 1 to P under a calibration coordinate system₁、P₂The calibrated holes 161 are photographed in position, the holes in the two pictures are combined into one picture 17, and the calculation is carried out through image processing

An angle;

step 2.2:

；

step 2.3: will be provided with

Z-axis rotation compensation input to a calibration coordinate systemValue of rotating the calibration coordinate system about the Z-axis of the machine coordinate system

Angle, repeating the step 2.1;

step 2.4: when in use

Absolute value less than

Is allowed value of

And (5) performing a step 2.5;

when in use

Absolute value of not less than

Is allowed value of

Let us order

And repeating the step 2.3 and the step 2.4 until

Absolute value less than

Is allowed value of

；

Step 2.5: recording of this time

The value is obtained.

Further, the step 3 specifically includes the following steps:

step 3.1: moving the main shaft of the machine tool to the position P under the calibration coordinate system₃、P₄Position at P₃、P₄The position is used for photographing the calibration hole and is calculated through image processing

、

；

Step 3.2: order to

；

Step 3.3: will be provided with

An X-axis rotation compensation value input to a calibration coordinate system

Angle and rotation about the Y axis of the machine coordinate system

Angle, repeating the step 3.1;

step 3.4:

when in use

Are respectively less than

Is allowed value of

And 3.5, performing step;

when in use

Absolute value of not less than

Is allowed value of

At the same time

Absolute value less than

Is allowed value of

Let us order

And repeating the processes of the step 3.3 and the step 3.4 until

Are respectively less than

Is allowed value of

；

When in use

Absolute value less than

Is allowed value of

At the same time

Absolute value of not less than

Is allowed value of

Let us order

And repeating the processes of the step 3.3 and the step 3.4 until

Are respectively less than

Is allowed value of

；

When in use

Absolute value of not less than

Is allowed value of

At the same time

Absolute value of not less than

Is allowed value of

Let us order

Repeat step 3.33.4, until

Are respectively less than

Is allowed value of

；

Step 3.5: recording of this time

The value is obtained.

Further, the step 4 specifically includes the following steps:

step 4.1: positioning the main shaft of the machine tool to P under a calibration coordinate system₅After the position, a picture shot before the calibration hole is coincided with the center of the picture is shot, and the distance between the center of the hole and the center of the picture shot before the calibration hole is coincided with the center of the picture is calculated through image processing

；

Step 4.2: order to

；

Step 4.3: will be provided with

An X-axis offset compensation value input to a calibration coordinate system

And moving along the Y axis of the machine coordinate system

Repeating the process of the step 4.1;

step 4.4: the following 4 cases are treated respectively:

1) when in use

Absolute values are respectively less than

Is allowed value of

And 4.5, performing step;

2) when in use

Absolute value of not less than

Is allowed value of

At the same time

Absolute value less than

Is allowed value of

Let us order

. Repeating the processes of the step 4.3 and the step 4.4 until the

Absolute values are respectively less than

Is allowed value of

；

3) When in use

Absolute value less than

Is allowed value of

At the same time

Absolute value of not less than

Is allowed value of

Let us order

. Repeating the processes of the step 4.3 and the step 4.4 until the

Absolute values are respectively less than

Is allowed value of

；

4) When in use

Absolute value of not less than

Is allowed value of

At the same time

Absolute value of not less than

Is allowed value of

Let us order

. Repeating the processes of the step 4.3 and the step 4.4 until the

Absolute values are respectively less than

Is allowed value of

；

Step 4.5: recording of this time

The value is obtained.

Further, P in step 2₁、P₂Y, Z coordinates of equal; p in step 3₃、P₄X, Y coordinates of equal; p in step 4₅Is equal to the inverse of the horizontal distance L, and the Y coordinate is equal to zero; p in step 5₆、P₇、P₈、P₉、P₁₀The Z coordinates of (a) are in an arithmetic progression and are symmetrically distributed on both sides of Z =0.

The working principle is as follows: in the calibration process, the deflection angle and the offset between the device and a machine tool coordinate system are eliminated, and a linear relation between the Z coordinate on the surface of the skin part 21 to be measured and the distance measured by the laser displacement sensor is obtained; when the initial hole to be measured is measured, the normal vector of the hole center coordinate and the normal vector of the hole can be obtained through shooting pictures and image processing calculation, the on-line detection of the hole is realized, the finish machining tool 5 finishes finish machining of the hole immediately according to the measurement result, and the hole machining efficiency and the hole machining precision are improved.

Other parts of this embodiment are the same as those of embodiment 1, and thus are not described again.

Example 3:

on the basis of the foregoing embodiment 1 or 2, the present embodiment provides an apparatus for hole online detection and hole finishing, which includes: the device comprises a finish machining cutter 5, a light supplement lamp 6, a first laser displacement sensor 10, a second laser displacement sensor 11, a third laser displacement sensor 12, a telecentric lens 13, a bracket 14, an industrial camera 15, and a first connecting screw 2, a second connecting screw 3, a third connecting screw 4, a first locking screw 7, a second locking screw 8 and a third locking screw 9 which are used for fixedly connecting all components.

