CN114888733B - Closed curved surface component full-surface measurement reversing clamping positioning system and method - Google Patents
Closed curved surface component full-surface measurement reversing clamping positioning system and method Download PDFInfo
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- CN114888733B CN114888733B CN202210449688.6A CN202210449688A CN114888733B CN 114888733 B CN114888733 B CN 114888733B CN 202210449688 A CN202210449688 A CN 202210449688A CN 114888733 B CN114888733 B CN 114888733B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/20—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring contours or curvatures, e.g. determining profile
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/0002—Arrangements for supporting, fixing or guiding the measuring instrument or the object to be measured
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Abstract
The invention discloses a closed curved surface component full-surface measurement reversing clamping positioning system, which comprises: the first clamp and the second clamp are used for respectively fixing the closed curved surface components before and after the direction change, have the same structure and can perform relative movement; the pose detection unit is used for detecting the positions and the poses of the first clamp, the second clamp and the closed curved surface member; and the pose adjusting unit is used for adjusting the relative positions and the poses of the first clamp and the second clamp, and adjusting the first clamp and the second clamp into reversing clamping poses by means of the clamp pose information acquired by the clamp pose detecting unit through multi-axis linkage. The invention also discloses a reversing clamping positioning method based on the reversing clamping positioning system, which is used for reversing the closed curved surface component, has high reversing clamping precision, has no measurement blind area, and can effectively improve the full-surface measurement efficiency and measurement precision of the closed curved surface component.
Description
Technical Field
The invention belongs to the technical field of curved surface component measurement, and particularly relates to a reversing clamping positioning system and method for full-surface measurement of a closed curved surface component.
Background
The surface shape of the closed curved surface component is complex, the degree of freedom is multiple, the precisely processed closed curved surface component has good optical performance, and the closed curved surface component is widely applied to the fields of optical systems, aerospace, mechano-electronics, astronomical observation and the like. The ultra-precise machining of the closed curved surface component is a process of repeatedly performing machining, measuring and compensating machining, and a high-precision detection technology is a basis for realizing precise machining. The measurement of the whole surface of the closed curved surface component has important significance for detecting processing defects and improving processing quality. At present, the detection methods for curved surface components are mainly divided into a contact type and a non-contact type, wherein the contact type measurement method adopts a point-by-point scanning mode for measurement, and typically a scanning tunnel microscope and an atomic force microscope, and the detection purpose is realized through acting force and current between a detection probe and the surface of the component respectively. The non-contact measurement method belongs to nondestructive detection, and is typically a white light interferometer, and the surface morphology is detected through interference fringes.
The reversing measurement process of the white light interferometer, the scanning tunnel microscope or the atomic force microscope and other equipment is realized through the rotary objective table, and the method has the following defects: (1) The detection range is limited, blind areas clamped by equipment and the closed curved surface component cannot be detected through the reversing of the objective table, and the detection method is not suitable for the full-surface detection of the closed curved surface component; (2) The measuring precision is low, the detection of curved surface components of equipment such as a white light interferometer, a scanning tunnel microscope and the like is realized by rotating an instrument objective table, and the detection precision of the side surface of a closed curved surface is low; (3) The reversing difficulty is high, the data volume is large, the measuring method for obtaining the surface morphology by splicing data through multiple measurements by the existing instrument is limited by splicing precision, and for components with oversized sizes, the data processing volume is large, and the precision is low; for the components with smaller size, the reversing clamping difficulty is high.
Disclosure of Invention
Aiming at the technical problems, the invention provides a closed curved surface component full-surface measurement reversing clamping positioning system based on displacement sensor scanning, wherein the system converts component measurement angles, completes component surface blind zone measurement, optimizes a positioning method, simplifies measurement flow and data processing process, and realizes full-surface accurate measurement of the closed curved surface component.
