CN114346759B - Device for hole online detection and hole finish machining and machining method thereof - Google Patents

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

Info

Publication number
CN114346759B
CN114346759B CN202210230294.1A CN202210230294A CN114346759B CN 114346759 B CN114346759 B CN 114346759B CN 202210230294 A CN202210230294 A CN 202210230294A CN 114346759 B CN114346759 B CN 114346759B
Authority
CN
China
Prior art keywords
hole
coordinate system
measured
calibration
machine tool
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202210230294.1A
Other languages
Chinese (zh)
Other versions
CN114346759A (en
Inventor
李博
朱志坤
姜振喜
黄明聪
李卫东
沈昕
张桂
游莉萍
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chengdu Aircraft Industrial Group Co Ltd
Original Assignee
Chengdu Aircraft Industrial Group Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Chengdu Aircraft Industrial Group Co Ltd filed Critical Chengdu Aircraft Industrial Group Co Ltd
Priority to CN202210230294.1A priority Critical patent/CN114346759B/en
Publication of CN114346759A publication Critical patent/CN114346759A/en
Application granted granted Critical
Publication of CN114346759B publication Critical patent/CN114346759B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Machine Tool Sensing Apparatuses (AREA)
  • Length Measuring Devices By Optical Means (AREA)

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; during primary hole measurement, the hole center coordinates of a 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 photo shooting and image processing calculation, online detection of the primary hole to be measured is achieved, finish machining of the primary hole to be measured is immediately completed by the finish 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 skins are increasingly applied to aircraft appearance parts. The composite skin is usually connected with the metal structural parts inside the aircraft 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. Manual hole making is not only inefficient, but also limited in its accuracy of hole making by the skill level of the worker. 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 site of the manually-made initial hole and the theoretical hole site on the part model, a hole finish machining program cannot be directly programmed by adopting the theoretical hole site. 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.
Consequently, utilize machine vision technique to design a device, with its integration on 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 purpose, the invention comprises the following specific contents:
the invention provides a device for hole online detection and hole finish machining, which is used for being installed on a main shaft of a machine tool, establishing a calibration coordinate system by using a calibration hole on a placed calibration piece, and 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 spindle;
the detection device comprises an image collector and a laser displacement sensor group;
the image collector is arranged on the machine tool spindle, 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 a 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, furthermore, one end of the bracket, which is connected with the spindle 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 supplementing lamp.
The invention also provides a hole online detection and hole finish machining method, which is 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 acquisition, making a calibration hole on a calibration piece, placing the calibration piece with the made 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, takes the vertical direction as the positive direction of the Z axis, takes 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-XaYaZa
And 2, step: in the established calibration coordinate system O-XaYaZaIn the setting of two designated photographing positions P1、P2Moving the machine tool spindle to P1、P2The calibration holes are photographed at two positions to be in P1、P2Holes in the two 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-XaYaZaIn the setting of two designated photographing positions P3、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-XaYaZaIn-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-XaYaZa5 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 according to 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 3, step 3: making a primary hole to be measured on the skin part to be measured by a manual hole making method, fixing the skin part to be measured on a tool, taking corner points of the tool as an origin of coordinates, horizontally rightwards forming an X + direction, vertically upwards forming a Z + direction,establishing a measurement coordinate system O-XsYsZsMeasuring the initial hole to be measured in a measurement coordinate system O-XsYsZsThe coordinates of the center of the lower hole and the measurement coordinate system O-X of the initial hole to be measured are calculatedsYsZsA lower plane normal vector;
and 4, step 4: measuring the initial hole to be measured in the measuring coordinate system O-X obtained according to the step 3sYsZsAnd 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 is used for shooting the calibration hole and is to be in P1、P2The holes in the two pictures taken at the positions are combined in one picture and are calculated through image processing
Figure 631787DEST_PATH_IMAGE001
Corner, wherein
Figure 335212DEST_PATH_IMAGE001
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
Figure 708425DEST_PATH_IMAGE002
Step A3: will be provided with
Figure 182263DEST_PATH_IMAGE003
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
Figure 465476DEST_PATH_IMAGE004
Angle, repeating step A1;
step A4: when in use
Figure 881414DEST_PATH_IMAGE005
Absolute value less than
Figure 617289DEST_PATH_IMAGE006
Is allowed value of
Figure 658932DEST_PATH_IMAGE007
Performing step a 5;
when in use
Figure 796652DEST_PATH_IMAGE005
Absolute value of not less than
Figure 383492DEST_PATH_IMAGE005
Is allowed value of
Figure 341083DEST_PATH_IMAGE007
Let us order
Figure 422303DEST_PATH_IMAGE008
And repeating the step A3 and the step A4 until
Figure 414530DEST_PATH_IMAGE005
Absolute value less than
Figure 437849DEST_PATH_IMAGE005
Is allowed value of
Figure 148316DEST_PATH_IMAGE007
Step A5: record this moment
Figure 604DEST_PATH_IMAGE009
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 combined picture and the Y axis of the machine tool coordinate system and the included angle between the picture edge in the combined 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 P under the calibration coordinate system3、P4Position at P3、P4The position is used for photographing the calibration hole and is calculated through image processing
Figure 237550DEST_PATH_IMAGE010
Figure 41558DEST_PATH_IMAGE011
,
Figure 114687DEST_PATH_IMAGE012
The included angle between the device for hole on-line detection and hole finish machining and the Y axis of a machine tool coordinate system,
Figure 662343DEST_PATH_IMAGE013
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 set;
step B2: order to
Figure 753796DEST_PATH_IMAGE014
Step B3: will be provided with
Figure 994285DEST_PATH_IMAGE015
An X-axis rotation compensation value input to a calibration coordinate system
Figure 787666DEST_PATH_IMAGE016
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
Figure 139013DEST_PATH_IMAGE017
Angle and rotation about the Y axis of the machine coordinate system
Figure 84972DEST_PATH_IMAGE018
Angle, repeat step B1;
step B4:
when in use
Figure 496362DEST_PATH_IMAGE019
Are respectively less than
Figure 278504DEST_PATH_IMAGE019
Is allowed value of
Figure 167963DEST_PATH_IMAGE020
Performing step B5;
when the temperature is higher than the set temperature
Figure 234008DEST_PATH_IMAGE012
Absolute value of not less than
Figure 550720DEST_PATH_IMAGE012
Is allowed value of
Figure 336271DEST_PATH_IMAGE021
At the same time
Figure 29421DEST_PATH_IMAGE013
Absolute value less than
Figure 684393DEST_PATH_IMAGE013
Is allowed value of
Figure 437585DEST_PATH_IMAGE022
Let us order
Figure 194320DEST_PATH_IMAGE023
And repeating the processes of the step B3 and the step B4 until the step B3 and the step B4 are finished
Figure 691160DEST_PATH_IMAGE024
Are respectively less than
Figure 935060DEST_PATH_IMAGE024
Is allowed value of
Figure 967476DEST_PATH_IMAGE025
When the temperature is higher than the set temperature
Figure 336140DEST_PATH_IMAGE012
Absolute value less than
Figure 230147DEST_PATH_IMAGE012
Is allowed value of
Figure 876023DEST_PATH_IMAGE021
At the same time
Figure 705439DEST_PATH_IMAGE013
Absolute value of not less than
Figure 686033DEST_PATH_IMAGE013
Is allowed value of
Figure 524676DEST_PATH_IMAGE022
Let us order
Figure 992435DEST_PATH_IMAGE023
And repeating the processes of the step B3 and the step B4 until the step B3 and the step B4 are finished
Figure 258332DEST_PATH_IMAGE024
Are respectively less than