In order to better implement the present invention, further, the threads of the first threaded hole 1-1, the second threaded hole 1-2, the third threaded hole 1-3, the fourth threaded hole 621, the fifth threaded hole 622 and the sixth threaded hole 633 are fine-pitch internal threads;

in order to better implement the present invention, further, the inner diameter of the second sleeve structure 62 is 0.5-1 mm larger than the outer diameter of the second cylindrical structure 132;

further, the industrial camera 15 is a CMOS camera or a CCD camera.

Further, the telecentric lens 13 is a double telecentric lens.

The device for on-line detection and hole finish machining of the hole comprises the following steps:

the method comprises the following steps: placing a marking piece

The device is mounted to the machine tool spindle 1. The index 16 defines an index hole 161 for placing the index 16 on the machine table. Establishing a calibration coordinate system O-X by taking the upper surface of the calibration hole 161 as a Z0 plane, the center of the hole as the origin of coordinates, and the vertical direction as the positive direction of the Z axis, and making the X axis parallel to the X axis of the machine tool coordinate system_aY_aZ_a。

Step two: cleaning device

Corner

Sequentially moving the main shaft 1 of the machine tool to a calibration coordinate system O-X_aY_aZ_aLower (-L, 0, Z)_a1）、（-L+5，0，Z_a1) Two positions, and the calibration hole 161 is photographed at the two positions. The holes in the two pictures are combined into one picture 17, and the W-H pixel coordinates of the holes in the picture 17 are calculated to be (W-H) respectively through image processing₀，H₀）、（W₁，H₁) Wherein the W coordinate represents the pixel coordinate value of the hole center on the W side of the picture, and the H coordinate represents the pixel coordinate value of the hole center on the H side of the picture. The included angle between the W edge of the picture and the X axis of the machine tool coordinate system is

At this time

The angle is:

(II) order

(III) subjecting

Inputting the Z-axis rotation compensation value of the calibration coordinate system O-XaYaZa to rotate the calibration coordinate system around the Z axis of the machine tool coordinate system

Angle for offsetting device

And (3) repeating the process (I).

(IV) treating according to the following 2 cases respectively:

when in use

Absolute value less than

Is allowed value of

Jump to（Ⅴ）；

When in use

Absolute value of not less than

Is allowed value of

Let us order

Repeating the processes (III) and (IV) until the time when

Absolute value less than

Is allowed value of

；

(V) recording the result

The value is obtained.

Step three: cleaning device

Corner and

corner

Respectively (I) below (-L, 0, Z) in a calibration coordinate system O-XaYaZa_a2）、（-L，0，h1+Z_a2) The position is photographed for the calibration hole 161 and the hole center W-H pixel coordinates are calculated by image processing. The H pixel coordinates of the hole center are respectively H when viewed along the X + direction of the machine tool coordinate system₂、H₃The included angle between the device and the Y axis of the machine tool coordinate system is

At this time

The angle is:

the W pixel coordinates of the hole center are respectively W when viewed along the Y + direction of the machine tool coordinate system₂、W₃The angle between the device and the X axis of the machine coordinate system is

At this time

The angle is:

(II) order

；

(III) subjecting

Input to a calibration coordinate system O-X_aY_aZ_aX-axis rotation compensation value of

Input to a calibration coordinate system O-X_aY_aZ_aThe Y-axis of (1) is rotated by the compensation value of (1) to make O-X_aY_aZ_aRotating around X axis of machine coordinate system

Angle and rotation about the Y axis of the machine coordinate system

Angle to counteract device

Corner and

and (4) an angle. Repeating the process (I);

(IV) the following 4 cases are respectively treated:

when in use

Are respectively less than

Is allowed value of

Jumping to (V);

when in use

Absolute value of not less than

Is allowed value of

At the same time

Absolute value less than

Is allowed value of

Let us order

(iii) repeating,(IV) Process up to

Are respectively less than

Is allowed value of

；

When in use

Absolute value less than

Is allowed value of

At the same time

Absolute value of not less than

Is allowed value of

Let us order

Repeating the processes (III) and (IV) until

Are respectively less than

Is allowed value of

；

When in use

Absolute value of not less than

Is allowed value of

At the same time

Absolute value of not less than

Is allowed value of

Let us order

Repeating the processes (III) and (IV) until

Are respectively less than

Is allowed value of

；

(V) recording the result

The value is obtained.

Step four: the calibration hole coincides with the center of the picture

(I) positioning the machine tool spindle 1 to a calibration coordinate system O-X_aY_aZ_aLower (-L, 0, Z)_a3) After the position, a picture 19 is taken, the distance between the center of the hole and the midpoint of the edge W of the picture being

The distance between the center of the hole and the middle point of the edge H of the picture is

Calculating the distance between the center of the hole and the center of the picture 19 by image processing

。

(II) order

；

(III) subjecting

An X-axis offset compensation value input to a calibration coordinate system

The Y-axis offset compensation value input to the calibration coordinate system is used to make O-X_aY_aZ_aMoving along the X-axis of the machine coordinate system

And moving along the Y axis of the machine coordinate system

For clearing from the picture

An offset distance. Repeating the process (I);

