CN114714144B - Method for determining direction and position of L-shaped probe - Google Patents

Method for determining direction and position of L-shaped probe Download PDF

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Publication number
CN114714144B
CN114714144B CN202210428074.XA CN202210428074A CN114714144B CN 114714144 B CN114714144 B CN 114714144B CN 202210428074 A CN202210428074 A CN 202210428074A CN 114714144 B CN114714144 B CN 114714144B
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probe
point
calibration
main shaft
calibration block
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CN114714144A (en
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周进
孛正军
曹壹傑
贺皑
张也
刘适
高锦焜
张云诏
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Chengdu Aircraft Industrial Group Co Ltd
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Chengdu Aircraft Industrial Group Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
    • B23Q17/2208—Detection or prevention of collisions
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

Abstract

The invention discloses a direction and position determining method of an L-shaped probe, which is used for completing accurate calibration in two steps, wherein the first step is that the initial position and direction of a measuring head are determined by rotation and measurement according to the position of a calibration block and the geometric shape and the size of a measuring needle and then by utilizing a trigonometric function relation; the second step is that after the initial position and direction of the L-shaped measuring head are obtained in the first step, the two sides of the measuring head are measured B, C, the actual midpoint difference between the measuring midpoint and the two sides of the calibration block B, C is measured, then the trigonometric function relation is utilized to calculate the correction angle and direction of the measuring head, the correcting head is used for realizing the accurate calibration of the L-shaped measuring head direction, the correcting operation is continuously executed for rechecking whether the correcting head direction meets the calibration requirement, and finally the five sides of the calibration block A, B, C, D, E are measured for realizing the accurate calibration of 5 points of the L-shaped measuring head under the condition that the correcting head direction meets the calibration requirement. The invention has the characteristic of realizing the automatic and accurate calibration of the L-shaped measuring head without depending on manpower, and has certain popularization and application value in the aspect of automatic and accurate measurement.

Description

Method for determining direction and position of L-shaped probe
Technical Field
The invention relates to the technical field of detection of mechanical parts, in particular to a direction and position determining method of an L-shaped probe.
Background
As shown in fig. 1, the L-shaped probe is a probe with an L-shaped structure, and is composed of three parts: an adapter, extension bar 100 and stylus 200; in use, the stylus is connected with the extension bar through the converter 300; the extension bar is connected with a main shaft 400 of the machine tool; the method is mainly used for measuring the sizes of the mechanical parts, such as lug thickness, lug groove width, partial hole sites on the rib edges, aperture and the like which are difficult to measure by the traditional probes; in the prior art, when the high-precision size and position are measured, the direction and position of the probe are required to be accurate, and when the probe is used, the direction and position of the probe cannot be obtained after each disassembly and assembly due to the fact that the measuring needle is in threaded connection with the probe handle; meanwhile, because the probe is L-shaped, the coordinate of the center of the main shaft, namely the center of the extension rod, can be obtained only through the data stored in the numerical control machine tool. In the prior art, if the accurate probe direction and position are required to be obtained, a large amount of manual calibration is often required, and a machine tool is controlled manually to perform calibration work, so that the automatic production is not facilitated, and the efficiency is low; meanwhile, the probe is often impacted due to improper operation during manual calibration, damage is caused to the probe, and meanwhile, the data precision obtained through manual calibration is not very high, so that the occasion with high precision requirement cannot be met.