Figure 460643DEST_PATH_IMAGE024
Is allowed value of
Figure 102977DEST_PATH_IMAGE025
When in use
Figure 457866DEST_PATH_IMAGE012
Absolute value of greater than or equal to
Figure 894663DEST_PATH_IMAGE012
Is allowed value of
Figure 584271DEST_PATH_IMAGE021
At the same time
Figure 764716DEST_PATH_IMAGE013
Absolute value of not less than
Figure 472647DEST_PATH_IMAGE013
Is allowed value of
Figure 80346DEST_PATH_IMAGE022
Let us order
Figure 991670DEST_PATH_IMAGE023
And repeating the processes of the step B3 and the step B4 until the step B3 and the step B4 are finished
Figure 585594DEST_PATH_IMAGE024
Are respectively less than
Figure 39709DEST_PATH_IMAGE024
Is allowed value of
Figure 942943DEST_PATH_IMAGE025
Step B5: record this moment
Figure 216929DEST_PATH_IMAGE026
The value is obtained.
In order to better implement the invention, further, the elimination of the calibrated hole center in step 2 is performed at P5Offset distance of the center point of the photo edge of the position shot photo and calibration of the hole center to the center point of the hole at P5The specific steps of the offset distance of the edge center of the photo taken at the position include:
step C1: positioning the machine tool spindle to P under the calibration coordinate system5After the position, a picture is taken before the calibration hole is coincided with the center of the picture, and the distance between the center of the hole and the center of the picture taken before the calibration hole is coincided with the center of the picture is calculated through image processing
Figure 118938DEST_PATH_IMAGE027
Step C2: order to
Figure 427560DEST_PATH_IMAGE028
Step C3: will be provided with
Figure 501695DEST_PATH_IMAGE029
An X-axis offset compensation value input to a calibration coordinate system
Figure 872765DEST_PATH_IMAGE030
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
Figure 198704DEST_PATH_IMAGE030
And moving along the Y axis of the machine coordinate system
Figure 486466DEST_PATH_IMAGE030
Repeating the step C1;
step C4: the following 4 cases are treated respectively:
when the temperature is higher than the set temperature
Figure 606868DEST_PATH_IMAGE031
Absolute values are respectively less than
Figure 494928DEST_PATH_IMAGE031
Is allowed value of
Figure 358979DEST_PATH_IMAGE032
Go to step C5;
when the temperature is higher than the set temperature
Figure 235668DEST_PATH_IMAGE033
Absolute value of greater than or equal to
Figure 792551DEST_PATH_IMAGE033
Is allowed value of
Figure 403792DEST_PATH_IMAGE034
At the same time
Figure 71534DEST_PATH_IMAGE035
Absolute value less than
Figure 68309DEST_PATH_IMAGE036
Is allowed value of
Figure 796093DEST_PATH_IMAGE037
Let us order
Figure 393165DEST_PATH_IMAGE038
. Repeating the processes of the step C3 and the step C4 until
Figure 599019DEST_PATH_IMAGE031
Absolute values are respectively less than
Figure 715879DEST_PATH_IMAGE031
Is allowed value of
Figure 614565DEST_PATH_IMAGE032
When the temperature is higher than the set temperature
Figure 934819DEST_PATH_IMAGE033
Absolute value less than
Figure 803418DEST_PATH_IMAGE033
Is allowed value of
Figure 915731DEST_PATH_IMAGE034
At the same time
Figure 93640DEST_PATH_IMAGE036
Absolute value of greater than or equal to
Figure 291403DEST_PATH_IMAGE036
Is allowed value of
Figure 963693DEST_PATH_IMAGE039
Let us order
Figure 930512DEST_PATH_IMAGE038
. Repeating the processes of the step C3 and the step C4 until
Figure 780787DEST_PATH_IMAGE040
Absolute values are respectively less than
Figure 465847DEST_PATH_IMAGE031
Is allowed value of
Figure 941827DEST_PATH_IMAGE032
When in use
Figure 763153DEST_PATH_IMAGE033
Absolute value of not less than
Figure 542585DEST_PATH_IMAGE033
Is allowed value of
Figure 183781DEST_PATH_IMAGE034
At the same time
Figure 197874DEST_PATH_IMAGE036
Absolute value of not less than
Figure 139285DEST_PATH_IMAGE036
Is allowed value of
Figure 331363DEST_PATH_IMAGE037
Let us order
Figure 584490DEST_PATH_IMAGE038
. Repeating the processes of the step C3 and the step C4 until
Figure 12060DEST_PATH_IMAGE031
Absolute values are respectively less than
Figure 181879DEST_PATH_IMAGE031
Is allowed value of
Figure 935072DEST_PATH_IMAGE032
Step C5: record this moment
Figure 675494DEST_PATH_IMAGE041
The value is obtained.
In order to better implement the present invention, further, P in step 21、P2Y, Z coordinates of (a) 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 proposed apparatus;
fig. 2 is an isometric view of the proposed device;
fig. 3 is another isometric view of the proposed device of the present invention;
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 αnA photograph taken before a corner;
FIG. 11 shows a cleaning device αnA photograph taken after the corner;
FIG. 12 shows a cleaning device betanIn front of cornerA hole center H pixel coordinate schematic diagram;
FIG. 13 shows a cleaning device γnA schematic diagram of W pixel coordinates of a hole center before an angle;
FIG. 14 shows a cleaning device betan、γnHole 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 diagram of a reaming operation when the machining tool is a reamer;
FIG. 20 is a first part of a flow chart of the apparatus according to 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 of the embodiments, and therefore should not be considered as limiting the scope of protection. All other embodiments, which can be obtained by a worker skilled in the art based on the embodiments of the present invention without making creative efforts, shall fall within the protection 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 machining 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 support 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 arranged 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: finish machining cutter 5, light filling lamp 6, first laser displacement sensor 10, second laser displacement sensor 11, third laser displacement sensor 12, telecentric lens 13, support 14, industry camera 15 to and be used for linking firmly first coupling screw 2, second coupling screw 3, third coupling screw 4, first locking screw 7, second locking screw 8, third locking screw 9 of each subassembly.
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 an inner side surface light emitting surface 614 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.
Furthermore, 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-thread 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 of the light emitting surface 614 is in a range of 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-XaYaZa
And 2, step: moving the machine tool spindle 1 to the established calibration coordinate system O-XaYaZaP in (1)1(-L,0,Za1)、(-L+5,0,Za1)P2Two positions, L being the horizontal distance between the axis of the machine spindle 1 and the axis of the telecentric lens 13, at P1、P2The calibration holes 161 are 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, and the angle alpha between the edge of a picture 17W taken before the angle alpha of the clearing device and the X axis of the machine coordinate system is alphanRotating the calibration coordinate system by-alpha around the Z axis of the machine tool coordinate systemkAngle, αknTo offset alpha of the device for hole on-line detection and hole finish machiningnAngle up to alphanAbsolute value less than alphanIs allowed value of
Figure 782122DEST_PATH_IMAGE042
Record α at this timekA value;
and step 3: moving the machine tool spindle 1 to the established calibration coordinate system O-XaYaZaP in (1)3(-L,0,Za2)、P4(-L,0,h1+Za2) 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 betanThe included angle between the device for hole on-line detection and hole finish machining and the X axis of the machine tool coordinate system is gamma n, and the calibration coordinate system is rotated by beta around the X axis of the machine tool coordinate systemkAngle, betaknTo offset beta of the device for hole on-line detection and hole finish machiningnAngle, rotating the calibration coordinate system around the X-axis of the machine coordinate system by-gammak,γknTo offset gamma of the device for hole on-line detection and hole finish machiningnAngle up to betan、γnAre respectively less than betan、γnIs allowed value of
Figure 166967DEST_PATH_IMAGE043
Record the time of this
Figure 215694DEST_PATH_IMAGE044
A value;
and 4, step 4: moving the machine tool spindle 1 to the established calibration coordinate system O-XaYaZaP in (1)5(-L,0,Za3) Position at P5The position of the calibration hole 161 is photographed to obtain a picture 19 taken before the calibration hole coincides with the center of the picture, and the picture is passedThe process calculates the distance between the center of the hole and the midpoint of the edge of the 19W picture
Figure 584359DEST_PATH_IMAGE045
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
Figure 727633DEST_PATH_IMAGE046
Moving the calibration coordinate system along the X axis of the machine coordinate system