(IV) the following 4 cases are respectively treated:

when in use

Absolute values are respectively less than

Is allowed value of

Jumping to (V);

when in use

Absolute value of not less than

Is allowed value of

At the same time

Absolute value less than

Is allowed value of

Let us order

. Repeating the processes of the steps (III) and (IV) until

Absolute values are respectively less than

Is allowed value of

；

When in use

Absolute value less than

Is allowed value of

At the same time

Absolute value of not less than

Is allowed value of

Let us order

. Repeating the processes of the steps (III) and (IV) until

Absolute values are respectively less than

Is allowed value of

；

When in use

Absolute value of not less than

Is allowed value of

At the same time

Absolute value of not less than

Is allowed value of

Let us order

. Repeating the processes of the steps (III) and (IV) until

Absolute values are respectively less than

Is allowed value of

；

(V) recording the result

The value is obtained.

At this point it can be approximated that the W, H coordinate of the hole center is already at the picture center position, i.e.:

in this state, the device can measure the maximum hole making deviation of the calibration hole 161

The maximum value is reached:

wherein R represents the hole radius, provided that the hole making deviation is located

Within the range, the device can shoot complete illuminationAnd (3) slicing.

Step five: laser displacement sensor set calibration

And (I) assuming that the shape tolerance of the skin part 21 to be measured is +/-T. Keeping the machine tool spindle 1 in the calibration coordinate system O-X_aY_aZ_aAnd sequentially calibrating the laser displacement sensor 11 at the positions of Z1=1.5T, Z2=0.75T, Z3=0 and Z4= -0.75T, Z5= -1.5T, wherein the distances between the laser displacement sensor 11 and the calibrating piece 16 are respectively measured as L1, L2, L3, L4 and L5, wherein X = -L, Y =0 is unchanged.

Performing linear fitting on 5 real number pairs (L1, Z1), (L2, Z2), (L3, Z3), (L4, Z4) and (L5, Z5) to obtain a linear relation between the Z coordinate on the surface of the skin part 21 to be measured and the distance L11 measured by the laser displacement sensor 11:

(II) similarly, repeating the process (I) aiming at the laser displacement sensor 10 to obtain a linear relation between the Z coordinate on the surface of the skin part 21 to be measured and the distance L10 measured by the laser displacement sensor 10:

(III) similarly, repeating the process (I) for the laser displacement sensor 12 to obtain a linear relation between the Z coordinate on the surface of the skin part 21 to be measured and the measured distance L12 of the laser displacement sensor 12:

step six: measuring the initial hole 211 to be measured

The skin 21 to be measured adopts a manual hole making mode to make a primary hole 211 to be measured, the skin part 21 to be measured is fixed on the tool 20, and a measurement coordinate system O-X is established_sY_sZ_s. Moving the main shaft 1 of the machine tool to enable the telecentric lens 13 to be positioned on the primary hole 211 to be measuredAnd (4) preparing.

And (I) establishing a camera coordinate O-XcYcZc by taking the central point of the bottom surface of the lens as a coordinate origin, taking the axis of the lens as a Z axis and enabling the X + direction to be parallel to the X + direction of a machine tool coordinate system. And establishing a measurement coordinate system O-XsYsZs by taking the corner points of the tool 20 as the origin of coordinates, taking the horizontal right direction as the X + direction and the vertical upward direction as the Z + direction. Subjecting process (V) in step two

Z-axis rotation compensation value input to O-XsYsZs, process (V) in step three

The X-axis rotation compensation value and the Y-axis rotation compensation value which are respectively input into the O-XsYsZs to carry out the process (V) in the step four

The X-axis offset compensation value and the Y-axis offset compensation value are respectively input to the O-XsYsZs.

And (II) the three laser displacement sensors emit laser to the surface of the skin part 21 to be detected to form light spots which are respectively a first light spot 101, a second light spot 111 and a third light spot 121. With short exposure time

Taking a picture 22 showing only the three light spots, after image processing, calculating X, Y coordinates of the light spots under a camera coordinate system O-XcYcZc as:

and calculating the Z coordinates of the three light spots (namely the surface of the skin part 21 to be measured) under the camera coordinate system O-XcYcZc according to the linear relation in the step five and the actual distances measured by the

laser displacement sensors

10, 11 and 12:

(Zc101、Zc111、Zc121)

the complete coordinates of the

light spots

101, 111, 121 under the camera coordinate system O-XcYcZc are respectively:

the three points described above are used to fit a plane and to obtain the plane equation under the camera coordinate system O-XcYcZc:

(III) with a long exposure time

A picture 18 showing the initial hole 211 to be measured is taken, and the coordinates of the center of the hole under the camera coordinate system O-XcYcZc are obtained through image processing calculation

Substituting it into the plane equation

And calculating the hole center Z coordinate of the primary hole 211 to be detected under the camera coordinate system O-XcYcZc:

then, the complete coordinates of the hole center of the initial hole 211 to be measured in the camera coordinate system O-XcYcZc are:

(IV) converting the coordinate values of the

light spots

101, 111 and 121 under the camera coordinate system O-XcYcZc into coordinate values under the measurement coordinate system O-XsYsZs through space coordinate conversion:

fitting a plane using the three points and obtaining a plane equation under the measurement coordinate system O-XSYsZs:

normal vector of the plane

Comprises the following steps:

normal vector of plane

I.e. the normal vector of the initial hole 211 to be measured.