Disclosure of Invention
The invention aims at: aiming at the problem that the probe is damaged due to the fact that the probe is impacted due to improper operation during manual calibration in the prior art, the direction and position determining method of the L-shaped probe is provided.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
a direction and position determining method of an L-shaped probe comprises the following steps:
s1, acquiring the distance from the spherical center of a probe to the rotation center of a main shaft;
s2, setting a first safety point, a second safety point and a calibration block;
the distance between the calibration point and the first safety point is greater than the distance from the center of the probe to the rotation center of the main shaft, the distance between the calibration point and the second safety point is less than the distance from the center of the probe to the rotation center of the main shaft, and the abscissa or the ordinate of the first safety point is equal to the ordinate of the second safety point; the calibration point is the point on the calibration block closest to the second safety point;
s3, moving the main shaft to a first safety point; and controlling the main shaft to move to a second safety point along the ordinate direction, recording the coordinate of the main shaft as a first recording point when the probe and the calibration block are in touch in the process that the main shaft approaches to the second safety point from the first safety point, and calculating a first probe deflection angle through the relative position relation between the first recording point and the calibration point;
if the probe does not touch the calibration block, the main shaft is controlled to approach the calibration block along the abscissa direction; when the main shaft approaches the calibration block from the second safety point, if the probe collides with the calibration block, recording the coordinate of the main shaft as a second recording point when the probe collides with the calibration block, and calculating a second probe deflection angle according to the relative position relation between the second recording point and the calibration point;
the coordinate of the main shaft is the first coordinate when the probe touches the calibration block;
when the abscissa of the main shaft is equal to the abscissa of the calibration point, the main shaft primary path is controlled to return to the first safety point;
s4, when the first coordinate is not obtained in the step S3, controlling the spindle to rotate by a first angle, and repeating the step S3 until the first coordinate is obtained;
s5, obtaining the direction and the position of the probe through the first probe deflection angle or the second probe deflection angle and the first angle.
Further, in the step S3, the first probe deflection angle is calculated by the following formula:
wherein alpha is 1 For the first probe deflection angle, Y3 is the ordinate of the calibration point, Y4 is the ordinate of the first recording point, L is the distance from the probe sphere center to the main shaft rotation center, and R is the radius of the probe sphere.
As a preferred embodiment of the present invention, in the step S3, the second probe deflection angle is calculated by the following formula:
α 2 for the second probe deflection angle, X3 is the abscissa of the calibration point, X5 is the secondRecording the abscissa of the point, wherein L is the distance from the center of the probe sphere to the rotation center of the main shaft, and R is the radius of the probe sphere;
as a preferred embodiment of the present invention, the first angle is 60 ° to 120 °.
As a preferred embodiment of the present invention, the first angle is 90 °.
Further, after the direction and the position of the probe are obtained, the probe is controlled to touch two endpoints of any side on the calibration block; and correcting the direction and position of the probe according to the actual coordinates of the two end points of any side and the coordinates obtained by touching the probe.
In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:
1. according to the invention, the first safety point and the second safety point are arranged based on the distance from the spherical center of the L-shaped probe to the rotation center of the main shaft, so that the L-shaped probe is positioned in a safety area in the movement process of the L-shaped probe, and the probe cannot be damaged due to collision with the calibration block;
2. in some exemplary embodiments of the invention, the direction and the position of the L-shaped probe can be obtained more accurately and rapidly by touching the L-shaped probe to the calibration block from different directions, so that the accuracy of calibration can be increased compared with manual calibration;
3. in order to more accurately control the direction and the position of the L-shaped probe in some exemplary embodiments of the invention, the invention controls the probe to touch two end points on any side of the calibration block, and compares the coordinates obtained by the probe with actual real coordinates; the measurement error caused by a certain trigger delay of the probe when the measurement is triggered can be eliminated.
Drawings
FIG. 1 is a schematic view of an L-shaped probe for use in an exemplary embodiment of the invention;
FIG. 2 is a flowchart of an overall method for determining the direction and position of an L-shaped probe according to an exemplary embodiment of the present invention;
FIG. 3 is a flowchart for automatically determining the initial direction and position of an L-shaped probe according to an exemplary embodiment of the present invention;
FIG. 4 is a schematic view of a safety point 1, a safety point 2 and a probe position in one instance of an exemplary embodiment of the invention;
FIG. 5 is a schematic view of a safety point 1, a safety point 2 and a probe position in another case of an exemplary embodiment of the present invention;
FIG. 6 is a schematic view of a safety point 1, a safety point 2, and a probe position in another case of an exemplary embodiment of the present invention;
FIG. 7 is a three-view of a calibration block provided in an exemplary embodiment of the present invention;
FIG. 8 is a schematic diagram of a precision calibration method provided in an exemplary embodiment of the present invention;
FIG. 9 is an overall flow chart of a method of fine calibration provided in an exemplary embodiment of the present invention;
FIG. 10 is a diagram of an exemplary embodiment of the present invention
Fig. 11 is a schematic diagram of five points on an L-shaped probe in an exemplary embodiment of the invention.