The invention aims at realizing the following technical scheme:
a closed curved surface component full-surface measurement reversing clamping positioning system comprises:
the first clamp and the second clamp are used for respectively fixing the closed curved surface components before and after the direction change, have the same structure and can perform relative movement;
the pose detection unit is used for detecting the positions and the poses of the first clamp, the second clamp and the closed curved surface member;
and the pose adjusting unit is used for adjusting the relative positions and the poses of the first clamp and the second clamp, and adjusting the first clamp and the second clamp into reversing clamping poses by means of the clamp pose information acquired by the clamp pose detecting unit through multi-axis linkage.
Preferably, the first clamp and the second clamp are vacuum adsorption clamps, the end part of the first clamp is provided with a first adsorption head, the end part of the second clamp is provided with a second adsorption head, and the two adsorption heads are respectively communicated with different vacuum pipelines; when the first clamp and the second clamp are in the reversing clamping pose, the adsorption positions of the first adsorption head and the second adsorption head on the closed curved surface component are respectively a first adsorption position and a second adsorption position, and the two adsorption positions are in different areas and have no overlapping range. The scheme can effectively eliminate the measurement blind area and realize the full-surface measurement of the closed curved surface component.
Preferably, the center connecting line of the first adsorption position and the second adsorption position passes through the mass center of the closed curved surface component; the second adsorption position is the initial position for measuring the surface shape of the closed curved surface component before reversing, and the first adsorption position is the initial position for measuring the surface shape of the closed curved surface component after reversing. Through optimizing the switching-over angle, set for the position at first absorption position and second absorption position, can improve measurement efficiency when guaranteeing the clamping stable, measure twice and can realize the measurement of closed curved surface component full face shape, and make things convenient for follow-up data concatenation.
Preferably, the clamp pose adjusting unit comprises a first objective table, a second objective table and a carrier, wherein the first clamp is arranged on the first objective table, the second clamp is arranged on the second objective table, and the first objective table and the second objective table can perform relative motion so as to adjust the relative position and pose of the first clamp and the second clamp.
Preferably, the second objective table comprises a Z-axis sliding seat and a Z-axis sliding block arranged on the Z-axis sliding seat in a sliding manner, and the Z-axis sliding block can slide back and forth on the Z-axis sliding seat along the Z-axis direction; an X-axis sliding seat is fixedly arranged on the Z-axis sliding seat, an X-axis sliding seat is arranged on the X-axis sliding seat in a sliding manner, and the X-axis sliding seat can slide back and forth along the X-axis direction on the X-axis sliding seat; the X-axis sliding block is provided with a B-axis moving table which can rotate around the B-axis, the B-axis is perpendicular to the X-axis and the Z-axis, and the second clamp is arranged on the B-axis moving table.
Preferably, the first stage includes a Y-axis motion stage, the Y-axis motion stage being capable of reciprocating along a Y-axis direction, a C-axis motion stage being provided on the Y-axis motion stage, the C-axis motion stage being capable of rotating about a C-axis, the C-axis being parallel to a Z-axis; the first clamp is arranged on the C-axis motion table.
Preferably, the pose detection unit comprises a first CCD camera, a second CCD camera, a first leveling measuring head and a second leveling measuring head; the first CCD camera and the second CCD camera are arranged on the carrier and are respectively positioned in the horizontal direction and the vertical direction of the closed curved surface component; the first leveling measuring head is arranged on the B-axis moving table, is used for measuring the pose of the first clamp and is arranged at intervals with the second clamp; the second leveling measuring head is arranged on the carrier, and the measuring head of the second leveling measuring head points to the B-axis moving table so as to measure the pose of the second clamp.
Preferably, the B-axis moving table is further provided with a surface-shaped measuring head, and the measuring head of the surface-shaped measuring head, the measuring head of the first leveling measuring head and the adsorbing head of the second clamp are all directed outwards along the radial direction of the B-axis moving table.