(V) converting the space coordinates to obtain the coordinate values of the hole center of the primary hole 211 to be measured in the camera coordinate system O-XcYcZc

Converting into coordinate values under a measurement coordinate system O-XsYsZs:

obtaining the hole site coordinate values required by finish machining by the processing means of calibration, measurement, calculation and the like in the first step to the sixth step, wherein the hole site coordinate values comprise a hole center coordinate P and a normal vector of the hole

：

Step seven: finish machining of initial hole 211 to be measured

By using the hole center coordinate P of the initial hole 211 to be measured and the normal vector of the hole

And finishing the hole by aligning the finishing cutter 5 to the initial hole 211 to be measured.

In order to better implement the invention, it is further advantageous,

allowable value of angle

；

In order to better implement the invention, it is further advantageous,

allowable value of angle

；

In order to better implement the invention, it is further advantageous,

allowable value of angle

；

In order to better implement the invention, it is further advantageous,

is allowed value of

；

In order to better implement the invention, it is further advantageous,

is allowed value of

。

Other parts of this embodiment are the same as any of embodiments 1-2 described above, and thus are not described again.

Example 4:

in this embodiment, on the basis of any one of the embodiments 1 to 3, as shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, fig. 10, fig. 11, fig. 12, fig. 13, fig. 14, fig. 15, fig. 16, fig. 17, fig. 18, fig. 19, fig. 20, fig. 21, and fig. 22, the processing flow charts shown in the contents of fig. 20, fig. 21, and fig. 22 are sequentially performed according to the steps set forth in fig. 20, fig. 21, and fig. 22; the embodiment provides a device for hole online detection and hole finish machining and a machining method thereof.

The working principle is as follows: referring to fig. 1, 2 and 3, the device for hole online detection and hole finish machining comprises a reamer 5, a fill light 6, a first laser displacement sensor 10, a second laser displacement sensor 11, a third laser displacement sensor 12, a double telecentric lens 13, a bracket 14, a CMOS camera 15, and a first coupling screw 2, a second coupling screw 3, a third coupling screw 4, a first locking screw 7, a second locking screw 8 and a third locking screw 9 for fixedly coupling each component.

Referring to fig. 4, one end of the bracket 14 is formed with three identical through holes phi 7, which are a first through hole 142, a second through hole 143, and a third through hole 144; referring to fig. 5, three M6 × 0.75 fine-tooth threaded holes, namely a first threaded hole 1-1, a second threaded hole 1-2 and a third threaded hole 1-3, are formed in the end face of a machine tool spindle 1; referring to fig. 1 and 2, the thread specifications of the first coupling screw 2, the second coupling screw 3 and the third coupling screw 4 are M6 × 0.75 fine threads respectively. Referring to fig. 3, one end of the bracket 14 abuts against the end surface of the spindle 1 of the machine tool, a first coupling screw 2 is screwed into the first threaded hole 1-1 after passing through the first through hole 142, a second coupling screw 3 is screwed into the second threaded hole 1-2 after passing through the second through hole 143, and a third coupling screw 4 is screwed into the third threaded hole 1-3 after passing through the third through hole 144. The reliable connection between the support 14 and the machine tool spindle 1 is realized by adopting the method.

Referring to fig. 4, the other end of the bracket 14 is a first sleeve structure 141; referring to fig. 8, the upper end of the double telecentric lens 13 is a first cylindrical structure 131, and the lower end is a second cylindrical structure 132; the inner diameter of the first sleeve structure 141 is 0.5mm larger than the outer diameter of the first cylindrical structure 131. Referring to fig. 1 and 2, an α -cyanoacrylate adhesive is applied to the outer surface of the first cylindrical structure 131, and then the first cylindrical structure 131 is inserted into the first sleeve structure 141 and left for a certain period of time to ensure that the adhesive is completely solidified. The reliable connection between the bracket 14 and the double telecentric lens 13 is realized by adopting the method. If the device needs to be disassembled, only a small amount of acetone needs to be coated on the connecting part of the first cylindrical structure 131 and the first sleeve structure 141, and the adhesive can be dissolved after the acetone permeates into the registration area, so that the bracket 14 is separated from the double telecentric lens 13.

Referring to fig. 6 and 7, the light supplement lamp 6 has a second sleeve structure 62 at the upper end and a conical structure 61 at the lower end. Three M4 multiplied by 0.5 fine-tooth threaded holes are uniformly distributed on the side surface of the second sleeve structure 62, namely a fourth threaded hole 621, a fifth threaded hole 622 and a sixth threaded hole 633; three identical through holes, namely a fourth through hole 611, a fifth through hole 612 and a sixth through hole 613, are uniformly distributed on the side surface of the conical structure 61. Referring to fig. 1, the thread specifications of the first locking screw 7, the second locking screw 8 and the third locking screw 9 are M4 × 0.5 fine threads. Referring to fig. 1, 2, 3 and 8, the inner diameter of the second sleeve structure 62 is 0.5mm larger than the outer diameter of the second cylindrical structure 132, the second sleeve structure 62 is sleeved into the second cylindrical structure 132, and then the first locking screw 7, the second locking screw 8 and the third locking screw 9 are screwed into the fourth threaded hole 621, the fifth threaded hole 622 and the sixth threaded hole 633 respectively until the screw end abuts against the outer surface of the second cylindrical structure 132. The light supplement lamp 6 and the double telecentric lens 13 are reliably connected by adopting the method.