Figure 357197DEST_PATH_IMAGE047
Figure 452192DEST_PATH_IMAGE048
Eliminating in the picture
Figure 652361DEST_PATH_IMAGE045
Shifting the calibration coordinate system along the Y axis of the machine tool coordinate system by a shift distance
Figure 84479DEST_PATH_IMAGE049
Figure 709495DEST_PATH_IMAGE050
In erasing photos
Figure 349293DEST_PATH_IMAGE046
Is offset by a distance of
Figure 426971DEST_PATH_IMAGE051
Absolute values are respectively less than
Figure 928359DEST_PATH_IMAGE051
Is allowed value of
Figure 17669DEST_PATH_IMAGE052
Recording the time
Figure 454466DEST_PATH_IMAGE053
A value;
and 5: keeping the machine tool spindle 1 in calibrationX, Y coordinate under the coordinate system is unchanged, the value of Z coordinate is changed, 5P X, Y with same coordinate and different Z coordinate are obtained6、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, rotating the measuring coordinate system around the Z axis of the machine tool coordinate system and recorded in the step 2
Figure 144074DEST_PATH_IMAGE054
Angle, rotating the X-axis of the measuring coordinate system around the X-axis of the machine coordinate system recorded in step 3
Figure 58940DEST_PATH_IMAGE055
Angle, rotating the Y-axis of the measuring coordinate system around the Y-axis of the machine coordinate system recorded in step 3
Figure 772730DEST_PATH_IMAGE056
Angle, during the course of step four
Figure 505063DEST_PATH_IMAGE057
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
Figure 557333DEST_PATH_IMAGE047
Shifting the measuring coordinate system by the distance recorded in step 4 along the Y axis of the machine coordinate system
Figure 151256DEST_PATH_IMAGE047
An offset distance;
and 7: moving the machine tool spindle 1, moving the telecentric lens 13 above the initial hole 211 to be detected of the skin part 21 to be detected, and sending the first laser displacement sensor 10, the second laser displacement sensor 11 and the third laser displacement sensor 12 to the skin part 21 to be detectedLaser is shot to form light spots, the initial hole 211 to be detected and the formed light spots are photographed, and hole center coordinates P (x, y, z) coordinates and hole normal vectors in a measurement coordinate system are calculated by combining the initial hole 211 picture to be detected, the light spot picture, the image processing technology and the linear relation obtained in the step 5
Figure 605371DEST_PATH_IMAGE058
Completing the measurement of the primary hole 211 to be measured;
and 8: calculating the hole center coordinate P of the initial hole 211 to be detected and the normal vector of the hole by using the step 7
Figure 243026DEST_PATH_IMAGE059
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 at the positions, the holes in the two pictures are combined into one picture 17, and the hole is calculated through image processing
Figure 48171DEST_PATH_IMAGE060
An angle;
step 2.2:
Figure 944320DEST_PATH_IMAGE002
step 2.3: will be provided with
Figure 987363DEST_PATH_IMAGE003
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
Figure 61498DEST_PATH_IMAGE004
Angle, repeating the step 2.1;
step 2.4: when the temperature is higher than the set temperature
Figure 822781DEST_PATH_IMAGE005
Absolute value less than
Figure 24086DEST_PATH_IMAGE006
Is allowed value of
Figure 187214DEST_PATH_IMAGE007
And (5) performing a step 2.5;
when the temperature is higher than the set temperature
Figure 432251DEST_PATH_IMAGE005
Absolute value of greater than or equal to
Figure 946409DEST_PATH_IMAGE005
Is allowed value of
Figure 918782DEST_PATH_IMAGE007
Let us order
Figure 795471DEST_PATH_IMAGE008
And repeating the step 2.3 and the step 2.4 until the step
Figure 352354DEST_PATH_IMAGE005
Absolute value less than
Figure 963595DEST_PATH_IMAGE005
Is allowed value of
Figure 224812DEST_PATH_IMAGE007
Step 2.5: record this moment
Figure 96953DEST_PATH_IMAGE009
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 of the calibration hole is shot, and the image processing calculation is carried out
Figure 198639DEST_PATH_IMAGE010
Figure 156231DEST_PATH_IMAGE011
Step 3.2: order to
Figure 486718DEST_PATH_IMAGE014
Step 3.3: will be provided with
Figure 354311DEST_PATH_IMAGE015
An X-axis rotation compensation value input to a calibration coordinate system
Figure 987418DEST_PATH_IMAGE016
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
Figure 822518DEST_PATH_IMAGE017
Angle and rotation about the Y axis of the machine coordinate system
Figure 566483DEST_PATH_IMAGE018
Angle, repeating the step 3.1;
step 3.4:
when in use
Figure 148904DEST_PATH_IMAGE019
Are respectively less than
Figure 343125DEST_PATH_IMAGE019
Is allowed value of
Figure 275309DEST_PATH_IMAGE020
And performing the step 3.5;
when in use
Figure 462445DEST_PATH_IMAGE012
Absolute value of greater than or equal to
Figure 429264DEST_PATH_IMAGE012
Is allowed value of
Figure 528808DEST_PATH_IMAGE021
At the same time
Figure 213867DEST_PATH_IMAGE013
Absolute value less than
Figure 440580DEST_PATH_IMAGE013
Is allowed value of
Figure 261905DEST_PATH_IMAGE022
Let us order
Figure 532350DEST_PATH_IMAGE023
And repeating the processes of the step 3.3 and the step 3.4 until
Figure 439126DEST_PATH_IMAGE024
Are respectively less than
Figure 968065DEST_PATH_IMAGE024
Is allowed value of
Figure 643897DEST_PATH_IMAGE025
When in use
Figure 350822DEST_PATH_IMAGE012
Absolute value less than
Figure 498556DEST_PATH_IMAGE012
Is allowed value of
Figure 67072DEST_PATH_IMAGE021
At the same time
Figure 862990DEST_PATH_IMAGE013
Absolute value of not less than
Figure 740816DEST_PATH_IMAGE013
Is allowed value of
Figure 199348DEST_PATH_IMAGE022
Let us order
Figure 696188DEST_PATH_IMAGE023
And repeating the processes of the step 3.3 and the step 3.4 until
Figure 471246DEST_PATH_IMAGE024
Are respectively less than
Figure 395340DEST_PATH_IMAGE024
Is allowed value of
Figure 639371DEST_PATH_IMAGE025
When in use
Figure 674323DEST_PATH_IMAGE012
Absolute value of not less than
Figure 303887DEST_PATH_IMAGE012
Is allowed value of
Figure 398882DEST_PATH_IMAGE021
At the same time
Figure 363165DEST_PATH_IMAGE013
Absolute value of not less than
Figure 201808DEST_PATH_IMAGE013
Is allowed value of
Figure 685879DEST_PATH_IMAGE022
Let us order
Figure 827141DEST_PATH_IMAGE023
And repeating the processes of the step 3.3 and the step 3.4 until the
Figure 639239DEST_PATH_IMAGE024
Are respectively less than
Figure 140628DEST_PATH_IMAGE024
Is allowed value of
Figure 620151DEST_PATH_IMAGE025
Step 3.5: recording of this time
Figure 424990DEST_PATH_IMAGE026
The value is obtained.
Further, the step 4 specifically includes the following steps:
step 4.1: positioning the machine tool spindle to P under the 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
Figure 989964DEST_PATH_IMAGE027
Step 4.2: order to
Figure 295043DEST_PATH_IMAGE028
Step 4.3: will be provided with
Figure 894652DEST_PATH_IMAGE029
An X-axis offset compensation value input to a calibration coordinate system
Figure 377717DEST_PATH_IMAGE030
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
Figure 23462DEST_PATH_IMAGE030
And moving along the Y axis of the machine coordinate system
Figure 7598DEST_PATH_IMAGE030
And repeating the process of the step 4.1;
step 4.4: the following 4 cases are treated respectively:
1) when in use
Figure 914243DEST_PATH_IMAGE031
Absolute values are respectively less than
Figure 817477DEST_PATH_IMAGE031
Is allowed value of
Figure 91464DEST_PATH_IMAGE032
And 4.5, performing step;
2) when in use
Figure 722034DEST_PATH_IMAGE033
Absolute value of not less than
Figure 155290DEST_PATH_IMAGE033
Is allowed value of
Figure 104791DEST_PATH_IMAGE034
At the same time
Figure 7019DEST_PATH_IMAGE036
Absolute value less than
Figure 67379DEST_PATH_IMAGE036
Is allowed value of
Figure 620720DEST_PATH_IMAGE037
Let us order
Figure 741123DEST_PATH_IMAGE038
. Repeating the processes of the step 4.3 and the step 4.4 until the
Figure 363603DEST_PATH_IMAGE031
Absolute values are respectively less than
Figure 227654DEST_PATH_IMAGE031
Is allowed value of
Figure 635501DEST_PATH_IMAGE032
3) When in use
Figure 661226DEST_PATH_IMAGE033
Absolute value less than
Figure 272467DEST_PATH_IMAGE033
Is allowed value of
Figure 940209DEST_PATH_IMAGE034
At the same time
Figure 202563DEST_PATH_IMAGE036
Absolute value of not less than
Figure 664768DEST_PATH_IMAGE036
Is allowed value of
Figure 267700DEST_PATH_IMAGE039
Let us order
Figure 739133DEST_PATH_IMAGE038
. Repeating the processes of the step 4.3 and the step 4.4 until the
Figure 855993DEST_PATH_IMAGE040
Absolute values are respectively less than
Figure 489100DEST_PATH_IMAGE031
Is allowed value of
Figure 74933DEST_PATH_IMAGE032
4) When the temperature is higher than the set temperature
Figure 84477DEST_PATH_IMAGE033
Absolute value of greater than or equal to
Figure 790265DEST_PATH_IMAGE033
Is allowed value of
Figure 233754DEST_PATH_IMAGE034
At the same time
Figure 900358DEST_PATH_IMAGE036
Absolute value of not less than
Figure 838228DEST_PATH_IMAGE036