Preferably, the measuring head of the surface-shaped measuring head and the adsorption head of the second clamp are arranged away from each other, and are spaced 180 degrees apart; the measuring head of the first leveling measuring head, the measuring head of the surface-shaped measuring head and the adsorption head of the second clamp are all spaced by 90 degrees. The surface shape measuring head, the first leveling measuring head and the second clamp are integrated on the B-axis moving table, the position relationship is adopted, and the surface shape measurement, the first clamp pose measurement and the second clamp pose adjustment can be realized through multi-axis linkage of one objective table, so that the structure is compact, and the operation is efficient.
A method for measuring, reversing, clamping and positioning the whole surface of a closed curved surface component comprises the following steps:
measuring the pose of a first clamp, recording pose data of the first clamp, wherein the pose data comprise position data and pose data, and setting target pose data of a second clamp according to the pose data;
measuring and adjusting the pose of the second clamp, and acquiring second chuck real pose data, wherein the real pose data comprise position data and pose data; comparing the actually measured pose data with the target pose data in the first step, and determining an adjustment scheme; according to the adjustment scheme, the pose of the second clamp is adjusted through multi-axis linkage of the second objective table; measuring and comparing after adjustment, stopping adjustment if the pose of the second clamp is adjusted to the target pose, and continuing adjustment, measurement and comparison if the pose of the second clamp is not adjusted to the target pose until the pose of the second clamp is adjusted to the target pose;
and thirdly, after the second clamp is adjusted to the target pose, the first clamp and the second clamp are matched to carry out reversing clamping on the closed curved surface component.
Preferably, the method for measuring the pose of the second fixture in the second step comprises the following steps: driving a Z-axis sliding block, an X-axis sliding block and a B-axis moving table, coarsely adjusting the pose of a second clamp by means of a first CCD camera and a second CCD camera, enabling a second adsorption head of the second clamp to be positioned on the same plane as a first adsorption head of the first clamp, and enabling the second adsorption head to point to a closed curved surface component; the position of the second leveling measuring head is adjusted along the X-axis direction, so that the second clamp is positioned in the measuring range of the second leveling measuring head; and driving the Z-axis sliding block, measuring the pose of the second fixture by using the second leveling measuring head, and recording the measured pose data.
Preferably, the method for reversing and clamping the closed curved surface member in the third step comprises the following steps: under the monitoring of the first CCD camera and the second CCD camera, the Z-axis sliding block is driven to enable the second clamp to be gradually close to the closed curved surface component, the second clamp vacuum pipeline is communicated, the first clamp vacuum pipeline is disconnected, the second clamp adsorbs the closed curved surface component, and the first clamp unloads the closed curved surface component; the whole reversing clamping process is completed under the monitoring of the first CCD camera and the second CCD camera, so that the second clamp and the closed curved surface component are prevented from colliding while the distance between the second clamp and the closed curved surface component meets the adsorption requirement; and after the second clamp adsorbs the closed curved surface component, the first clamp and the second clamp are taken down, and the second clamp is mounted on the C-axis motion table, so that reversing clamping is completed.
Compared with the prior art, the invention has the following beneficial effects:
1. the reversing clamping positioning system disclosed by the invention can be used for expanding the measurement range, eliminating the measurement blind area of the surface of the closed curved surface component and realizing the measurement of the whole surface.
2. The reversing clamping precision is improved, and the position and the pose of the clamp are detected through the leveling measuring head, so that the accurate positioning of the clamp is realized; the reversing process is monitored in real time through the CCD camera, so that the reliability of the reversing clamping process is improved.
3. Compared with the prior art, the method has the advantages that the measuring efficiency is improved, the reversing clamping flow is simple, the components can be reversed once, the whole surface measurement can be completed through two scans, the data processing amount is reduced, and the measuring efficiency is improved.