Referring to fig. 1, 2 and 3, the device for hole online detection and hole finish machining further includes three identical laser displacement sensors, namely a first laser displacement sensor 10, a second laser displacement sensor 11 and a third laser displacement sensor 12, and the inner diameter of the fourth through hole 611 is 0.4mm larger than the outer diameter of the first laser displacement sensor 10. And (3) coating alpha-cyanoacrylate adhesive on the outer cylindrical surfaces of the three laser displacement sensors, then respectively inserting the first laser displacement sensor 10, the second laser displacement sensor 11 and the third laser displacement sensor 12 into the fourth through hole 611, the fifth through hole 612 and the sixth through hole 613, and standing for a period of time to ensure that the adhesive is completely solidified. The reliable connection between the three laser displacement sensors and the light supplement lamp 6 is realized by adopting the method. If the device needs to be disassembled, only a small amount of acetone needs to be coated on the connection part of the light supplement lamp 6 and the laser displacement sensor, and the adhesive can be dissolved when the acetone permeates into the nesting area, so that the light supplement lamp 6 is separated from the laser displacement sensor.

Referring to fig. 7, the inner side surface of the conical structure 61 in the light supplement lamp 6 is a light emitting surface 614 with a taper angle of 120 °, and the light emitting surface 614 emits a light beam 615 to the skin part 21 to be measured, so as to shield adverse effects caused by various ambient lights, wherein the light beam 615 can be received in an area covered by the light supplement lamp 6 due to the taper design of the light emitting surface 614.

Referring to fig. 2 and 9, the reamer 5 is mounted on the lower end of the machine tool spindle 1. The distance between the axis of the machine tool spindle 1 and the axis of the double telecentric lens 13 is L =100mm, and the distance h =30mm between the tool tip of the reamer 5 and the lower end of the laser displacement sensor 12. By adopting the design, the light supplement lamp 6 and the laser displacement sensor group can not collide with the skin part 21 to be detected in the reaming process.

Referring to fig. 2, the CMOS camera 15 and the double telecentric lens 13 are connected to each other by a standard C-type interface.

Referring to fig. 10, 11 and 15, the resolution of the picture pixels taken by the device is 4000 × 3000 pixels, that is, each picture has 4000 pixels on the W edge and 3000 pixels on the H edge.

The pixel equivalent λ =0.005 mm/pixel for the device, i.e. the physical length corresponding to each pixel in a picture taken by the device is 0.005 mm.

The device for hole online detection and hole finishing comprises the following steps:

the method comprises the following steps: placing a marking piece

The device is mounted to the machine tool spindle 1. Referring to fig. 9, the calibration piece 16 is formed with a calibration hole 161 having a diameter of 6mm, and the calibration piece 16 is placed on the table of the machine tool. And establishing a calibration coordinate system O-XaYaZa by taking the upper surface of the calibration hole 161 as a Z0 plane, taking the hole center as the origin of coordinates and taking the vertical direction as the positive direction of the Z axis, and enabling the X axis to be parallel to the X axis of the machine tool coordinate system.

Step two: cleaning device

Corner

Referring to fig. 10, the spindle 1 of the machine tool is moved to two positions (-100 mm, 0, 5 mm) and (-95 mm, 0, 5 mm) below the calibration coordinate system O-XaYaZa in sequence, and the calibration hole 161 is photographed at the two positions. The holes in the two photos are combined in one photo 17, and the W-H pixel coordinates of the holes in the photo 17 are calculated through image processing to be (W0 =2000 pixel, H0=1500 pixel), (W1 =1140 pixel, H1=1570 pixel), wherein the W coordinate represents the pixel coordinate value of the hole center on the W side of the photo, and the H coordinate represents the pixel coordinate value of the hole center on the H side of the photo. The included angle between the W edge of the picture and the X axis of the machine tool coordinate system is

At this time

The angle is:

(II) order

；

(III) subjecting

Inputting the Z-axis rotation compensation value of the calibration coordinate system O-XaYaZa to make the calibration coordinate system rotate 4.65 degrees around the Z axis of the machine tool coordinate system for counteracting the device

And (4) an angle. Repeating the process (I), measuring

The angle is:

(IV) order

(III) is repeated, and the result is measured

The angle is:

(V) recording the result

。

At this point, the cleared device can be approximated

And (4) an angle. Referring to fig. 11, in a photograph 18 taken by the apparatus hereafter, the W side is parallel to the X axis of the machine coordinate system and the H side is parallel to the Y axis of the machine coordinate system. The device can only complete the three-step cleaning device in this state

Corner and

the task of the corner.