Is allowed value of
Figure 539467DEST_PATH_IMAGE037
Let us order
Figure 655322DEST_PATH_IMAGE038
. Repeating the processes of step 4.3 and step 4.4 until
Figure 74802DEST_PATH_IMAGE031
Absolute values are respectively less than
Figure 550783DEST_PATH_IMAGE031
Is allowed value of
Figure 372108DEST_PATH_IMAGE032
Step 4.5: recording of this time
Figure 157399DEST_PATH_IMAGE041
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; in step 5P6、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.
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.
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;
furthermore, the 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;
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 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.
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 spindle 1. The calibration piece 16 is provided with a calibration hole 161, and the calibration piece 16 is placed on the worktable of the machine tool. 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 systemaYaZa
Step two: cleaning device
Figure 64175DEST_PATH_IMAGE061
Corner
Sequentially moving a machine tool spindle 1 to a calibration coordinate system O-XaYaZaLower (-L, 0, Z)a1)、(-L+5,0,Za1) Two positions, and the calibration holes 161 are 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
Figure 343847DEST_PATH_IMAGE062
At this time
Figure 19679DEST_PATH_IMAGE062
The angle is:
Figure 477336DEST_PATH_IMAGE063
(II) order
Figure 871409DEST_PATH_IMAGE064
(III) preparing
Figure 689192DEST_PATH_IMAGE065
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
Figure 593432DEST_PATH_IMAGE066
Angle for offsetting device
Figure 81045DEST_PATH_IMAGE067
And (5) repeating the process (I).
(IV), the treatment is carried out according to the following 2 cases:
when in use
Figure 821468DEST_PATH_IMAGE067
Absolute value less than
Figure 318308DEST_PATH_IMAGE067
Is allowed value of
Figure 844099DEST_PATH_IMAGE068
Jumping to (V);
when in use
Figure 768192DEST_PATH_IMAGE067
Absolute value of not less than
Figure 730332DEST_PATH_IMAGE067
Is allowed value of
Figure 156764DEST_PATH_IMAGE068
Let us order
Figure 661694DEST_PATH_IMAGE069
Repeating the processes (III) and (IV) until the time when
Figure 881323DEST_PATH_IMAGE067
Absolute value less than
Figure 471704DEST_PATH_IMAGE067
Is allowed value of
Figure 185714DEST_PATH_IMAGE068
(V) recording the current
Figure 669784DEST_PATH_IMAGE070
The value is obtained.
Step three: cleaning device
Figure 935681DEST_PATH_IMAGE071
Corner sum
Figure 387260DEST_PATH_IMAGE072
Corner
Respectively (I) below (-L, 0, Z) in a calibration coordinate system O-XaYaZaa2)、(-L,0,h1+Za2) 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 angle between the device and the Y axis of the machine tool coordinate system is
Figure 764014DEST_PATH_IMAGE073
At this time
Figure 368171DEST_PATH_IMAGE073
The angle is:
Figure 539389DEST_PATH_IMAGE074
the W pixel coordinate of the hole center is W respectively 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
Figure 979729DEST_PATH_IMAGE075
At this time
Figure 160175DEST_PATH_IMAGE075
The angle is:
Figure 618838DEST_PATH_IMAGE076
(II) making
Figure 226537DEST_PATH_IMAGE077
(III) preparing
Figure 652708DEST_PATH_IMAGE078
Input to a calibration coordinate system O-XaYaZaX-axis rotation compensation value of
Figure 495899DEST_PATH_IMAGE079
Input to a calibration coordinate system O-XaYaZaY-axis rotation compensation value of (1) to make O-XaYaZaRotating around X axis of machine coordinate system
Figure 684435DEST_PATH_IMAGE080
Angle and rotation about the Y axis of the machine coordinate system
Figure 338401DEST_PATH_IMAGE081
Angle to counteract device
Figure 877967DEST_PATH_IMAGE082
Corner and
Figure 524849DEST_PATH_IMAGE083
and (4) an angle. Repeating the process (I);
(IV), the treatment is carried out according to the following 4 cases:
when in use
Figure 833470DEST_PATH_IMAGE084
Are respectively less than
Figure 156873DEST_PATH_IMAGE084
Is allowed value of
Figure 918156DEST_PATH_IMAGE085
Jumping to (V);
when the temperature is higher than the set temperature
Figure 368729DEST_PATH_IMAGE086
Absolute value of greater than or equal to
Figure 531857DEST_PATH_IMAGE086
Is allowed value of
Figure 793205DEST_PATH_IMAGE087
At the same time
Figure 776204DEST_PATH_IMAGE088
Absolute value less than
Figure 764889DEST_PATH_IMAGE088
Is allowed value of
Figure 48103DEST_PATH_IMAGE089
Let us order
Figure 719168DEST_PATH_IMAGE090
Repeating the processes (III) and (IV) until
Figure 455042DEST_PATH_IMAGE091
Are respectively small in absolute valueIn the process
Figure 247418DEST_PATH_IMAGE091
Is allowed value of
Figure 385138DEST_PATH_IMAGE092
When in use
Figure 722710DEST_PATH_IMAGE086
Absolute value less than
Figure 804935DEST_PATH_IMAGE086
Is allowed value of
Figure 10789DEST_PATH_IMAGE087
At the same time
Figure 376917DEST_PATH_IMAGE088
Absolute value of greater than or equal to
Figure 275603DEST_PATH_IMAGE088
Is allowed value of
Figure 110704DEST_PATH_IMAGE089
Let us order
Figure 854669DEST_PATH_IMAGE093
Repeating the processes (III) and (IV) until
Figure 842347DEST_PATH_IMAGE091
Are respectively less than
Figure 646355DEST_PATH_IMAGE091
Is allowed value of
Figure 968752DEST_PATH_IMAGE092
When in use
Figure 250829DEST_PATH_IMAGE086
Absolute value of greater than or equal to
Figure 591549DEST_PATH_IMAGE086
Is allowed value of
Figure 832038DEST_PATH_IMAGE087
At the same time
Figure 110572DEST_PATH_IMAGE088
Absolute value of greater than or equal to
Figure 337286DEST_PATH_IMAGE088
Is allowed value of
Figure 424190DEST_PATH_IMAGE089
Let us order
Figure 694635DEST_PATH_IMAGE094
Repeating the processes (III) and (IV) until
Figure 601411DEST_PATH_IMAGE091
Are respectively less than
Figure 864771DEST_PATH_IMAGE091
Is allowed value of
Figure 806182DEST_PATH_IMAGE092
(V) recording the result
Figure 513107DEST_PATH_IMAGE095
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-XaYaZaLower (-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 of the picture W being
Figure 907179DEST_PATH_IMAGE096
The distance between the center of the hole and the middle point of the edge H of the picture is
Figure 210115DEST_PATH_IMAGE097
Calculating the distance between the center of the hole and the center of the photograph 19 by image processing
Figure 599508DEST_PATH_IMAGE098
(II) order
Figure 352701DEST_PATH_IMAGE099
(III) subjecting
Figure 336532DEST_PATH_IMAGE100
An X-axis offset compensation value input to a calibration coordinate system
Figure 20323DEST_PATH_IMAGE101
The Y-axis offset compensation value input to the calibration coordinate system is calculated to be O-XaYaZaMoving along the X-axis of the machine coordinate system
Figure 779069DEST_PATH_IMAGE102
And moving along the Y-axis of the machine coordinate system
Figure 562218DEST_PATH_IMAGE103
For clearing from the picture
Figure 665303DEST_PATH_IMAGE104
An offset distance. Repeating the process (I);
(IV) the following 4 cases are respectively treated:
when in use
Figure 575621DEST_PATH_IMAGE105
Absolute values are respectively less than
Figure 205186DEST_PATH_IMAGE105
Is allowed value of
Figure 34601DEST_PATH_IMAGE106
Jumping to (V);
when in use
Figure 264463DEST_PATH_IMAGE107
Absolute value of greater than or equal to
Figure 837527DEST_PATH_IMAGE107
Is allowed value of
Figure 321598DEST_PATH_IMAGE108
At the same time
Figure 587494DEST_PATH_IMAGE109
Absolute value less than
Figure 274959DEST_PATH_IMAGE109
Is allowed value of
Figure 41926DEST_PATH_IMAGE110
Let us order
Figure 521449DEST_PATH_IMAGE111
. Repeating the processes of the steps (III) and (IV) until
Figure 72428DEST_PATH_IMAGE105
Absolute values are respectively less than
Figure 637402DEST_PATH_IMAGE105
Is allowed value of
Figure 942481DEST_PATH_IMAGE106
When in use
Figure 276511DEST_PATH_IMAGE107
Absolute value less than
Figure 759576DEST_PATH_IMAGE107
Is allowed value of
Figure 811845DEST_PATH_IMAGE108
At the same time
Figure 389457DEST_PATH_IMAGE109
Absolute value of not less than
Figure 217474DEST_PATH_IMAGE109
Is allowed value of
Figure 996074DEST_PATH_IMAGE110
Let us order
Figure 660273DEST_PATH_IMAGE112
. Repeating the processes of the steps (III) and (IV) until
Figure 916942DEST_PATH_IMAGE105
Absolute values are respectively less than
Figure 100930DEST_PATH_IMAGE105
Is allowed value of
Figure 50432DEST_PATH_IMAGE106
When the temperature is higher than the set temperature
Figure 936348DEST_PATH_IMAGE107
Absolute value of greater than or equal to
Figure 262287DEST_PATH_IMAGE107
Is allowed value of
Figure 533737DEST_PATH_IMAGE108
At the same time
Figure 778774DEST_PATH_IMAGE109
Absolute value of not less than
Figure 292932DEST_PATH_IMAGE109
Is allowed value of
Figure 32349DEST_PATH_IMAGE110
Let us order
Figure 784404DEST_PATH_IMAGE113
. Repeating the processes of the steps (III) and (IV) until
Figure 465921DEST_PATH_IMAGE105
Absolute values are respectively less than
Figure 201796DEST_PATH_IMAGE105
Is allowed value of
Figure 243439DEST_PATH_IMAGE106