Drawings
FIG. 1 is a schematic structural diagram of a closed curved surface component full-surface measurement reversing clamping positioning system;
FIG. 2 is a flow chart of a method for measuring, reversing, clamping and positioning the whole surface of a closed curved surface component;
FIG. 3 is a schematic diagram of a first fixture pose measurement method;
FIG. 4 is a schematic diagram of a second fixture pose measurement method;
fig. 5 is a schematic diagram of the position and the posture of the second clamp after reversing and clamping
The marks in the figure: a 1Y-axis motion table; 2, a carrier; a first CCD camera; 4, closing the curved surface component; a 5Z-axis slide; a 6X axis slider; a 7X-axis slide; 8Z-axis sliding blocks; a 9B axis motion stage; 10 a first leveling measuring head; 11 a second clamp; 12 surface shape measuring head; 13 a second leveling gauge head; a second CCD camera 14; 15C shaft adapter; 16 a first clamp; 17C axis motion stage.
Detailed Description
The invention is further described below with reference to embodiments shown in the drawings in which:
example 1
As shown in fig. 1, this embodiment discloses a system for measuring, reversing, clamping and positioning the whole surface of a closed curved surface member 4, which includes: the first clamp 16 and the second clamp 11, a pose detection unit, a pose adjustment unit and a control unit.
The first clamp 16 and the second clamp 11 are used for respectively fixing the closed curved surface component 4 before and after the direction change, have the same structure and can perform relative movement; the first clamp 16 and the second clamp 11 are vacuum adsorption clamps, the end part of the first clamp 16 is provided with a first adsorption head, the end part of the second clamp 11 is provided with a second adsorption head, and the two adsorption heads are respectively communicated with different vacuum pipelines; in this embodiment, when the pose is adjusted, the first clamp 16 is kept stationary, only the pose of the second clamp 11 is adjusted, and when the second clamp 11 is adjusted to the target pose, the adsorption positions of the first adsorption head and the second adsorption head on the closed curved surface member 4 are respectively a first adsorption position and a second adsorption position, and the two adsorption positions are in different areas and have no overlapping range, so as to effectively eliminate the measurement blind area and realize the full-face measurement of the closed curved surface member 4.
The central connection line of the first adsorption position and the second adsorption position passes through the mass center of the closed curved surface component 4, in the embodiment, the closed curved surface component 4 is a spherical component, and the central connection line of the first adsorption position and the second adsorption position passes through the spherical center; the second adsorption position is the initial position for measuring the surface shape of the closed curved surface member 4 before reversing, and the first adsorption position is the initial position for measuring the surface shape of the closed curved surface member 4 after reversing. Through optimizing the switching-over angle, set for the position at first absorption position and second absorption position, can improve measurement efficiency when guaranteeing the clamping stable, measure twice and can realize the measurement of the full face of closed curved surface component 4, and make things convenient for follow-up data concatenation.
The pose adjusting unit is used for adjusting the positions and the poses of the first clamp 16 and the second clamp 11, and adjusts the first clamp 16 and the second clamp 11 into a reversing clamping pose by means of the clamp pose information acquired by the clamp pose detecting unit through multi-axis linkage. The pose adjusting unit comprises a first objective table, a second objective table and a carrier 2, wherein a first clamp 16 is arranged on the first objective table, a second clamp 11 is arranged on the second objective table, and the first objective table and the second objective table can perform relative motion so as to adjust the relative position and pose of the first clamp 16 and the second clamp 11; the first objective table comprises a Y-axis moving table 1, the Y-axis moving table 1 can reciprocate along the Y-axis direction, a C-axis moving table 17 is fixedly arranged on the Y-axis moving table 1, the C-axis moving table 17 can rotate around the C-axis, the C-axis is parallel to the Z-axis, a C-axis adapter 15 is arranged on the C-axis moving table 17, a first clamp 16 is arranged on the C-axis moving table 17, and an adsorption port of the first clamp 16 points to the outer side along the C-axis direction.