Step three: cleaning device

Corner and

corner

And (I) keeping the position of the calibration piece 16 unchanged, photographing the calibration hole 161 at (-100 mm, 0, 10 mm) and (-100 mm, 0, 15 mm) positions under the calibration coordinate system O-XaYaZa respectively, and calculating the W-H pixel coordinate of the hole center through image processing. Referring to fig. 11 and 12, when viewed along the X + direction of the machine coordinate system, the H pixel coordinates of the hole center are H2=1700 pixels and H3=1735 pixels, respectively, and the included angle between the device and the Y axis of the machine coordinate system is H2=1700 pixels

At this time

The angle is:

referring to fig. 11 and 13, when viewed along the Y + direction of the machine coordinate system, the W pixel coordinates of the hole center are W2=1756 pixel and W3=1712 pixel, respectively, and the device is at an angle with the X axis of the machine coordinate system

At this time

The angle is:

(II) order

；

(III) subjecting

Is inputted intoCalibrating the X-axis rotation compensation value of the coordinate system

Angle and rotation about the Y axis of the machine coordinate system

Angle to counteract device

Corner and

and (4) an angle. Repeating the process (I), measuring

Corner and

the angles are respectively:

(IV) order

Repeating the process of (III) to measure

Corner and

angle:

in which case it can be considered approximately that of the device

Corner and

the corners have all been cleared. Referring to fig. 14, after the device takes pictures at different heights, the hole center W-H coordinates will remain unchanged, i.e.:

(V) recording the result

The value is obtained.

And step three, the drift phenomenon of the hole center W-H coordinates in the picture caused by different heights is eliminated from the source, so that the hole position coordinate measurement value is more stable and accurate. The calibration step of the height and the hole center W-H coordinate is omitted, so that the calibration time is saved.

Step four: the calibration hole coincides with the center of the picture

Referring to FIG. 15, after the spindle 1 of the machine tool is positioned to the position (-100 mm, 0, 5 mm) below the calibration coordinate system O-XaYaZa, a picture 19 is taken, and the distance between the center of the hole and the middle point of the W edge of the picture is

The distance between the center of the hole and the center of the photograph 19 is calculated by image processing:

taking the calibration hole 161 as an example, the present description isMaximum hole making deviation capable of being measured by device

Comprises the following steps:

only the deviation of the drilling is located

Within range, the device can take a complete picture of the hole.

(II) order

；

(III) subjecting

An X-axis offset compensation value input to a calibration coordinate system

And moving along the Y axis of the machine coordinate system

. Then, the main shaft 1 of the machine tool is positioned to the position (-100 mm, 0, 5 mm) below the calibration coordinate system O-XaYaZa again, then the picture 19 is taken, and the distance between the center of the hole and the center of the picture 19 is calculated through image processing:

taking the calibrated hole 161 as an example, the maximum drilling deviation that the device can measure at present

Comprises the following steps:

only the deviation of the drilling is located

Within range, the device can take a complete picture of the hole.

(IV) order:

. The procedure of (iii) was repeated to calculate the distance between the center of the hole and the center of the photograph 19:

by now it can be approximated that the calibration hole 161 is already located in the center of the photograph, i.e.:

The maximum value is reached:

as long as the drilling deviation is located

Within range, the device can take a complete picture of the hole.

(V) recording the result

The value is obtained.

Step five: laser displacement sensor calibration

In the embodiment, the tolerance of the shape of the skin part 21 to be measured is +/-1 mm. Referring to fig. 16, the machine tool spindle 1 is kept unchanged at X = -100mm and Y =0mm under the calibration coordinate system O-XaYaZa, the laser displacement sensor is calibrated at Z1=1.5mm, Z2=0.75mm, Z3=0, Z4= -0.75mm and Z5= -1.5mm in sequence, and the calibration process is described by taking the laser displacement sensor 11 as an example:

when Z1=1.5mm, the laser displacement sensor 11 measures the distance from the index piece 16:

；

when Z2=0.75mm, the laser displacement sensor 11 measures the distance from the index piece 16:

；

when Z3=0, the laser displacement sensor 11 measures the distance from the index piece 16:

；

when Z4= -0.75mm, the laser displacement sensor 11 measures the distance to the index piece 16

；

When Z5= -1.5mm, the laser displacement sensor 11 measures the distance to the index piece 16

。

Using 5 real pairs (206.12, 1.5), (204.42, 0.75), (203.08, 0)(201.60, -0.75) and (200.08, -1.5) to obtain the Z coordinate of the surface of the skin part 21 to be measured and the distance L measured by the laser displacement sensor 11₁₁The linear relationship between:

(II) similarly, repeating the process (I) aiming at the laser displacement sensor 10 to obtain the Z coordinate of the surface of the skin part 21 to be measured and the measured distance L of the laser displacement sensor 10₁₀The linear relationship between:

(III) similarly, repeating the process (I) for the laser displacement sensor 12 to obtain the Z coordinate of the surface of the skin part 21 to be measured and the measured distance L of the laser displacement sensor 12₁₂The linear relationship between:

since the laser displacement sensor is a mature industrial product and has high distance measurement precision, the method for measuring the distance L value by the laser displacement sensor and further calculating the surface Z coordinate of the skin part 21 to be measured can be used for obtaining the accurate surface Z coordinate of the skin part 21 to be measured.