Reference numerals: 100-extension bar, 200-measuring needle, 300-adapter and 400-machine tool spindle.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1
As shown in fig. 2, the present embodiment provides a method for determining a direction and a position of an L-shaped probe, including:
s1, acquiring the distance from the spherical center of a probe to the rotation center of a main shaft;
s2, setting a first safety point, a second safety point and a calibration block;
the calibration block is rectangular, the coordinates of each point on the calibration block are known, the distance between the calibration point and the first safety point is larger than the distance from the center of the probe to the rotation center of the main shaft, the distance between the calibration point and the second safety point is smaller than the distance from the center of the probe to the rotation center of the main shaft, and the abscissa or the ordinate of the first safety point is equal to the abscissa or the ordinate of the second safety point; the calibration point is the point on the calibration block closest to the second safety point;
s3, moving the main shaft to a first safety point; and controlling the main shaft to move to a second safety point along the ordinate direction, recording the coordinate of the main shaft as a first recording point when the probe and the calibration block are in touch in the process that the main shaft approaches to the second safety point from the first safety point, and calculating a first probe deflection angle through the relative position relation between the first recording point and the calibration point;
if the probe does not touch the calibration block, the main shaft is controlled to approach the calibration block along the abscissa direction; when the main shaft approaches the calibration block from the second safety point, if the probe collides with the calibration block, recording the coordinate of the main shaft as a second recording point when the probe collides with the calibration block, and calculating a second probe deflection angle according to the relative position relation between the second recording point and the calibration point;
the coordinate of the main shaft is the first coordinate when the probe touches the calibration block;
when the abscissa of the main shaft is equal to the abscissa of the calibration point, the main shaft primary path is controlled to return to the first safety point;
s4, when the first coordinate is not obtained in the step S3, controlling the spindle to rotate by a first angle, and repeating the step S3 until the first coordinate is obtained;
s5, obtaining the direction and the position of the probe through the first probe deflection angle or the second probe deflection angle and the first angle.
According to the method, the first safety point and the second safety point are set based on the distance from the spherical center of the L-shaped probe to the rotation center of the main shaft, so that the L-shaped probe is positioned in a safety area in the movement process of the L-shaped probe, and the probe cannot be damaged due to collision with the calibration block;
further, in the step S3, the first probe deflection angle is calculated by the following formula:
wherein alpha is 1 For the first probe deflection angle, Y3 is the ordinate of the calibration point, Y4 is the ordinate of the first recording point, L is the distance from the probe sphere center to the main shaft rotation center, and R is the radius of the probe sphere.
As a preferred embodiment of the present invention, in the step S3, the second probe deflection angle is calculated by the following formula:
α 2 x3 is the abscissa of the calibration point, X5 is the abscissa of the second recording point, L is the distance from the center of the probe sphere to the center of rotation of the main shaft, and R is the radius of the probe sphere;
as a preferred embodiment of the present invention, the first angle is 60 ° to 120 °.
As a preferred embodiment of the present invention, the first angle is 90 °.
Further, after the direction and the position of the probe are obtained, the probe is controlled to touch two endpoints of any side on the calibration block; and correcting the direction and position of the probe according to the actual coordinates of the two end points of any side and the coordinates obtained by touching the probe. The probe is controlled to touch two end points on any side of the calibration block, and coordinates obtained by the probe are compared with actual real coordinates; the measurement error caused by a certain trigger delay of the probe when the measurement is triggered can be eliminated.
Example 2
An L-shaped probe direction and position determining method is shown in FIG. 3, which is a flow chart for automatically determining the initial direction and position of an L-shaped probe; the positions of the safety point 1, the safety point 2 and the calibration block in the present embodiment are shown in fig. 4;
firstly, a main shaft moves to a safety point 1, then the main shaft moves along a Y+ direction within a range from Y1 to Y3, when the probe triggers measurement, a recording point 4 (X4, Y4) shown in fig. 5 can be seen, the deflection angle of the probe is calculated according to a formula (1), wherein R is the radius of a probe sphere:
when the measurement is not triggered, the main shaft moves to a safety point 2, then the main shaft moves along the X-direction within the range of X1 to X3, if the probe triggers the measurement, a recording point 5 (X5, Y5) shown in fig. 6 can be seen, and the deflection angle of the probe is calculated according to a formula (2), wherein R is the radius of a probe sphere:
when the measurement is not triggered, the main shaft is moved to the safety point 1 and then rotated by an angle beta in the clockwise direction, and then the operation is continued according to the flow shown in fig. 3 until the probe is moved into the second quadrant of the coordinate system shown in fig. 4 and the measurement of the probe can be triggered.
The deflection angle of the probe can be obtained according to the flow, and then the main shaft is rotated by an angle alpha in the clockwise direction, so that the initial direction and the position of the L-shaped probe can be determined according to the main shaft coordinates.
Specifically, as shown in fig. 4, positions of the calibration block, the safety point 1 and the safety point 2 are set, wherein coordinates of three points in the figure are respectively: point 1 (0, 0), point 2 (0,35), point 3 (-20, 50), probe to spindle rotation center distance l=40 mm, in the figure β=90°.
Firstly, the main shaft moves to a safety point 1, then the main shaft moves along the Y+ direction in the range of Y1 to Y3, as shown in FIG. 6, when the probe triggers a measurement time point 4 (0,27), the deflection angle alpha of the probe is calculated according to the formula (1):
the initial orientation and position of the L-shaped probe can then be determined by rotating the spindle in a clockwise direction by α=60°, and moving the L-shaped probe in a direction parallel to the y-axis.
Example 3
On the basis, due to the machine tool structure, a certain delay exists in the triggering of the probe, and a certain delay error exists in the process of calibrating the L-shaped probe due to the triggering delay of the probe. In order to obtain a more accurate initial position and direction of the L-shaped probe, errors caused by trigger delay of the probe are eliminated. The L-shaped probe is accurately calibrated by using a precise calibration block and a precise calibration method.
The precision calibration block used in this embodiment is shown in fig. 7, in which the pressing hole is used to fix the precision calibration block; the lateral cross section of the precision calibration block is shaped.
Fig. 8 is a schematic diagram of an L-shaped probe accurate calibration direction, in which the center point 3 (X3, Y3) of the calibration block is measured first at the point 1 (X1, Y1) and the point 2 (X2, Y2) on both sides of B, C, where y1=y2=y3, the probe measurement midpoint 4 ((x1+x2)/2, (y1+y2)/2), and the difference between the actual midpoint 3 two points X-direction of the probe measurement midpoint 4 and the two sides of the calibration block B, C is: a= (x1+x2)/2-X3, and then calculating a probe-corrected deflection angle η according to equation (3) using a trigonometric function relation:
the measuring head corrects the angle theta, then whether the direction of the correcting measuring head meets the preset calibration threshold requirement is checked again according to the diagram of fig. 8, if not, the process is repeated continuously for correction until the requirement is met;
further, as shown in fig. 11, a schematic diagram of five common points of the L-shaped probe is shown in the figure when the L-shaped probe is in use; respectively points 1, 2, 3, 4 and 5 in the graph; in theory, the L-shaped probe should be a relatively regular sphere, but because of abrasion during use and the influence of temperature and humidity on the use site, the probe sphere is not in an absolute circle, and certain errors exist between the distance between the five common points and the center of the probe sphere and the radius of the probe sphere; in some occasions with high requirements on workpiece precision, calibration needs to be realized for the five points.
And finally, after the direction of the corrected measuring head meets the calibration requirement, measuring on five surfaces A, B, C, D, E by using the point 1, the point 2, the point 3, the point 4 and the point 5 respectively, and finally, accurately calibrating the 5 points of the L measuring head.
Example 4
The automatic accurate calibration method for the L-shaped measuring head completes the accurate calibration in two steps, firstly, the initial position and the direction of the measuring head are determined according to the geometric shape and the size of the calibration block and the L-shaped measuring needle, as shown in fig. 9, which is a flow chart of the automatic rough calibration direction of the L-shaped measuring head, the detailed process is as follows:
(1) the main shaft of the machine tool moves to a safety point 1;
(2) in the range of Y1-Y2, the main shaft moves along the Y+ direction;
(3) judging whether measurement is triggered or not, if the measurement is not triggered, moving the main shaft to a safety point 1, rotating the main shaft clockwise by an angle gamma, then continuing to execute the action (2) until the probe triggers the measurement and records a trigger point 4 (X4, Y4), then executing the action (1) and rotating the main shaft clockwise by an angle beta, wherein theta > beta > theta/2, and continuing to execute the action (2);
(4) judging whether the measurement is triggered after the execution of the step (3) is finished, and if the measurement is triggered, calculating the deflection angle of the measuring head by using a trigonometric function relation (1), wherein R is the radius of the measuring head:
if the measurement is not triggered, calculating the deflection angle of the measuring head by using a trigonometric function relation (2), wherein R is the radius of the measuring head:
(5) the initial direction and position of the L-shaped measuring head are obtained by correcting the measuring head through the measuring head deflection angle, but the measuring head has certain trigger delay when in trigger measurement, so the correction of the measuring head direction is not very accurate, and the second step is required to be executed.
Fig. 11 is a schematic diagram of an L-shaped probe initial calibration direction safety point 1 and a movement range point 2, wherein three coordinates in the figure are respectively: point 1 (0, 0), point 2 (0,27), point 3 (-50, 50), the distance l=40 mm of the probe from the spindle rotation center, two angles are included in the figure, θ=120°, γ=90°, β=60°.
Firstly, determining the initial position and direction of a measuring head according to the geometric shapes of a calibration block and an L measuring needle, executing according to a flow chart of the automatic rough calibration direction of the measuring head in the shape of L of fig. 10, triggering measurement of the measuring head, recording a trigger point 4 (0,17), then moving a main shaft to a safety point 1 and rotating the main shaft by an angle of 60 degrees in the clockwise direction, continuously moving the main shaft in the Y+ direction within the range of Y1 to Y2, and calculating a deflection angle according to the formula (1) if the measurement is triggered:
the measuring head is roughly corrected according to 41.41 degrees, then a second step is executed, wherein the theoretical position point 1 coordinates are (-50, 55), the point 2 theoretical coordinates are (50, 55), the center point 3 of the calibration block is (0, 55), and firstly, two points on two sides of B, C are respectively measured, and the measurement results are as follows: point 1 (-50.50, 55.01) and point 2 (49.49, 55.01), a stylus measurement midpoint 4 (-0.245, 50.01) is calculated, and then a stylus-corrected deflection angle η is calculated according to equation (3) using a trigonometric function relationship:
and (3) correcting the angle eta of the measuring head, then rechecking whether the direction of the correcting measuring head meets the calibration requirement (for example, the error is smaller than 1 DEG) in actual use, if not, repeating the method to continuously correct until the direction of the correcting measuring head meets the requirement, and finally measuring A, B, C, D, E points after the direction of the correcting measuring head meets the calibration requirement, so as to realize accurate calibration of 5 points of the L measuring head.