The second objective table comprises a Z-axis sliding seat 5 and a Z-axis sliding block 8 which is arranged on the Z-axis sliding seat 5 in a sliding manner, and the Z-axis sliding block 8 can slide back and forth on the Z-axis sliding seat 5 along the Z-axis direction; an X-axis sliding seat 7 is fixedly arranged on the Z-axis sliding seat 8, an X-axis sliding seat 6 is arranged on the X-axis sliding seat 7 in a sliding manner, and the X-axis sliding seat 6 can slide back and forth on the X-axis sliding seat 7 along the X-axis direction; the X-axis sliding block 6 is provided with a B-axis moving table 9, the B-axis moving table 9 can rotate around the B-axis, the B-axis is perpendicular to the X-axis and the Z-axis, and the second clamp 11 is arranged on the B-axis moving table 9.
A pose detection unit for detecting the positions and poses of the first jig 16, the second jig 11, and the closed curved surface member 4; the pose detection unit comprises a first CCD camera 3, a second CCD camera 14, a first leveling measuring head 10 and a second leveling measuring head 13, wherein the two leveling measuring heads in the embodiment adopt displacement sensors, and can detect the relative displacement of the first clamp 16 and the second clamp 11 so as to obtain the spatial poses of the first clamp 16 and the second clamp 11; the first CCD camera 3 and the second CCD camera 14 are arranged on the carrier 2 and are respectively positioned in the horizontal direction and the vertical direction of the closed curved surface component 4; the first leveling measuring head 10 is arranged on the B-axis moving table 9, is used for measuring the pose of the first clamp 16, and is arranged at intervals with the second clamp 11; the second leveling measuring head 13 is arranged on the carrier 2, and the measuring head of the second leveling measuring head points to the B-axis moving table 9 to measure the pose of the second clamp 11.
The B-axis moving table 9 is also provided with a surface-shaped measuring head 12, and a measuring head of the surface-shaped measuring head 12, a measuring head of the first leveling measuring head 10 and an adsorption head of the second clamp 11 are all directed outwards along the radial direction of the B-axis moving table 9; the measuring head of the surface-shaped measuring head 12 and the adsorption head of the second clamp 11 are arranged away from each other, and are spaced 180 degrees apart; the measuring head of the first leveling measuring head 10, the measuring head of the surface-shaped measuring head 12 and the adsorbing head of the second clamp 11 are all spaced by 90 degrees. The surface shape measuring head 12, the first leveling measuring head 10 and the second clamp 11 are integrated on the B-axis moving table 9, the surface shape measurement, the first clamp 16 pose measurement and the second clamp 11 pose adjustment can be realized through multi-axis linkage of one object stage by adopting the above position relation, and the structure is compact and the operation is efficient.
During surface shape measurement, the measuring head of the surface shape measuring head 12 tracks the surface profile of the closed curved surface component 4 through three-axis linkage by the translation of the Z-axis sliding block 8 and the X-axis sliding block 6 and the rotation of the B-axis moving table 9, and the measuring head of the surface shape measuring head 12 is ensured to always point to the normal direction of the surface of the closed curved surface component 4; the surface-shaped measuring head 12 is driven to move in a three-axis linkage mode through the X-axis sliding block 6, the Z-axis sliding block 8 and the B-axis moving table 9, and meanwhile, the curved surface member is driven to rotate through the C-axis moving table 17, so that the surface-shaped measuring head 12 moves along with the surface of the closed curved surface member 4, the closed curved surface member 4 rotates, and the shape-following scanning of laser interference light on the surface of the curved surface member is realized. When the pose of the first clamp 16 is measured, the X-axis sliding block 6, the Z-axis sliding block 8 and the B-axis moving table 9 are driven, the position of the first leveling measuring head 10 relative to the first clamp 16 is adjusted, the first clamp 16 is positioned in the measuring range of the first leveling measuring head 10, the Z-axis sliding block 8 is driven, the pose of the first clamp 16 is measured through the first leveling measuring head 10, and data are recorded. When the pose of the second clamp 11 is measured and adjusted, the X-axis sliding block 6, the Z-axis sliding block 8 and the B-axis moving table 9 are driven, the relative position of the second clamp 11 relative to the second leveling measuring head 13 is adjusted, the second clamp 11 is positioned in the measuring range of the second leveling measuring head 13, the Z-axis sliding block 8 is driven, the pose of the second clamp 11 is measured through the second leveling measuring head 13, data are recorded, and then the X-axis sliding block 6, the Z-axis sliding block 8 and the B-axis moving table 9 are driven according to the comparison of measured data and target data as required, so that the pose of the second clamp 11 is corrected.
Example 2
Referring to fig. 2-5, the embodiment discloses a method for measuring, reversing, clamping and positioning the whole surface of a closed curved surface member 4, which specifically comprises the following steps:
the pose of the first clamp 16 is measured. After the first scanning of the closed curved surface member 4 is completed, the X-axis sliding block 6, the Z-axis sliding block 8 and the B-axis moving table 9 are driven, the first clamp 16 is positioned in the measuring range of the first leveling measuring head 10 by means of the positions of the first CCD camera 3 and the second CCD camera 14 relative to the first clamp 16, the Z-axis sliding block 8 is driven, pose data of the first clamp 16 are recorded, the pose data comprise position data and pose data, and target pose data of the second clamp 11 are set according to the pose data.
And measuring and adjusting the pose of the second clamp 11. Driving the Z-axis sliding block 8, the X-axis sliding block 6 and the B-axis moving table 9, roughly adjusting the pose of the second clamp 11 by means of the first CCD camera 3 and the second CCD camera 14, enabling the second adsorption head of the second clamp 11 to be positioned on the same plane with the first adsorption head of the first clamp 16, and enabling the second adsorption head to point to the closed curved surface member 4; the position of the second leveling measuring head 13 is adjusted along the X-axis direction, so that the second clamp 11 is positioned in the measuring range of the second leveling measuring head 13; driving the Z-axis sliding block 8, measuring the pose of the second clamp 11 by using the second leveling measuring head 13, and recording the measured pose data, wherein the measured pose data comprise position data and pose data; comparing the actually measured pose data with the target pose data in the first step, and determining an adjustment scheme; according to the adjustment scheme, the pose of the second clamp 11 is adjusted and corrected through the multi-axis movement of the second objective table; and after the adjustment, measuring and comparing again, if the pose of the second clamp 11 is adjusted to the target pose, stopping the adjustment, and if the pose of the second clamp 11 is not adjusted to the target pose, continuing the adjustment, the measurement and the comparison until the second clamp 11 is adjusted to the target pose, and when the second clamp 11 is adjusted to the target pose, the second clamp 11 is in mirror symmetry with the first clamp 16.
The first clamp 16 cooperates with the second clamp 11 to carry out reversing clamping on the closed curved surface member 4. After the second clamp 11 is adjusted to the target pose, under the monitoring of the first CCD camera 3 and the second CCD camera 14, the Z-axis sliding block 8 is driven, so that the second clamp 11 is gradually close to the closed curved surface component 4, a vacuum pipeline of the second clamp 11 is communicated, a vacuum pipeline of the first clamp 16 is disconnected, the second clamp 11 adsorbs the closed curved surface component 4, and the first clamp 16 unloads the closed curved surface component 4; the adsorption position of the second clamp 11 is the initial position for measuring the surface shape of the closed curved surface member 4 before reversing, the adsorption position of the first clamp 16 before reversing is a measurement blind area, the adsorption position after reversing is used as the initial position for measuring the surface shape of the closed curved surface member 4, the full surface shape measurement of the closed curved surface member 4 can be realized through two times of measurement, and the subsequent data splicing is convenient; the whole reversing clamping process is completed under the monitoring of the first CCD camera 3 and the second CCD camera 14, so that the second clamp 11 is prevented from colliding with the closed curved surface member 4 while the distance between the second clamp 11 and the closed curved surface member 4 meets the adsorption requirement; after the second clamp 11 adsorbs the closed curved surface component 4, the first clamp 16 and the second clamp 11 are taken down, the second clamp 11 is mounted on the C-axis moving table 17 to finish reversing clamping, and then subsequent secondary measurement and measurement data splicing are carried out to realize the full-surface shape measurement of the closed curved surface component 4.