(V) recording the current
Figure 115580DEST_PATH_IMAGE114
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.:
Figure 702419DEST_PATH_IMAGE115
in this state, the device can measure the maximum hole making deviation of the calibrated hole 161
Figure 535377DEST_PATH_IMAGE116
The maximum value is reached:
Figure 741231DEST_PATH_IMAGE117
Figure 858091DEST_PATH_IMAGE118
wherein R represents the hole radius, provided that the hole making deviation is located
Figure 756777DEST_PATH_IMAGE119
Within range, the device can take a complete picture of the hole.
Step five: laser displacement sensor set calibration
And (I) assuming that the appearance tolerance of the skin part 21 to be measured is +/-T. Keeping the machine tool spindle 1 in the calibration coordinate system O-XaYaZaAnd the following X = -L, Y =0, the laser displacement sensor 11 is calibrated at the Z1=1.5T, Z2=0.75T, Z3=0, and the Z4= -0.75T, Z5= -1.5T positions in sequence, and the distances between the laser displacement sensor 11 and the calibration part 16 are measured to be L1, L2, L3, L4 and L5 respectively.
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:
Figure 327565DEST_PATH_IMAGE120
(II) similarly, repeating the process (I) for 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:
Figure 461743DEST_PATH_IMAGE121
(III) similarly, repeating the process (I) for the laser displacement sensor 12 to obtain a linear relation between the Z coordinate of the surface of the skin part 21 to be measured and the distance L12 measured by the laser displacement sensor 12:
Figure 574056DEST_PATH_IMAGE122
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 establishedsYsZs. And moving the machine tool spindle 1 to enable the telecentric lens 13 to be positioned above the primary hole 211 to be measured.
(I) by the center point of the bottom surface of the lensThe coordinate origin is taken as the lens axis, the Z axis is taken as the lens axis, the X + direction is parallel to the X + direction of the machine tool coordinate system, and the camera coordinate O-XcYcZc is established. 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
Figure 253430DEST_PATH_IMAGE123
Z-axis rotation compensation value input to O-XSYsZs, of procedure (V) in step three
Figure 185614DEST_PATH_IMAGE124
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
Figure 857904DEST_PATH_IMAGE125
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, namely a first light spot 101, a second light spot 111 and a third light spot 121. With short exposure time
Figure 824723DEST_PATH_IMAGE126
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:
Figure 907954DEST_PATH_IMAGE127
and calculating the Z coordinates of the three light spots (namely the surface of the skin part 21 to be measured) under a 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 in the camera coordinate system O-XcYcZc are:
Figure 717647DEST_PATH_IMAGE128
the three points described above are used to fit a plane and obtain the plane equation in the camera coordinate system O-XcYcZc:
Figure 803415DEST_PATH_IMAGE129
(III) with a long exposure time
Figure 500107DEST_PATH_IMAGE130
A picture
18 showing the initial hole 211 to be detected is taken, and the hole center coordinates under the camera coordinate system O-XcYcZc are obtained through image processing calculation
Figure 911496DEST_PATH_IMAGE131
Substituting it into the plane equation
Figure 942906DEST_PATH_IMAGE132
Calculating the hole center Z coordinate of the primary hole 211 to be detected under the camera coordinate system O-XcYcZc:
Figure 832365DEST_PATH_IMAGE133
then, the complete coordinates of the hole center of the initial hole 211 to be measured in the camera coordinate system O-XcYcZc are:
Figure 882098DEST_PATH_IMAGE134
(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:
Figure 323444DEST_PATH_IMAGE135
fitting a plane using the three points and obtaining a plane equation under the measurement coordinate system O-XSYsZs:
Figure 717516DEST_PATH_IMAGE136
normal vector of the plane
Figure 286032DEST_PATH_IMAGE137
Comprises the following steps:
Figure 816370DEST_PATH_IMAGE138
normal vector of plane
Figure 694196DEST_PATH_IMAGE137
I.e. the normal vector of the initial hole 211 to be measured.
(V) converting the space coordinates to obtain the coordinate value of the hole center of the primary hole 211 to be measured in the camera coordinate system O-XcYcZc
Figure 683887DEST_PATH_IMAGE139
Conversion to coordinate values under the measurement coordinate system O-XSZs:
Figure 915148DEST_PATH_IMAGE139
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
Figure 690206DEST_PATH_IMAGE140
Figure 348720DEST_PATH_IMAGE141
Step seven: finish machining of the preliminary hole 211 to be measured
Using the hole center coordinate P of the initial hole 211 to be measured and the normal vector of the hole
Figure 592751DEST_PATH_IMAGE142
And the finish machining cutter 5 is aligned to the initial hole 211 to be measured, and then hole finish machining can be completed.
In order to better implement the invention, it is further advantageous,
Figure 627703DEST_PATH_IMAGE143
allowable value of angle
Figure 257268DEST_PATH_IMAGE144
In order to better implement the present invention, it is further,
Figure 352263DEST_PATH_IMAGE145
allowable value of angle
Figure 322405DEST_PATH_IMAGE146
In order to better implement the present invention, it is further,
Figure 20102DEST_PATH_IMAGE147
allowable value of angle
Figure 645119DEST_PATH_IMAGE148
In order to better implement the invention, it is further advantageous,
Figure 786381DEST_PATH_IMAGE149
is allowed value of
Figure 864059DEST_PATH_IMAGE150
In order to better implement the invention, it is further advantageous,
Figure 365447DEST_PATH_IMAGE151
is allowed value of
Figure 844970DEST_PATH_IMAGE152
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 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 cured. The method is adopted to realize the reliable connection between the bracket 14 and the double telecentric lens 13. 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 are uniformly distributed on the side surface of the conical structure 61, namely a fourth through hole 611, a fifth through hole 612 and a sixth through hole 613. 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 method is adopted to realize the reliable connection between the light supplement lamp 6 and the double telecentric lens 13.
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 degrees, and the light emitting surface 614 emits a light beam 615 to the skin part 21 to be measured, so that adverse effects caused by various ambient lights are shielded, wherein the taper design of the light emitting surface 614 ensures that the light beam 615 can be received in an area covered by the light supplement lamp 6.
Referring to fig. 2 and 9, the reamer 5 is mounted on the lower end of the machine 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 supplementing lamp 6 and the laser displacement sensor group can not collide with the skin part 21 to be measured 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, 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
Figure 655669DEST_PATH_IMAGE153
Corner
Referring to fig. 10, the spindle 1 of the machine tool is moved to two positions (-100 mm, 0, 5 mm), (-95 mm, 0, 5 mm) under 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
Figure 220642DEST_PATH_IMAGE154
At this time
Figure 994563DEST_PATH_IMAGE155
The angle is:
Figure 469538DEST_PATH_IMAGE156
(II) making
Figure 77237DEST_PATH_IMAGE157
(III) subjecting
Figure 988561DEST_PATH_IMAGE158
Inputting the Z-axis rotation compensation value of the calibration coordinate system O-XaYaZa to rotate the calibration coordinate system by 4.65 degrees around the Z axis of the machine tool coordinate system for counteracting the device
Figure 707119DEST_PATH_IMAGE159
And (4) an angle. Repeating the process (I) to determine the time
Figure 269556DEST_PATH_IMAGE159
The angle is:
Figure 172790DEST_PATH_IMAGE160
(IV) reacting
Figure 712355DEST_PATH_IMAGE161
(iii) repeating (III) to measure this time
Figure 109970DEST_PATH_IMAGE159
The angle is:
Figure 418591DEST_PATH_IMAGE162
(V) recording the result
Figure 492727DEST_PATH_IMAGE163
At this point, the cleared device can be approximated
Figure 988430DEST_PATH_IMAGE159
And (4) an angle. Referring to fig. 11, in a photograph 18 taken by the apparatus thereafter, the side W is parallel to the X-axis of the machine coordinate system and the side H is parallel to the Y-axis of the machine coordinate system. The device can only complete the three-step cleaning device in this state
Figure 953850DEST_PATH_IMAGE164
Corner and
Figure 116978DEST_PATH_IMAGE165
the task of the corner.
Step three: cleaning device
Figure 830856DEST_PATH_IMAGE164
Corner and
Figure 610593DEST_PATH_IMAGE165
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
Figure 84431DEST_PATH_IMAGE164
At this time
Figure 226699DEST_PATH_IMAGE164
The angle is:
Figure 783583DEST_PATH_IMAGE166