Step six: measuring the initial hole 211 to be measured

Referring to fig. 17, a preliminary hole 211 to be measured is formed in the skin part 21 to be measured by a manual hole forming method, and the skin part 21 to be measured is fixed to the tool 20. As shown in the figure, a measurement coordinate system O-XsYsZs is established, and the machine tool spindle 1 is moved to enable the double telecentric lens 13 to be positioned above the primary hole 211 to be measured.

Referring to FIG. 8, a camera coordinate O-XcYcZc is established by taking the center point of the bottom surface of the lens as the origin of coordinates, the axis of the lens as the Z axis, and the X + direction parallel to the X + direction of the machine tool coordinate system. Referring to fig. 17, the edge of the tool 20 is shownThe angular point is used as a coordinate origin, the Z + direction is vertically upward, the X + direction is parallel to the X + direction of a machine tool coordinate system, and a measurement coordinate system O-XsYsZs is established. Subjecting process (V) in step two

Z-axis rotation compensation value input to O-XsYsZs, process (V) in step three

、

And (II) the three laser displacement sensors emit laser to the surface of the skin part 21 to be detected to form light spots which are respectively a first light spot 101, a second light spot 111 and a third light spot 121. Referring to FIGS. 8, 17, and 18, the exposure time is shortened

laser displacement sensors

10, 11 and 12:

Zc101、Zc111、Zc121

the complete coordinates of the

light spots

101, 111, 121 under the camera coordinate system O-XcYcZc are respectively:

(III) referring to FIGS. 8 and 11, with a long exposure time

Substituting it into the plane equation

(IV) converting the coordinate values of the

light spots

normal vector of the plane

Comprises the following steps:

normal vector of plane

I.e. the normal vector of the initial hole 211 to be measured.

through the processing means of calibration, measurement, calculation and the like in the first step to the sixth step, hole site coordinate values required by reaming are obtained, wherein the hole site coordinate values comprise a hole center coordinate P and a normal vector of the hole

：

Step seven: finish machining of initial hole 211 to be measured

Referring to fig. 19, the hole center coordinates P of the initial hole 211 to be measured and the normal vector of the hole are used

And finishing reaming by aligning the reamer 5 with the primary hole 211 to be measured.

The reamer 5 in the present embodiment may be a finishing tool such as a reamer or a countersink.

Other parts of this embodiment are the same as any of embodiments 1 to 3, and thus are not described again.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications and equivalent variations of the above embodiments according to the technical spirit of the present invention are included in the scope of the present invention.

Claims

1. A device for hole online detection and hole finish machining is used for detecting and machining a primary hole (211) to be detected of a skin part (21) to be detected to obtain a primary hole with higher precision than the primary hole (211) to be detected, and is characterized by comprising a machining cutter (5) and a detection device;

the machining tool (5) is arranged on the machine tool spindle (1);

the image collector is arranged on the machine tool main shaft (1) and the image collecting direction is parallel to the processing direction of the tool tip of the processing tool (5);

the laser displacement sensor group is arranged at one end of the image collector for image collection.

2. The apparatus for hole on-line detection and hole finishing as claimed in claim 1, wherein the laser displacement sensor group comprises a first displacement sensor (10), a second displacement sensor (11), a third displacement sensor (12) which are uniformly spaced within 360 degrees;

the included angle between the laser emission direction of the first displacement sensor (10), the second displacement sensor (11) and the third displacement sensor (12) and the plane of the machine tool workbench is 60 degrees.

3. The device for hole on-line detection and hole finishing as claimed in claim 1, wherein the image collector comprises a telecentric lens (13), an industrial camera (15);

the telecentric lens (13) is arranged at the image acquisition end;

the laser displacement sensor group is arranged at one end of the telecentric lens (13) for image acquisition.

4. The device for on-line hole detection and hole finishing as claimed in claim 1, characterized in that a bracket (14) is arranged between the image collector and the machine tool spindle (1);

one end of the support (14) is fixedly connected with the machine tool spindle (1), and the other end of the support is connected with the image collector.

5. The device for on-line hole detection and hole finishing as claimed in claim 4, characterized in that the end of the bracket (14) connected with the machine tool spindle (1) is provided with a through hole, a screw;

the screw penetrates through the through hole and is fixedly connected with the machine tool spindle (1).

6. The device for hole on-line detection and hole finishing as claimed in claim 1 or 2 or 3 or 4 or 5, further comprising a fill-in light (6); the light supplementing lamp (6) is of a disc-shaped wing plate structure which is arranged at the outer side of one end, for image acquisition, of the image acquisition device in a surrounding mode, and the inner side of the disc-shaped wing plate structure and the image acquisition direction of the image acquisition device form an included angle of 60 degrees;

the laser displacement sensor group is arranged on the light supplement lamp (6) in a penetrating mode.

7. A hole on-line detection and hole finish machining method is based on the device for hole on-line detection and hole finish machining of any one of claims 1 to 6, the device for hole on-line detection and hole finish machining and a tool (20) are used for machining a primary hole (211) to be machined on a skin part (21) to be machined, the precision of the primary hole (211) to be machined is detected in the machining process, and a primary hole with higher machining precision is covered at the position of the primary hole (211) to be machined; the method is characterized by comprising the following steps:

step 1: a calibration hole (161) is made on a calibration piece (16) placed on a machine tool workbench, and a calibration coordinate system is established by taking the calibration hole (161) as a coordinate origin based on a machine tool coordinate system of the machine tool workbenchO-X _a Y _a Z _a；

Step 2: setting a reference position, performing image acquisition on the calibration hole (161), and calibrating a coordinate system based on image acquisition dataO-X _a Y _a Z _aCoordinate calculation is carried out, and a linear relation between the surface coordinate of the skin part (21) to be measured and the distance measured by the laser displacement sensor group is obtained through linear fitting;

and step 3: calculating to obtain the position of the required primary hole (211) to be measured based on the linear relation between the surface coordinate of the skin part (21) to be measured and the distance measured by the laser displacement sensor group obtained by linear fitting in the step 2; manufacturing a primary hole (211) to be measured by a skin part (21) to be measured in a manual hole manufacturing mode, fixing the skin part (21) to be measured on a tool (20), and establishing a measurement coordinate system O-X by taking the tool (20) as a reference_sY_sZ_sMeasuring the initial hole (211) to be measured in a measurement coordinate system O-X_sY_sZ_sThe coordinates of the lower hole center and the measurement coordinate system O-X of the primary hole (211) to be measured are calculated_sY_sZ_sA lower plane normal vector;

and 4, step 4: measuring the initial hole (211) to be measured in the measuring coordinate system O-X according to the measurement in the step 3_sY_sZ_sThe coordinates of the lower hole center and the plane normal vector are aligned to the skin part (21) to be measured by using a finish machining tool (5), and the skin part (21) to be measured is added withAnd (3) working a new hole covering the corresponding initial hole (211) to be detected as an initial hole for subsequent processing, and finishing the fine processing of the initial hole (211) to be detected by using the processed new hole as the initial hole (211) to be detected.

8. The method for on-line detection and hole finishing of the hole as claimed in claim 7, wherein the specific steps of the step 1 are as follows: a calibration hole (161) is made on a calibration piece (16) placed on a machine tool workbench, and based on a machine tool coordinate system of the machine tool workbench, the hole center of the calibration hole (161) is taken as a coordinate origin, and the upper surface of the calibration hole (161) is taken as Z₀A plane, which takes the vertical direction as the positive direction of the Z axis and the axis parallel to the X axis of the machine tool coordinate system as the X axis of the calibration coordinate system to establish the calibration coordinate systemO- X _a Y _a Z _a。

9. The hole on-line detection and hole finishing method of claim 7, wherein the step 2 specifically comprises the steps of:

step 2.1: in the established calibration coordinate systemO-X _a Y _a Z _aIn which two designated photographing positions P are set₁、P₂Moving the machine tool spindle (1) to P₁、P₂The calibration hole (161) is photographed at two positions, which will be at P₁、P₂Holes in the pictures shot at the two positions are combined in one picture, and the deflection angle between the picture edge of the combined picture and the coordinate axis of the machine tool coordinate system is eliminated;

step 2.2: in the established calibration coordinate systemO-X _a Y _a Z _aIn which two designated photographing positions P are set₃、P₄Moving the machine tool spindle (1) to P₃、P₄The calibration hole (161) is photographed at two positions, and the position P is calculated₃、P₄The hole center coordinates of the shot pictures are positioned, and the on-line hole detection is eliminated according to the hole center coordinates of the shot picturesMeasuring a deflection angle between a device for finish machining a hole and a machine tool coordinate system;

step 2.3: in the established calibration coordinate systemO-X _a Y _a Z _aIn-setting specified photographing position P₅Moving the machine tool spindle (1) to P₅The position of the calibration hole (161) is photographed, and the hole center of the calibration hole (161) and the position P are eliminated₅Offset distance of the center point of the picture edge of the picture taken at the position;

step 2.4: in the established calibration coordinate system O-X_aY_aZ_a5 photographing positions P with same X, Y coordinates and different Z coordinates₆、P₇、P₈、P₉、P₁₀Moving the machine tool spindle (1) to P₆、P₇、P₈、P₉、P₁₀And calibrating the laser displacement sensor group by the position, and obtaining a linear relation between the surface coordinate of the skin part (21) to be measured and the measured distance of the laser displacement sensor group by linear fitting.

10. The method for on-line detection and hole finishing of the hole as claimed in claim 7, 8 or 9, wherein the specific steps of the step 3 are: manufacturing a primary hole (211) to be measured by a skin part (21) to be measured in a manual hole manufacturing mode, fixing the skin part (21) to be measured on a tool (20), establishing a measurement coordinate system O-X + by taking a corner point of the tool (20) as an origin of coordinates, taking the horizontal direction to the right as the X + direction and the vertical direction to the upward direction as the Z + direction_sY_sZ_sMeasuring the initial hole (211) to be measured in a measurement coordinate system O-X_sY_sZ_sThe coordinates of the lower hole center and the measurement coordinate system O-X of the primary hole (211) to be measured are calculated_sY_sZ_sThe lower plane normal vector.