In the embodiment, accurate calibration is completed in two steps, wherein the first step is that the initial position and the direction of a measuring head are determined by rotation and measurement according to the position of a calibration block and the geometric dimension of a measuring needle and then by utilizing a trigonometric function relation; the second step is that after the initial position and direction of the L-shaped measuring head are obtained in the first step, the two sides of the measuring head are measured B, C, the actual midpoint difference between the measuring midpoint and the two sides of the calibration block B, C is measured, then the trigonometric function relation is utilized to calculate the correction angle and direction of the measuring head, the correcting head is used for realizing the accurate calibration of the L-shaped measuring head direction, the correcting operation is continuously executed for rechecking whether the correcting head direction meets the calibration requirement, and finally the five sides of the calibration block A, B, C, D, E are measured for realizing the accurate calibration of 5 points of the L-shaped measuring head under the condition that the correcting head direction meets the calibration requirement. The invention has the characteristic of realizing the automatic and accurate calibration of the L-shaped measuring head without depending on manpower, and has certain popularization and application value in the aspect of automatic and accurate measurement.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.

Claims (6)

1. An orientation and position determining method of an L-shaped probe, comprising:
s1, acquiring the distance from the spherical center of a probe to the rotation center of a main shaft;
s2, setting a first safety point, a second safety point and a calibration block;
the distance between the calibration point and the first safety point is larger than the distance from the center of the probe to the rotation center of the main shaft, the distance between the calibration point and the second safety point is smaller than the distance from the center of the probe to the rotation center of the main shaft, and the abscissa of the first safety point is equal to the abscissa of the second safety point; the calibration point is the point on the calibration block closest to the second safety point;
s3, moving the main shaft to a first safety point; and controlling the main shaft to move to a second safety point along the ordinate direction, recording the coordinate of the main shaft as a first recording point when the probe and the calibration block are in touch in the process that the main shaft approaches to the second safety point from the first safety point, and calculating a first probe deflection angle through the relative position relation between the first recording point and the calibration point;
if the probe does not touch the calibration block, the main shaft is controlled to approach the calibration block along the abscissa direction; when the main shaft approaches the calibration block from the second safety point, if the probe collides with the calibration block, recording the coordinate of the main shaft as a second recording point when the probe collides with the calibration block, and calculating a second probe deflection angle according to the relative position relation between the second recording point and the calibration point;
the coordinate of the main shaft is the first coordinate when the probe touches the calibration block;
when the abscissa of the main shaft is equal to the abscissa of the calibration point, the main shaft primary path is controlled to return to the first safety point;
s4, when the first coordinate is not obtained in the step S3, controlling the spindle to rotate by a first angle, and repeating the step S4 until the first coordinate is obtained;
s5, obtaining the direction and the position of the probe through the first probe deflection angle or the second probe deflection angle and the first angle.
2. The method according to claim 1, wherein in the step S3, the first probe deflection angle is calculated by the following formula:
wherein alpha is 1 For the first probe deflection angle, Y3 is the ordinate of the calibration point, Y4 is the ordinate of the first recording point, L is the distance from the probe sphere center to the main shaft rotation center, and R is the radius of the probe sphere.
3. The method according to claim 1, wherein in the step S3, the second probe deflection angle is calculated by the following formula:
α 2 for the second probe deflection angle, X3 is the abscissa of the calibration point, X5 is the abscissa of the second recording point, L is the distance from the probe sphere center to the spindle rotation center, and R is the radius of the probe sphere.
4. The method of determining the orientation and position of an L-shaped probe of claim 1, wherein said first angle is 60 ° to 120 °.
5. The method of determining the orientation and position of an L-shaped probe of claim 4 wherein said first angle is 90 °.
6. The method for determining the direction and position of an L-shaped probe according to any one of claims 1 to 5, wherein after the direction and position of the probe are obtained, the probe is controlled to touch both end points of either side of the calibration block; and correcting the direction and position of the probe according to the actual coordinates of the two end points of any side and the coordinates obtained by touching the probe.
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CN107421483B (en) * 2017-07-31 2020-05-22 成都飞机工业（集团）有限责任公司 Automatic calibration method for measuring tip center position of 3D measuring head for numerical control machine tool
IT201900016772A1 (en) * 2019-09-19 2021-03-19 Springa S R L LOCATION DEVICE FOR MACHINE TOOL

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