referring to fig. 11 and 13, as 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 included angle between the device and the X axis of the machine coordinate system is W2=1756 pixel and W3=1712 pixel
Figure 887499DEST_PATH_IMAGE167
At this time
Figure 289662DEST_PATH_IMAGE167
The angle is:
Figure 552016DEST_PATH_IMAGE168
(II) making
Figure 279801DEST_PATH_IMAGE169
(III) subjecting
Figure 112758DEST_PATH_IMAGE170
An X-axis rotation compensation value input to a calibration coordinate system
Figure 584191DEST_PATH_IMAGE171
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
Figure 435472DEST_PATH_IMAGE172
Angle and rotation about the Y axis of the machine coordinate system
Figure 68579DEST_PATH_IMAGE173
Angle to counteract device
Figure 152947DEST_PATH_IMAGE174
Corner and
Figure 21546DEST_PATH_IMAGE175
and (4) an angle. Repeating the process (I), measuring
Figure 868280DEST_PATH_IMAGE174
Corner and
Figure 813233DEST_PATH_IMAGE175
the angles are respectively:
Figure 745417DEST_PATH_IMAGE176
(IV) order
Figure 683286DEST_PATH_IMAGE177
Repeating the process of (III) to measure
Figure 650105DEST_PATH_IMAGE178
Corner sum
Figure 998916DEST_PATH_IMAGE179
Angle:
Figure 683975DEST_PATH_IMAGE180
in which case it can be considered approximately that of the device
Figure 159956DEST_PATH_IMAGE181
Corner sum
Figure 981281DEST_PATH_IMAGE175
The corners have all been cleared. Referring to fig. 14, after which the device takes pictures at different heights, the hole center W-H coordinates will remain unchanged, i.e.:
Figure 2458DEST_PATH_IMAGE182
(V) recording the current
Figure 909234DEST_PATH_IMAGE183
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, 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, and then a picture 19 is taken, wherein the distance between the center of the hole and the middle point of the edge W of the picture is
Figure 923326DEST_PATH_IMAGE184
The distance between the center of the hole and the midpoint of the edge H of the picture is
Figure 599158DEST_PATH_IMAGE185
The distance between the center of the hole and the center of the photograph 19 is calculated by image processing:
Figure 555351DEST_PATH_IMAGE186
taking the calibrated hole 161 as an example, the maximum hole making deviation which can be measured by the device at present
Figure 949423DEST_PATH_IMAGE187
Comprises the following steps:
Figure 767206DEST_PATH_IMAGE188
only the drilling deviation is located
Figure 563124DEST_PATH_IMAGE187
Within range, the device can take a complete picture of the hole.
(II) order
Figure 926103DEST_PATH_IMAGE189
(III) subjecting
Figure 666526DEST_PATH_IMAGE190
An X-axis offset compensation value input to a calibration coordinate system
Figure 163367DEST_PATH_IMAGE191
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
Figure 193551DEST_PATH_IMAGE190
And moving along the Y-axis of the machine coordinate system
Figure 852066DEST_PATH_IMAGE191
. 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 a 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:
Figure 345364DEST_PATH_IMAGE192
taking the calibrated hole 161 as an example, the maximum hole making deviation which can be measured by the device at present
Figure 380316DEST_PATH_IMAGE193
Comprises the following steps:
Figure 495034DEST_PATH_IMAGE194
only the deviation of the drilling is located
Figure 449083DEST_PATH_IMAGE193
Within range, the device can take a complete picture of the hole.
(IV) making:
Figure 39465DEST_PATH_IMAGE195
. The process of (iii) is repeated to calculate the distance between the center of the hole and the center of the photograph 19:
Figure 252009DEST_PATH_IMAGE196
by now it can be approximated that the calibration hole 161 is already located in the center of the photograph, i.e.:
Figure 877026DEST_PATH_IMAGE197
in this state, the device can measure the maximum hole making deviation of the calibrated hole 161
Figure 1976DEST_PATH_IMAGE198
The maximum value is reached:
Figure 955020DEST_PATH_IMAGE199
as long as the drilling deviation is located
Figure 66195DEST_PATH_IMAGE198
Within range, the device can take a complete picture of the hole.
(V) recording the result
Figure 670352DEST_PATH_IMAGE200
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:
Figure 107150DEST_PATH_IMAGE201
when Z2=0.75mm, the laser displacement sensor 11 measures the distance from the index piece 16:
Figure 46025DEST_PATH_IMAGE202
when Z3=0, the laser displacement sensor 11 measures the distance from the index piece 16:
Figure 413421DEST_PATH_IMAGE203
when Z4= -0.75mm, the laser displacement sensor 11 measures the distance to the index piece 16
Figure 873351DEST_PATH_IMAGE204
When Z5= -1.5mm, the laser displacement sensor 11 measures the distance to the index piece 16
Figure 605683DEST_PATH_IMAGE205
Performing linear fitting on (206.12, 1.5), (204.42, 0.75), (203.08, 0), (201.60, -0.75), (200.08, -1.5) by using 5 real number pairs 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:
Figure 392374DEST_PATH_IMAGE206
(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:
Figure 251876DEST_PATH_IMAGE207
(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:
Figure 705991DEST_PATH_IMAGE208
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 made in the skin part 21 to be measured by a manual hole making method, and the skin part 21 to be measured is fixed to the tool 20. And establishing a measurement coordinate system O-XsYsZs as shown in the figure, and moving the machine tool spindle 1 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 central point of the bottom surface of the lens as the coordinate origin, 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, a corner point of the tooling 20 is used as an origin of coordinates, a vertical direction is a Z + direction, the X + direction is parallel to a machine tool coordinate system X + direction, and a measurement coordinate system O-XsYsZs is established. Subjecting process (V) in step two
Figure 609225DEST_PATH_IMAGE209
Z-axis rotation compensation value input to O-XSYsZs, of procedure (V) in step three
Figure 991534DEST_PATH_IMAGE210
Figure 513782DEST_PATH_IMAGE211
Respectively inputting X-axis rotation compensation value and Y-axis rotation compensation value of O-XSZs to obtain the result of step four
Figure 947038DEST_PATH_IMAGE212
The X-axis offset compensation value and the Y-axis offset compensation value are respectively input into 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, namely 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
Figure 896539DEST_PATH_IMAGE213
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:
Figure 533188DEST_PATH_IMAGE214
and calculating the Z coordinates of the three light spots (namely the surface of the skin part 21 to be measured) under a 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:
Figure 593548DEST_PATH_IMAGE215
the three points described above are used to fit a plane and obtain the plane equation in the camera coordinate system O-XcYcZc:
Figure 192894DEST_PATH_IMAGE216
(III) referring to FIGS. 8 and 11, with a long exposure time
Figure 578876DEST_PATH_IMAGE217
A picture
18 showing the initial hole 211 to be detected is taken, and the hole center coordinates under the camera coordinate system O-XcYcZc are obtained through image processing calculation
Figure 952089DEST_PATH_IMAGE218
Substituting it into the plane equation
Figure 425926DEST_PATH_IMAGE219
And calculating the hole center Z coordinate of the primary hole 211 to be detected under the camera coordinate system O-XcYcZc:
Figure 709140DEST_PATH_IMAGE220
then, the complete coordinates of the hole center of the initial hole 211 to be measured in the camera coordinate system O-XcYcZc are:
Figure 125078DEST_PATH_IMAGE221
(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:
Figure 860953DEST_PATH_IMAGE222
fitting a plane using the three points and obtaining a plane equation under the measurement coordinate system O-XSYsZs:
Figure 902596DEST_PATH_IMAGE223
normal vector of the plane
Figure 40316DEST_PATH_IMAGE224
Comprises the following steps:
Figure 627155DEST_PATH_IMAGE225
normal vector of plane
Figure 584747DEST_PATH_IMAGE224
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
Figure 45727DEST_PATH_IMAGE226
Converting into coordinate values under a measurement coordinate system O-XsYsZs:
Figure 897009DEST_PATH_IMAGE227
obtaining hole position coordinate values required by reaming by the processing means of calibration, measurement, calculation and the like in the first step to the sixth step, wherein the hole position coordinate values comprise a hole center coordinate P and a normal vector of a hole
Figure 139902DEST_PATH_IMAGE228
Figure 850370DEST_PATH_IMAGE229
Step seven: finish machining of the preliminary 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
Figure 984548DEST_PATH_IMAGE230
And the reamer 5 is aligned with the initial hole 211 to be measured, and then the reaming and finishing can be finished.
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 (8)