The reversing clamping positioning system for the full-surface measurement of the closed curved surface component 4 disclosed by the invention is used for reversing the closed curved surface component 4, detecting the positions of the front and rear clamps through the displacement sensor, realizing accurate positioning, completing the full-surface measurement through one reversing, having no measurement blind area, reducing the data processing amount and improving the measurement precision; the relative motion of the workpiece and the displacement sensor is controlled through the five-axis ultra-precise machine tool system, so that the scanning range is enlarged, and the measuring and positioning effects on workpieces with different sizes are good.
It should be understood that in the claims, the specification of the present invention, all "including … …" should be interpreted as open-ended meaning that it is equivalent to "at least … …", and not as closed-ended meaning that it should not be interpreted to "include … …" only. The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.
The above description is merely an embodiment of the present invention, but the scope of the present invention is not limited thereto, and those skilled in the art should appreciate variations, modifications, additions or substitutions within the spirit of the present invention.
Claims (10)
1. The utility model provides a closed curved surface component full surface measurement switching-over clamping positioning system which characterized in that includes:
the first clamp and the second clamp are used for respectively fixing the closed curved surface components before and after the direction change, have the same structure and can perform relative movement;
the pose detection unit is used for detecting the positions and the poses of the first clamp, the second clamp and the closed curved surface member;
and the pose adjusting unit is used for adjusting the relative positions and the poses of the first clamp and the second clamp, and adjusting the first clamp and the second clamp into reversing clamping poses by means of the clamp pose information acquired by the clamp pose detecting unit through multi-axis linkage.
2. The system for measuring, reversing, clamping and positioning the whole surface of the closed curved surface component according to claim 1, wherein the first clamp and the second clamp are vacuum adsorption clamps, a first adsorption head is arranged at the end part of the first clamp, a second adsorption head is arranged at the end part of the second clamp, and the two adsorption heads are respectively communicated with different vacuum pipelines; when the first clamp and the second clamp are in the reversing clamping pose, the adsorption positions of the first adsorption head and the second adsorption head on the closed curved surface component are respectively a first adsorption position and a second adsorption position, and the two adsorption positions are in different areas and have no overlapping range.
3. The system for measuring, reversing and clamping and positioning the whole surface of the closed curved surface component according to claim 2, wherein the central connecting line of the first adsorption position and the second adsorption position passes through the mass center of the closed curved surface component; the second adsorption position is the initial position for measuring the surface shape of the closed curved surface component before reversing, and the first adsorption position is the initial position for measuring the surface shape of the closed curved surface component after reversing.
4. The system of any one of claims 1-3, wherein the pose adjustment unit comprises a first stage, a second stage, and a carrier, wherein the first clamp is disposed on the first stage, the second clamp is disposed on the second stage, and the first stage and the second stage are capable of performing relative motion to adjust the relative position and pose of the first clamp and the second clamp.
5. The system of claim 4, wherein the second stage comprises a Z-axis slide and a Z-axis slide slidably mounted on the Z-axis slide, the Z-axis slide being reciprocally slidable on the Z-axis slide along a Z-axis direction; an X-axis sliding seat is fixedly arranged on the Z-axis sliding seat, an X-axis sliding seat is arranged on the X-axis sliding seat in a sliding manner, and the X-axis sliding seat can slide back and forth along the X-axis direction on the X-axis sliding seat; the X-axis sliding block is provided with a B-axis moving table which can rotate around the B-axis, the B-axis is perpendicular to the X-axis and the Z-axis, and the second clamp is arranged on the B-axis moving table.
6. The system of claim 5, wherein the first stage comprises a Y-axis motion stage capable of reciprocating along a Y-axis direction, the Y-axis motion stage having a C-axis motion stage capable of rotating about a C-axis and the C-axis being parallel to the Z-axis; the first clamp is arranged on the C-axis motion table.
7. The system for measuring, reversing and clamping and positioning the whole surface of the closed curved surface component according to claim 6, wherein the pose detection unit comprises a first CCD camera, a second CCD camera, a first leveling measuring head and a second leveling measuring head; the first CCD camera and the second CCD camera are arranged on the carrier and are respectively positioned in the horizontal direction and the vertical direction of the closed curved surface component; the first leveling measuring head is arranged on the B-axis moving table, is used for measuring the pose of the first clamp and is arranged at intervals with the second clamp; the second leveling measuring head is arranged on the carrier, and the measuring head of the second leveling measuring head points to the B-axis moving table so as to measure the pose of the second clamp;
the measuring head of the surface-shaped measuring head, the measuring head of the first leveling measuring head and the adsorption head of the second clamp are all directed outwards along the radial direction of the B-axis moving table;
the measuring head of the surface-shaped measuring head and the adsorption head of the second clamp are arranged away from each other, and are spaced at 180 degrees; the measuring head of the first leveling measuring head, the measuring head of the surface-shaped measuring head and the adsorption head of the second clamp are all spaced by 90 degrees.
8. A method for measuring, reversing, clamping and positioning the whole surface of a closed curved surface component comprises the following steps:
measuring the pose of a first clamp, recording pose data of the first clamp, wherein the pose data comprise position data and pose data, and setting target pose data of a second clamp according to the pose data;
measuring the pose of a second clamp, and acquiring measured pose data of a second clamp, wherein the measured pose data comprises position data and pose data; comparing the actually measured pose data with the target pose data in the first step, and determining an adjustment scheme; according to the adjustment scheme, the pose of the second clamp is adjusted through multi-axis linkage of the second objective table; measuring and comparing after adjustment, stopping adjustment if the pose of the second clamp is adjusted to the target pose, and continuing adjustment, measurement and comparison if the pose of the second clamp is not adjusted to the target pose until the pose of the second clamp is adjusted to the target pose;
and thirdly, after the second clamp is adjusted to the target pose, the first clamp and the second clamp are matched to carry out reversing clamping on the closed curved surface component.
9. The method for measuring, reversing and clamping and positioning the whole surface of the closed curved surface member according to claim 8, wherein the method for measuring the pose of the second clamp in the second step is as follows: driving a Z-axis sliding block, an X-axis sliding block and a B-axis moving table, coarsely adjusting the pose of a second clamp by means of a first CCD camera and a second CCD camera, enabling a second adsorption head of the second clamp to be positioned on the same plane as a first adsorption head of the first clamp, and enabling the second adsorption head to point to a closed curved surface component; the position of the second leveling measuring head is adjusted along the X-axis direction, so that the second clamp is positioned in the measuring range of the second leveling measuring head; and driving the Z-axis sliding block, measuring the pose of the second fixture by using the second leveling measuring head, and recording the measured pose data.
10. The method for measuring, reversing and clamping and positioning the closed curved surface member on the whole surface according to claim 8, wherein the method for reversing and clamping the closed curved surface member in the third step is as follows: under the monitoring of the first CCD camera and the second CCD camera, the Z-axis sliding block is driven to enable the second clamp to be gradually close to the closed curved surface component, the second clamp vacuum pipeline is communicated, the first clamp vacuum pipeline is disconnected, the second clamp adsorbs the closed curved surface component, and the first clamp unloads the closed curved surface component; the whole reversing clamping process is completed under the monitoring of the first CCD camera and the second CCD camera, so that the second clamp and the closed curved surface component are prevented from colliding while the distance between the second clamp and the closed curved surface component meets the adsorption requirement; and after the second clamp adsorbs the closed curved surface component, the first clamp and the second clamp are taken down, and the second clamp is mounted on the C-axis motion table, so that reversing clamping is completed.
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