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 detection device comprises an image collector and a laser displacement sensor group;
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;
the laser displacement sensor group comprises a first displacement sensor (10), a second displacement sensor (11) and a third displacement sensor (12) which are uniformly arranged at intervals within 360 degrees;
the included angles between the laser emission directions 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 are 60 degrees;
the image collector comprises a telecentric lens (13) and 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.
2. 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.
3. The device for on-line hole detection and hole finishing as claimed in claim 2, 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).
4. The device for hole on-line detection and hole finishing as claimed in any one of claims 1-3, further comprising a fill-in light (6); the light supplementing lamp (6) is of a disc-shaped wing plate structure arranged around the outer side of one end, used for image acquisition, of the image acquisition device, and the inner side of the disc-shaped wing plate structure forms an included angle of 60 degrees with the image acquisition direction of the image acquisition device;
the laser displacement sensor group is arranged on the light supplementing lamp (6) in a penetrating mode.
5. A hole online detection and hole finish machining method is based on the device for hole online detection and hole finish machining of any one of claims 1 to 4, the device for hole online detection and hole finish machining and a tool (20) are used for machining a to-be-machined primary hole (211) in a skin part (21) to be machined, the precision of the to-be-machined primary hole (211) is detected in the machining process, and the primary hole with higher machining precision is covered at the position of the to-be-machined primary hole (211); 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
And 2, step: 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 a Coordinate 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 referencesYsZsMeasuring the initial hole (211) to be measured in a measurement coordinate system O-XsYsZsThe coordinates of the lower hole center and calculates the O-X coordinate system of the initial hole (211) to be measured in the measurement coordinate systemsYsZsA lower plane normal vector;
and 4, step 4: according to the measurement of the step 3, the primary hole (211) to be measured is in a measurement coordinate system O-XsYsZsThe coordinates of the lower hole center and the normal vector of the plane are aligned to the skin part (21) to be measured by a finish machining tool (5)And processing a new hole covering the corresponding initial hole (211) to be detected on the skin part (21) to be detected as an initial hole for subsequent processing, and finishing the finish processing of the initial hole (211) to be detected by taking the processed new hole as the initial hole (211) to be detected.
6. The method for on-line detection and hole finishing of a hole as claimed in claim 5, wherein the specific steps of step 1 are: 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
7. The method for on-line detection and hole finishing of a hole as claimed in claim 5, wherein said step 2 specifically comprises the steps of:
step 2.1: in the established calibration coordinate systemO-X a Y a Z a In the setting of two designated photographing positions P1、P2Moving the machine tool spindle (1) to P1、P2The calibration holes (161) are 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 a In the setting of two designated photographing positions P3、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 picture are positioned, according to the hole center coordinates of the shot picture,eliminating a deflection angle between the device for hole online detection and hole finish machining and a machine tool coordinate system;
step 2.3: in the established calibration coordinate systemO-X a Y a Z a In setting the designated 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) is eliminated from the position P5Offset 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-XaYaZa5 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.
8. The method for on-line detection and hole finishing of the hole as claimed in any one of claims 5 to 7, wherein the specific steps of the step 3 are as follows: 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 coordinate, taking a horizontal direction rightwards as an X + direction and a vertical direction upwards as a Z + directionsYsZsMeasuring the initial hole (211) to be measured in a measurement coordinate system O-XsYsZsThe coordinates of the lower hole center and calculates the O-X coordinate system of the initial hole (211) to be measured in the measurement coordinate systemsYsZsThe lower plane normal vector.
CN202210230294.1A 2022-03-10 2022-03-10 Device for hole online detection and hole finish machining and machining method thereof Active CN114346759B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210230294.1A CN114346759B (en) 2022-03-10 2022-03-10 Device for hole online detection and hole finish machining and machining method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210230294.1A CN114346759B (en) 2022-03-10 2022-03-10 Device for hole online detection and hole finish machining and machining method thereof

Publications (2)

Publication Number Publication Date
CN114346759A CN114346759A (en) 2022-04-15
CN114346759B true CN114346759B (en) 2022-07-15

Family

ID=81094330

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210230294.1A Active CN114346759B (en) 2022-03-10 2022-03-10 Device for hole online detection and hole finish machining and machining method thereof

Country Status (1)

Country Link
CN (1) CN114346759B (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115423746B (en) * 2022-07-25 2023-10-10 成都飞机工业(集团)有限责任公司 Image processing method for calculating skin hole site and aperture
CN116907411B (en) * 2023-09-12 2024-01-12 成都飞机工业(集团)有限责任公司 Method and device for measuring fit clearance of shaft hole of closed space
CN117516406B (en) * 2023-11-29 2024-06-11 昆明理工大学 Device and method for testing and analyzing deformation of screw teeth of internal threaded hole of engine connecting rod

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104759945A (en) * 2015-03-25 2015-07-08 西北工业大学 Mobile hole-making robot standard alignment method based on high precision industrial camera
CN105403156A (en) * 2016-01-07 2016-03-16 杭州汉振科技有限公司 Three-dimensional measuring device and data fusion calibration method for three-dimensional measuring device
CN109781002A (en) * 2019-01-31 2019-05-21 浙江省计量科学研究院 A kind of lathe holoaxial journey accurate positioning method based on machine vision
CN110954024A (en) * 2019-12-23 2020-04-03 芜湖哈特机器人产业技术研究院有限公司 Connecting piece vision measuring device and measuring method thereof
CN111347292A (en) * 2020-02-21 2020-06-30 青岛理工大学 System and method for monitoring and controlling state of cutter of numerical control machine tool
CN111496289A (en) * 2020-04-08 2020-08-07 清华大学 Multifunctional integrated aviation assembly hole making system and use method thereof
CN111928776A (en) * 2020-07-31 2020-11-13 中国航空工业集团公司济南特种结构研究所 Multi-sensor-based non-contact online measurement system and method for numerical control machine tool
CN113369990A (en) * 2021-07-06 2021-09-10 成都飞机工业(集团)有限责任公司 On-line detection device for non-contact measuring hole and use method thereof
KR102338979B1 (en) * 2021-04-26 2021-12-14 (주)에이피엠텍 Displacement measuring apparatus for structure

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108544434A (en) * 2018-02-05 2018-09-18 西安理工大学 A kind of automatic punching system Experimental Calibration integral work table and scaling method
CN208780144U (en) * 2018-09-17 2019-04-23 苏州金迈驰航空智能科技有限公司 A kind of online vision detection system of connecting hole

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104759945A (en) * 2015-03-25 2015-07-08 西北工业大学 Mobile hole-making robot standard alignment method based on high precision industrial camera
CN105403156A (en) * 2016-01-07 2016-03-16 杭州汉振科技有限公司 Three-dimensional measuring device and data fusion calibration method for three-dimensional measuring device
CN109781002A (en) * 2019-01-31 2019-05-21 浙江省计量科学研究院 A kind of lathe holoaxial journey accurate positioning method based on machine vision
CN110954024A (en) * 2019-12-23 2020-04-03 芜湖哈特机器人产业技术研究院有限公司 Connecting piece vision measuring device and measuring method thereof
CN111347292A (en) * 2020-02-21 2020-06-30 青岛理工大学 System and method for monitoring and controlling state of cutter of numerical control machine tool
CN111496289A (en) * 2020-04-08 2020-08-07 清华大学 Multifunctional integrated aviation assembly hole making system and use method thereof
CN111928776A (en) * 2020-07-31 2020-11-13 中国航空工业集团公司济南特种结构研究所 Multi-sensor-based non-contact online measurement system and method for numerical control machine tool
KR102338979B1 (en) * 2021-04-26 2021-12-14 (주)에이피엠텍 Displacement measuring apparatus for structure
CN113369990A (en) * 2021-07-06 2021-09-10 成都飞机工业(集团)有限责任公司 On-line detection device for non-contact measuring hole and use method thereof

Also Published As

Publication number Publication date
CN114346759A (en) 2022-04-15

Similar Documents

Publication Publication Date Title
CN114346759B (en) Device for hole online detection and hole finish machining and machining method thereof
US5311784A (en) Dimensional quality control method for cast parts
US8885040B2 (en) Method and apparatus for 3-dimensional vision and inspection of ball and like protrusions of electronic components
CN208780144U (en) A kind of online vision detection system of connecting hole
CN107378497A (en) Three dissection type high inclination-angles tilt processing and detecting system and its processing and the detection method of casing
CN114061459B (en) Non-contact photographic hole measurement calibration device and method
CN107121967A (en) A kind of laser is in machine centering and inter process measurement apparatus
CN113369990B (en) On-line detection device for non-contact measuring hole and use method thereof
Mendikute et al. Self-calibration technique for on-machine spindle-mounted vision systems
CN109443273B (en) Method for accurately positioning workpiece to be measured by using three-dimensional measurement system
CN107850425B (en) Method for measuring an article
CN114459345A (en) System and method for detecting position and attitude of airplane body based on visual space positioning
Surkov Development of methods and means of coordinate measurements for linear and angular parameters of cutting instruments
CN113916128A (en) Method for improving precision based on optical pen type vision measurement system
CN211401101U (en) High-precision 3D contour modeling equipment
CN109813248B (en) A kind of measurement task setting method for repacking instrument
CN109945839B (en) Method for measuring attitude of butt-jointed workpiece
JPH0726809B2 (en) Workpiece position coordinate correction method
CN112834505B (en) Three-dimensional visual detection positioning device and method for pasted welding line of pipeline workpiece
Putz et al. Computer vision approach for the automated tool alignment of an orbital sanding robot
CN115139223B (en) Method for batch processing of parts by adopting grinding automatic processing unit
Wang et al. An on-machine and vision-based depth-error measurement method for micro machine tools
CN111964612A (en) Drilling normal vector alignment method based on high-reflectivity imaging principle
Su et al. New approach to spindle thermal extension measuring based on machine vision for the vertical maching centre
CN115628700B (en) High-precision measuring rod calibration method

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant