WO2013181884A1 - Online and in situ measurement method of single articulated arm and device - Google Patents
Online and in situ measurement method of single articulated arm and device Download PDFInfo
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- WO2013181884A1 WO2013181884A1 PCT/CN2012/079381 CN2012079381W WO2013181884A1 WO 2013181884 A1 WO2013181884 A1 WO 2013181884A1 CN 2012079381 W CN2012079381 W CN 2012079381W WO 2013181884 A1 WO2013181884 A1 WO 2013181884A1
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- Prior art keywords
- probe
- measuring
- precision
- articulated arm
- measurement
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000012625 in-situ measurement Methods 0.000 title claims description 15
- 230000033001 locomotion Effects 0.000 claims abstract description 61
- 238000012545 processing Methods 0.000 claims abstract description 18
- 239000000523 sample Substances 0.000 claims description 83
- 238000005259 measurement Methods 0.000 claims description 51
- 238000013178 mathematical model Methods 0.000 claims description 15
- 230000008569 process Effects 0.000 claims description 15
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- 229920000049 Carbon (fiber) Polymers 0.000 claims description 3
- 239000004917 carbon fiber Substances 0.000 claims description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 2
- 230000026058 directional locomotion Effects 0.000 claims 1
- 238000011065 in-situ storage Methods 0.000 abstract description 9
- 230000000694 effects Effects 0.000 abstract description 4
- 238000005520 cutting process Methods 0.000 abstract description 3
- 238000003754 machining Methods 0.000 description 14
- 239000011521 glass Substances 0.000 description 6
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/045—Correction of measurements
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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
- G01B5/004—Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points
- G01B5/008—Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points using coordinate measuring machines
Definitions
- the invention belongs to the field of mechanical quantity measurement technology and instrument, and particularly relates to an online measurement system. Specifically, it relates to a single-section arm online in-situ measurement system. Background technique
- Figure 1 is a schematic illustration of a typical in-process measuring device.
- the measuring device 103 measures the size of the workpiece during the machining of the workpiece 102. When the size of the workpiece 102 is close to the required size, the measuring device 103 issues an instruction to switch the machine from rough machining to finishing. When the size of the workpiece 102 reaches the desired size, the measuring device 103 issues an instruction to stop the machining.
- 101 is a machine headboard
- 104 is a tailstock.
- This in-process measuring device can effectively improve machining accuracy and prevent waste.
- the Italian Marpose company and China Zhongyuan Measuring Instrument Factory produce such processing measuring devices.
- the measuring device in this type of machining can only be used for the measurement of some simple parameters such as shaft diameter, bore diameter and step height.
- the national economy and national defense need to process many complicated parts, such as the engine's whole leaf disc, gears, and cabinets. These parts are complex in shape.
- the first thing to look at is the shape of the complex surfaces such as the blade or the tooth surface, and their relative positions.
- the measuring device in the process shown in Figure 1 is obviously powerless.
- the most common method currently used is to place a dedicated, or general-purpose measuring instrument, including a coordinate measuring machine, between the two processes of the line.
- a more comprehensive inspection of the workpiece after completion of a machining process According to the test results, only the parts that meet the requirements in the previous process are put into the next process. The advantage of this is to avoid passing unqualified parts into the next process, resulting in waste of working hours.
- This method is an on-line inspection. It is tested on the production line, but it is not in-situ inspection. It is not detected at the processing station, but is removed after processing on the previous machine and sent to the measuring machine for inspection.
- the engine's overall leaf discs, large gears, large cabinets, etc. are very expensive, and the requirements for raw materials are also high.
- the raw materials and the previously completed process are expensive. It is a pity to scrap because some local parameters in a certain process do not meet the requirements. It should be repaired as much as possible to make it a qualified one.
- the widely used on-line measurement method is to remove it from the machine after processing and send it to the measuring machine for testing. If it is found that some local parameters do not meet the requirements and then returned to the original machine for repair, there are many difficulties. First, the entire process is not smooth. Second, the workpiece is lost from the machine after it is removed from the machine. Reinstallation will cause errors due to baseline changes. In order to solve these two problems, online in-position detection is required.
- Some CNC machine tools and machining centers have detection devices. The easiest is to use the probes configured on the machine to detect tool wear after machining. This method can only find the wear of the tool and can not find other machining errors. A more advanced method is to change the probe at the tool after the tool exits, and use the machine to drive the probe to detect the workpiece. Although this method can be found to be affected by tool wear, machine vibration, deformation due to cutting force, etc., it is problematic in principle, and it cannot find various errors due to machine motion errors. The tool and the probe are driven by the same control system and motion mechanism, and the motion error of the machine tool affects both the machining error and the measurement error. Summary of the invention
- the invention aims to solve the deficiencies of the prior art, and provides an on-line measuring device for machining, which can detect the influence of tool wear, machine vibration, deformation caused by cutting force, machine tool motion error, etc.
- the technical solution adopted by the present invention is a single joint arm online in-situ measuring device, which comprises an articulated arm, a probe rotating body, a probe, a z-moving component, a moving component, an error compensation system, and a data processing and control computer.
- the joint arm is made of carbon fiber with small specific gravity and large elastic modulus; the front end of the joint arm is equipped with a probe revolving body, and the probe is mounted on the revolving body of the probe, and the joint arm set has small error in radial and axial movement.
- the joint arm rotates with the precision shaft system.
- the joint arm can rotate around the precision shaft system; the z-direction moving part is made of precision shaft system and z-direction slide plate.
- the guide rail seat is composed of a precision angle measuring system on the precision shaft system.
- the motor drives the precision shaft system to rotate the precision shaft to drive the required angle of the joint arm, and the precision angle measuring system measures the angle required for rotation;
- the seat of the shaft system is fixed on the z-direction slide plate, and the two rams on the z-direction slide plate and the precision guide rail on the z-direction guide rail seat constitute a linear motion guide pair, and the z-direction slide plate and the z-direction guide rail seat are respectively equipped with a grating ruler and
- the readhead uses the scale and the readhead to read the amount of movement of the z-direction slide relative to the z-direction guide rail.
- the other motor is driven by its reduction gearbox and lead screw. Moving the slider to a desired position;
- the X-direction moving part is composed of JC to the slide plate, the z-direction rail seat is fixed on the JC-direction slide plate, and the JC slides the two rams on the slide plate with the precision guide rails on the machine base to form a linear motion guide pair, the X-direction slide plate and the base plate.
- the grating is respectively equipped with a grating ruler and a readhead, and the grating head and the readhead are used to read the amount of movement of the X-direction slide plate relative to the base; under computer control, the third motor drives the X-direction through the reduction gear box and the lead screw The skateboard moves to the desired position;
- the error compensation system consists of: a self-collimating light pipe on the base of the machine, a long mirror on the z-direction slide, and a self-collimating light pipe to measure the change of the angular position of the long mirror during the measurement, and press This introduces error compensation;
- the relative position of the seat of the precision shaft system and the z-direction slide plate, and the relative position of the z-direction guide rail seat and the X-direction slide plate can be adjusted; according to the calibration result, the adjustment mechanism of the measuring machine is used to adjust the rotation axis of the precision shaft system parallel to the z-direction movement. Adjusting the z-direction motion to be perpendicular to the X-direction motion. Due to the limitation of the mechanical structure and the adjustment sensitivity limit, the adjustment may not be completely ideal. After adjusting and stabilizing for a period of time, the calibration is performed again, and the residual error is used as the basis for error compensation. .
- the rotating body is a measuring head rotating body capable of continuous rotation, or a non-continuous rotating measuring head rotating body, the measuring head is a scanning or triggering measuring head, the rotating body is rotated around the horizontal and vertical axes, and the joint arm is rotated around the precision shaft system, z z-direction movement to the skateboard; X moves toward the skateboard, and finally drives the probe to achieve 5 degrees of freedom.
- the single joint arm online in-situ measurement method is realized by means of the aforementioned single joint arm online in-situ measuring device, and includes the following steps:
- the rotation axis of the precision shaft system is parallel to the z-direction motion, and the z-direction motion is adjusted to be perpendicular to the motion. Due to the limitation of the mechanical structure and the adjustment sensitivity limit, the adjustment may not be completely ideal, and the calibration is performed again after adjusting and stabilizing for a period of time.
- the position of the joint arm that is, the center of rotation of the probe revolving body, parallel to the perpendicular line of the precision axis 5 axis and the X-direction movement is defined as the zero position of the joint arm rotation angle, and when the probe revolving body is rotated about the B-axis, that is, the vertical axis
- the position where the position of the measuring end is constant is defined as the cc angle zero of the revolving body 3 of the probe.
- the measurement signal is conditioned, and stored after the analog-to-digital conversion; the error is compensated according to the established mathematical model and the parameters and error values of the measuring machine obtained by the calibration, and the measured value is obtained.
- the coordinate values of the points of the point cloud are used to fit and reconstruct the coordinate values of the obtained point cloud to obtain the shape of the measured surface;
- the fitted and reconstructed data is compared with the theoretical mathematical model of the measured part, and the required acceptance is passed, or allowed to enter the next process; for deviations from the technical requirements, the amount of repair is calculated, and a rework process is formed.
- the measuring part can be easily retracted outside the glass cover of the machine tool, without being affected by coolant and chips.
- the probe can be gathered away from damage.
- the measuring machine With the probe revolving body, the measuring machine has 5 degrees of freedom of movement. Under the control of the computer, the probe can be inserted into the slot of the part to be tested and the measuring end can be moved to the specified point to be measured. It is possible to measure complex profiles with narrow grooves and large torsion angles.
- the machine turning table can be used to transfer the parts to be measured to the front end of the machine for measurement.
- the indexing error of the machine table and the radial and axial motion errors of the rotating shaft are compensated, so that the error of the machine turning table is measured. No effect.
- a self-collimating light pipe is mounted on the base, and a long mirror is mounted on the sliding slide. Can effectively compensate X and sum z influences the angular motion error and gravity deformation of the moving parts to improve the measurement accuracy.
- the vertical moving parts are in the middle link, and the vertical moving parts only need to drive the joint arm, the probe, the probe revolving body and the z-direction slide, which is convenient to drive.
- the measuring machine has a good performance control system and a wealth of measurement software. It can adjust, error compensate, fit and reconstruct the measurement data and form a rework instruction.
- Figure 1 is a schematic diagram of the measuring device in the machining of shaft parts.
- 101 is a machine headboard, 102 workpieces, 103 measuring devices, and 104 is a tailstock.
- Figure 2 shows a typical layout of the machine tool.
- 1 auxiliary station 2 machine table, tool holder 3, 4 turntable, and another auxiliary station 5.
- Figure 3 shows the working principle of the single joint arm online in-situ measuring machine.
- Figure 4 is a schematic diagram of a single articulated arm measuring machine in a collapsed state.
- Figure 5 is a schematic view of a machine equipped with a standard ball plate. detailed description
- a basic principle of metrology is that the inspection device should be independent of the machine tool.
- the measuring machine should meet the following requirements.
- Figure 2 shows a typical layout of a CNC machine tool and machining center.
- the machined part is mounted on the turntable 4 of the machine table 2, behind which is the tool holder 3, and there are two auxiliary stations 1 and 5 in front for loading and unloading.
- the measuring machine can only be installed in a small area between the two auxiliary stations 1 and 5 (usually only four or five hundred millimeters wide).
- the measuring machine has certain restrictions in the JC direction, and it should not protrude into the workshop aisle.
- the narrow area between the two auxiliary stations 1 and 5 can be installed in the in-situ measuring machine, but it should not be permanently occupied, because in some cases it is also desirable to use this space for some other work. , such as maintenance, cleaning, etc.
- the detecting part has an exit and gather function.
- the detecting part should extend at least to the rotating shaft of the turntable 4 to achieve a comprehensive measurement of the workpiece.
- the part to be tested should be retracted outside the glass cover of the machine during processing to protect it from coolant and chips.
- the detecting component also has a folding function to effectively protect the probe.
- the measurement efficiency is high, and the measurement can be performed automatically to reduce the machine tool time occupied by the measurement.
- the measurement results can be used for part repair and form a rework instruction.
- the widely used orthogonal coordinate measuring machine cannot meet the above requirements due to its large size and heavy weight, and is not suitable for online in-situ measurement of workpieces.
- the existing product articulated arm measuring machine cannot meet the above requirements due to its low precision, generally manual operation, and low efficiency, and is not suitable for online in-situ measurement.
- the invention provides a measuring system capable of comprehensively detecting various dimensions, shapes and position parameters of complex workpieces in the in-situ processing without removing the workpiece after the machine tool is finished.
- a measuring system that can issue a return instruction to the machine tool and perform a rework process if the workpiece is found to be unsatisfactory.
- the on-line in-situ measurement system of the articulated arm of the present invention consists of the various parts shown in FIG. Its main features are:
- the articulated arm 34 that can be rotated about a vertical precision shaft system 35. During the measurement, it protrudes into the glass cover of the machine tool to measure the workpiece; after the measurement is completed, the articulated arm 34 is driven by the motor 31 through the reduction gear box under the computer control, rotates 180 °, and retreats outside the glass cover of the machine tool.
- the probe revolving body 33 and the probe 32 are mounted at the front end of the articulated arm 34.
- the revolving body 33 can be rotated around the horizontal and vertical axes
- the articulated arm 34 can be rotated around the precision shafting 35
- the vertical sliding plate 36 can be moved in the z direction
- the horizontal sliding plate 312 can be moved in the x direction to achieve 5 freedoms. Degree of movement.
- the _y-direction moving guide is not required, which greatly reduces the size of the measuring machine _y, so that it can be easily installed between the two auxiliary stations of the machine tool (see Figure 2). ).
- the directional displacement of the measuring end is produced by the rotation of the articulated arm 34, which has a non-linear relationship between them.
- the rotation of the articulated arm 34 also causes additional movement in the JC direction.
- the rotation of the measuring head revolving body will cause additional displacement of the measuring end in the three directions of x, _y and z.
- the weight of the measuring machine is greatly reduced by reducing the size of the measuring machine in the X direction. It can be easily removed from the side of the machine when needed.
- the probe revolving body 33 and the probe 32 can be selected according to the task.
- the blade torsion angle is large, and the groove between the adjacent blades is narrow, and it is necessary to use a revolving body that can continuously rotate, such as Revo.
- the torsion angle is not very large, and the parts with wide slots between adjacent teeth can be used for non-continuously rotating probe heads, such as rai0, TESASTAR, etc.
- a scanning or triggering probe can be used.
- self-collimation is mounted on the base 316.
- Light The tube 317 is provided with a long mirror 37 on the z-direction slide 36.
- the self-collimating light pipe 317 measures the change in the angular position of the long mirror 37 during the measurement, and introduces error compensation according to this, thereby improving the measurement accuracy.
- the measuring machine By using the measuring machine to detect the change of the spherical center position of one or several balls on the standard ball plate 6 before and after the rotation of the turntable 4, the indexing error of the machine tool table and the radial and axial motion errors of the rotating shaft can be detected and the error is made. make up.
- the measuring machine can perform scanning or point measurement as needed.
- the measuring machine simultaneously collects the coordinate values X and z to the slide plate 312, the z-direction slide plate 36, the rotation angle ⁇ of the joint arm 34, the rotation angle ⁇ of the probe revolving body 33 about the horizontal and vertical axes, and the reading of the probe 32.
- the straight tube 317 reads in both directions ⁇ ⁇ .
- the length vector reading of the space coordinates of the probe in three directions in its own coordinate system is the angle value of the self-collimating light pipe in two directions ⁇ ⁇ , assuming that the optical path perpendicular to the self-collimating light pipe is a plane, where ⁇ direction They are the horizontal direction and the vertical direction in the plane.
- the measurement signal is conditioned (including analog-to-digital conversion) and stored.
- the coordinate values of each point of the measured point cloud are obtained.
- the coordinates of each point of the obtained point cloud are data-combined and reconstructed to obtain the shape of the measured surface.
- the machine tool turntable indexing error and the radial and axial motion errors of the rotating shaft are compensated according to the result of measuring the ball center position on the standard disk, and the measurement will be performed. The results are unified into the same coordinate system.
- the invention proposes a single joint arm online in-situ measurement system. Its working principle is shown as in Fig. 3.
- the joint arm 34 is made of carbon fiber with a small specific gravity and a large elastic modulus.
- a probe revolving body 33 and a probe 32 are mounted at the front end thereof.
- the probe revolving body 33 and the probe 32 can be selected according to the task situation. For parts such as the integral blade disc, where the blade torsion angle is large and the groove between adjacent blades is narrow, it is necessary to use a revolving body that can continuously rotate, such as Revo. For the general gear, the torsion angle is not very large, and the parts with wide slots between adjacent teeth can be used for non-continuously rotating probe heads, such as PH10 and Tesastar. According to Accuracy and measurement efficiency requirements can be used to scan or trigger the probe.
- the articulated arm 4 is rotatable about a precision shaft system 35 having a small radial and axial motion error and a small angular pendulum motion error.
- a precision angle measuring system is mounted on the precision shafting system 35.
- the motor 31 drives the articulated arm 34 to the desired angle through the reduction gearbox.
- the articulated arm 34 can be rotated 180 ° in one direction to withdraw the entire measuring machine out of the machine cover without the influence of coolant and chips.
- the probe 32 can be folded away from damage. The maximum corner in the other direction needs to be set according to the range.
- the seat of the precision shafting 35 is fixed to the z-direction slide 36, and the two rams 310 on the slide 36 and the precision guide rails on the z-guide rail 38 constitute a linear motion guide pair, the z-direction slide 36 and the z-direction guide rail.
- a scale and a readhead are respectively mounted on the 38, and the amount of movement of the z-direction slide 36 relative to the z-direction guide rail 38 is read by it.
- the motor 311 is moved by the reduction gear box and the lead screw 39 to the slider 36 to the desired position.
- the z-guide rails 38 are fixed to the X-direction slides 312.
- the two rams 315 on the X-direction slide 312 and the precision guide rails on the base 316 constitute a linear motion guide pair, and the JC is mounted on the slide 312 and the base 316, respectively.
- a scale and a readhead are used to read the amount of movement of the X-direction slide 312 relative to the base 316.
- the motor 314 drives the X to the slider 312 to the desired position via the reduction gearbox and lead screw 313.
- the relative position of the seat of the precision shafting 35 and the z-direction slide 36, and the relative positions of the z-direction guide rail 38 and JC to the slide 312 can be adjusted.
- the adjustment mechanism of the measuring machine is used to adjust the rotation axis of the precision shaft system 35 parallel to the z-direction motion, and adjust the z-direction motion to be perpendicular to the motion. Due to the limitation of mechanical structure and adjustment sensitivity limit, the adjustment cannot be completely ideal. After adjusting and stabilizing for a period of time, it is calibrated again, and the residual error is used as the basis for error compensation.
- the position of the articulated arm 34 i.e., the center of rotation of the probe revolving body 33 to the perpendicular to the axis of the precision axis 35
- the position at which the position of the measuring end is constant when the measuring head revolving body 33 is rotated about the B axis (vertical axis) is defined as the a-corner zero position of the revolving body 33 of the probe.
- the position of the probe of the probe 32 parallel to the articulated arm 34 is defined as the ⁇ -zero position of the revolving body 33 of the probe.
- the mathematical model of the measuring machine is established.
- the position of the measuring machine in the collapsed state shown in Fig. 4 is taken as the "home" position. After the part has been machined and the glass cover of the machine is opened, let the articulated arm 4 rotate 180 ° in the opposite direction to the folding, and the measuring machine enters the working state.
- the path planning of the measuring machine is formed.
- the measuring machine performs a single blade or tooth, or some local measurement.
- the probe is inserted into the groove of the part to be tested in the appropriate direction, and the measuring end is moved to the designated point to be tested.
- the measuring machine can perform scanning or point measurement as needed.
- the measuring machine simultaneously acquires the X-direction slide 312 (Fig. 3), the coordinate values X and z of the z-direction slide 36, the rotation angle ⁇ of the articulated arm 34, the rotation angle of the probe revolving body 33 about the horizontal and vertical axes, and the reading of the probe 32.
- the self-collimating light pipe 317 reads in two directions ⁇ ⁇ .
- the measurement signal is conditioned (including analog-to-digital conversion) and stored.
- the coordinate values of the points of the measured point cloud are obtained.
- Data fitting and reconstruction are performed on the coordinate values of the obtained point cloud to obtain the shape of the measured surface.
- a measuring machine is also used to measure the position of one or more of the balls on the standard ball plate 6 before and after the rotation. According to the result of measuring the position of the spherical center on the standard spherical disk 6, the indexing error of the machine tool turret 4 and the radial and axial motion errors of the rotating shaft are compensated, and the measurement results are unified into the same coordinate system.
- the fitted and reconstructed data is compared to the theoretical mathematical model of the part being tested, passed through acceptance, or allowed to proceed to the next step. For deviations from the technical requirements, the amount of repair is calculated and a repair processing procedure is formed.
- the measuring machine After all measurements have been completed, under computer control, the measuring machine returns to the "home" position shown in Figure 4. If the measurement indicates that the machined part meets the requirements, remove the part and send it to the auxiliary station 1 or 5 shown in Figure 5. Then install and machine the next part. If the measurement indicates that the part being machined deviates from the technical requirements, the workpiece remains in place and the machine cover is closed. Rework processing is performed according to the formed rework processing program.
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Abstract
Disclosed is an online and in situ measuring device of a single articulated arm consists of an articulated arm (34), a measuring head (32), a rotating part (33) of the measuring head, a moving part in the z direction, a moving part in the x direction, an error compensating system, a data processing and controlling computer, and an electric motor (31, 311, and 314). The rotating part(33) of the measuring head is mounted at the front end of the articulated arm (34), the measuring head (32) is mounted on the rotating part (33) of the measuring head, and the articulated arm (34) is fitted to a precise shaft system (35); the moving part in the z direction consists of the precise shaft system (35), a sliding plate in the z direction (36) and a guideway seat (38), the moving part in the x direction consists of a sliding plate in the x direction (312), and the guideway seat in the z direction (38) is fixed on the sliding plate in the x direction (312); and the error compensating system consists of an autocollimatic light pipe (317) mounted on the machine tool base (316), and a long reflecting mirror (37) mounted on the sliding plate in the z direction (36). Also provided is an online and in situ measuring method of a single articulated arm implemented with the abovementioned online and in situ measuring device of a single articulated arm. The measuring device and measuring method can detect the effect on processing of cutter wear, the vibration of the machine tool, the deformation caused by the cutting force, and movement errors of the machine tool etc.
Description
单关节臂在线原位测量方法及装置 技术领域 Single joint arm online in-situ measurement method and device
本发明属于机械量测量技术及仪器领域, 尤其涉及在线测量系统。 具体讲, 涉及单关 节臂在线原位测量系统。 背景技术 The invention belongs to the field of mechanical quantity measurement technology and instrument, and particularly relates to an online measurement system. Specifically, it relates to a single-section arm online in-situ measurement system. Background technique
国民经济与国防的发展对于产品的精度要求越来越高、 各种形状复杂的零件所占的比 重越来越大。 这些高精度复杂零件加工时间长、 加工费用高, 不合格品带来的损失大。 在 加工工艺过程中采用适当的检测装置, 适时地检测加工件的各种尺寸、 形状、 位置参数, 对于提高加工精度, 保证产品质量、 防止或减少废品, 具有重要意义。 The development of the national economy and national defense is increasingly demanding for the accuracy of products, and the proportion of parts with complex shapes is increasing. These high-precision and complex parts have long processing time, high processing cost, and large loss due to non-conforming products. Appropriate detection devices are used in the processing process to timely detect various sizes, shapes and positional parameters of the workpieces, which is of great significance for improving the machining accuracy, ensuring product quality, and preventing or reducing waste products.
图 1是典型的加工中测量装置示意图。 测量装置 103在工件 102的加工过程中测量工 件的尺寸。 当工件 102的尺寸接近所要求尺寸时, 测量装置 103发出指令, 让机床由粗加 工转为精加工。 当工件 102的尺寸达到所要求尺寸时, 测量装置 103发出指令, 停止加工。 图 1中 101是机床床头箱, 104是尾架。 Figure 1 is a schematic illustration of a typical in-process measuring device. The measuring device 103 measures the size of the workpiece during the machining of the workpiece 102. When the size of the workpiece 102 is close to the required size, the measuring device 103 issues an instruction to switch the machine from rough machining to finishing. When the size of the workpiece 102 reaches the desired size, the measuring device 103 issues an instruction to stop the machining. In Fig. 1, 101 is a machine headboard, and 104 is a tailstock.
这种加工中测量装置能够有效地提高加工精度, 防止产生废品。 意大利 Marpose公司 和我国中原量仪厂等生产这类加工中测量装置。 但是这类加工中测量装置只能用于轴径、 孔径、 台阶高度等一些简单参数的测量。 而国民经济与国防中需要加工许多复杂的零件, 如发动机整体叶盘、 齿轮、 箱体等。 这些零件形状复杂, 首先需要检测的是叶片或齿面等 复杂曲面的形状, 以及它们的相对位置。 图 1所示加工中测量装置显然是无能为力的。 This in-process measuring device can effectively improve machining accuracy and prevent waste. The Italian Marpose company and China Zhongyuan Measuring Instrument Factory produce such processing measuring devices. However, the measuring device in this type of machining can only be used for the measurement of some simple parameters such as shaft diameter, bore diameter and step height. The national economy and national defense need to process many complicated parts, such as the engine's whole leaf disc, gears, and cabinets. These parts are complex in shape. The first thing to look at is the shape of the complex surfaces such as the blade or the tooth surface, and their relative positions. The measuring device in the process shown in Figure 1 is obviously powerless.
对于这类复杂零件, 目前最常用的方法是在生产线的两个工序间放置一些专用的、 或 包括三坐标测量机在内的通用测量仪器。 在完成一个加工工序后对加工件进行较全面的检 测。 根据检测结果只让在上一道工序符合要求的零件进入下一道工序。 这样做的好处是避 免让不合格的件进入下一道工序, 造成工时的浪费。 这种方法属于在线检测, 它在生产线 上进行检测, 但不是原位检测, 它不在加工工位上进行检测, 而是在前一台机床上加工完 后卸下, 送到测量机上进行检测。 For this type of complex part, the most common method currently used is to place a dedicated, or general-purpose measuring instrument, including a coordinate measuring machine, between the two processes of the line. A more comprehensive inspection of the workpiece after completion of a machining process. According to the test results, only the parts that meet the requirements in the previous process are put into the next process. The advantage of this is to avoid passing unqualified parts into the next process, resulting in waste of working hours. This method is an on-line inspection. It is tested on the production line, but it is not in-situ inspection. It is not detected at the processing station, but is removed after processing on the previous machine and sent to the measuring machine for inspection.
发动机整体叶盘、 大型齿轮、 大型箱体等都是十分昂贵的, 对于原材料要求也很高。 原材料与前面已完成的工序加工费用都很高。 如果因为某一道工序中某些局部参数不符合 要求而报废是十分可惜的, 应当尽可能进行返修, 使之成为合格件。 但是目前广泛采用的 在线测量方法是在加工完毕后, 将它从机床上卸下, 送到测量机上进行检测。 如果发现某 些局部参数不符合要求再送回原机床返修存在许多困难。 一是整个工艺流程不顺, 二是将 工件从机床上卸下后就失去了它的安装基准, 重新安装会因基准改变带来误差。 为了解决 这两个问题要求进行在线在位检测。 The engine's overall leaf discs, large gears, large cabinets, etc. are very expensive, and the requirements for raw materials are also high. The raw materials and the previously completed process are expensive. It is a pity to scrap because some local parameters in a certain process do not meet the requirements. It should be repaired as much as possible to make it a qualified one. However, the widely used on-line measurement method is to remove it from the machine after processing and send it to the measuring machine for testing. If it is found that some local parameters do not meet the requirements and then returned to the original machine for repair, there are many difficulties. First, the entire process is not smooth. Second, the workpiece is lost from the machine after it is removed from the machine. Reinstallation will cause errors due to baseline changes. In order to solve these two problems, online in-position detection is required.
有的数控机床和加工中心带有检测装置。 最简单的是在加工完毕后, 用机床上配置的 测头检测刀具的磨损。 这种方法只能发现刀具的磨损, 发现不了其它加工误差。 较先进的 方法是, 在刀具退出后, 在刀具处换上测头, 利用机床带动测头运动, 对工件进行检测。
这种方法固然能够发现由于刀具磨损、 机床振动、 由于切削力引起的变形等影响, 但是从 原理上说它存在问题, 它不能发现由于机床运动误差而产生的种种误差。 刀具与测头是由 同一控制系统、 运动机构带动运动, 机床的运动误差同时影响加工误差与测量误差。 发明内容 Some CNC machine tools and machining centers have detection devices. The easiest is to use the probes configured on the machine to detect tool wear after machining. This method can only find the wear of the tool and can not find other machining errors. A more advanced method is to change the probe at the tool after the tool exits, and use the machine to drive the probe to detect the workpiece. Although this method can be found to be affected by tool wear, machine vibration, deformation due to cutting force, etc., it is problematic in principle, and it cannot find various errors due to machine motion errors. The tool and the probe are driven by the same control system and motion mechanism, and the motion error of the machine tool affects both the machining error and the measurement error. Summary of the invention
本发明旨在解决克服现有技术的不足, 提供一种机械加工在线测量装置, 能够检测到 刀具磨损、 机床振动、 由于切削力引起的变形、 机床运动误差等对加工产生的影响, 为达 到上述目的, 本发明采取的技术方案是, 单关节臂在线原位测量装置, 由关节臂、 测头回 转体、 测头、 z向运动部件、 向运动部件、 误差补偿系统及数据处理与控制计算机、 电动 机组成; The invention aims to solve the deficiencies of the prior art, and provides an on-line measuring device for machining, which can detect the influence of tool wear, machine vibration, deformation caused by cutting force, machine tool motion error, etc. The technical solution adopted by the present invention is a single joint arm online in-situ measuring device, which comprises an articulated arm, a probe rotating body, a probe, a z-moving component, a moving component, an error compensation system, and a data processing and control computer. Motor composition
关节臂采用比重小、 弹性模量大的碳素纤维制作; 关节臂的前端安装有测头回转体, 测头安装在测头回转体上, 关节臂套装在径向与轴向运动误差小、 角摆运动误差小的精密 轴系上, 套装锁死时, 关节臂随精密轴系转动, 套装松开时, 关节臂可以绕精密轴系转动; z向运动部件由精密轴系、 z向滑板、 导轨座组成, 精密轴系上安装有精密测角系统, 在计算机控制下电动机经过减速箱带动精密轴系转动从而带动关节臂转动所需角度, 精密 测角系统测得转动所需角度; 精密轴系的座固定在 z向滑板上, z向滑板上的两个滑枕与 z 向导轨座上的精密导轨构成直线运动导轨副, z向滑板和 z向导轨座上分别装有光栅尺与 读数头, 利用光栅尺与读数头读出 z向滑板相对于 z向导轨座的移动量, 在计算机控制下, 另一电动机经过其减速箱和丝杠带动 z向滑板移动到所需位置; The joint arm is made of carbon fiber with small specific gravity and large elastic modulus; the front end of the joint arm is equipped with a probe revolving body, and the probe is mounted on the revolving body of the probe, and the joint arm set has small error in radial and axial movement. On the precision shaft system with small angular pendulum motion error, when the set locks, the joint arm rotates with the precision shaft system. When the set is released, the joint arm can rotate around the precision shaft system; the z-direction moving part is made of precision shaft system and z-direction slide plate. The guide rail seat is composed of a precision angle measuring system on the precision shaft system. Under the control of the computer, the motor drives the precision shaft system to rotate the precision shaft to drive the required angle of the joint arm, and the precision angle measuring system measures the angle required for rotation; The seat of the shaft system is fixed on the z-direction slide plate, and the two rams on the z-direction slide plate and the precision guide rail on the z-direction guide rail seat constitute a linear motion guide pair, and the z-direction slide plate and the z-direction guide rail seat are respectively equipped with a grating ruler and The readhead uses the scale and the readhead to read the amount of movement of the z-direction slide relative to the z-direction guide rail. Under computer control, the other motor is driven by its reduction gearbox and lead screw. Moving the slider to a desired position;
X向运动部件由 JC向滑板构成, z向导轨座固定在 JC向滑板上, JC向滑板上的两个滑枕 与机床基座上的精密导轨构成直线运动导轨副, X 向滑板和基座上分别装有光栅尺与读数 头, 利用该光栅尺与读数头读出 X向滑板相对于基座的移到量; 在计算机控制下, 第三个 电动机经过其减速箱和丝杠带动 X向滑板移动到所需位置; The X-direction moving part is composed of JC to the slide plate, the z-direction rail seat is fixed on the JC-direction slide plate, and the JC slides the two rams on the slide plate with the precision guide rails on the machine base to form a linear motion guide pair, the X-direction slide plate and the base plate. The grating is respectively equipped with a grating ruler and a readhead, and the grating head and the readhead are used to read the amount of movement of the X-direction slide plate relative to the base; under computer control, the third motor drives the X-direction through the reduction gear box and the lead screw The skateboard moves to the desired position;
误差补偿系统的组成为: 在机床基座上装有自准直光管, 在 z向滑板上装有长反射镜, 在测量过程中自准直光管测量长反射镜的角度位置的变化, 并按此引入误差补偿; The error compensation system consists of: a self-collimating light pipe on the base of the machine, a long mirror on the z-direction slide, and a self-collimating light pipe to measure the change of the angular position of the long mirror during the measurement, and press This introduces error compensation;
精密轴系的座与 z向滑板的相对位置、 z向导轨座与 X向滑板的相对位置均可调整; 根 据标定结果, 利用测量机的调整机构将精密轴系的转轴与 z向运动调平行, 将 z向运动调 到与 X向运动垂直, 由于受机械结构和调整灵敏限的限制, 调整不可能完全理想, 在调整 并稳定一段时间后再次标定, 并将残存的误差作为误差补偿的依据。 The relative position of the seat of the precision shaft system and the z-direction slide plate, and the relative position of the z-direction guide rail seat and the X-direction slide plate can be adjusted; according to the calibration result, the adjustment mechanism of the measuring machine is used to adjust the rotation axis of the precision shaft system parallel to the z-direction movement. Adjusting the z-direction motion to be perpendicular to the X-direction motion. Due to the limitation of the mechanical structure and the adjustment sensitivity limit, the adjustment may not be completely ideal. After adjusting and stabilizing for a period of time, the calibration is performed again, and the residual error is used as the basis for error compensation. .
回转体为能够连续回转的测头回转体, 或非连续回转的测头回转体, 测头为扫描或触 发测头, 回转体做绕水平与竖直轴转动、 关节臂绕精密轴系转动、 z向滑板做 z向运动; X 向滑板做 向运动, 最终带动测头实现 5自由度的运动。 The rotating body is a measuring head rotating body capable of continuous rotation, or a non-continuous rotating measuring head rotating body, the measuring head is a scanning or triggering measuring head, the rotating body is rotated around the horizontal and vertical axes, and the joint arm is rotated around the precision shaft system, z z-direction movement to the skateboard; X moves toward the skateboard, and finally drives the probe to achieve 5 degrees of freedom.
单关节臂在线原位测量方法借助于前述单关节臂在线原位测量装置实现, 包括下列步 骤: The single joint arm online in-situ measurement method is realized by means of the aforementioned single joint arm online in-situ measuring device, and includes the following steps:
将精密轴系的转轴与 z向运动调平行,将 z向运动调到与 向运动垂直, 由于受机械结 构和调整灵敏限的限制, 调整不可能完全理想, 在调整并稳定一段时间后再次标定, 并将 残存的误差作为误差补偿的依据;
将关节臂即测头回转体的回转中心到与精密轴线 5轴线的垂线与 X向运动平行的位置 定义为关节臂转角 的零位, 将测头回转体绕 B轴即竖直轴转动时测端位置不变的位置定 义为测头回转体 3的 cc角零位, 将 cc= 90 ° 时, 测头的探针与关节臂平行位置定义为测头 回转体的 角零位; The rotation axis of the precision shaft system is parallel to the z-direction motion, and the z-direction motion is adjusted to be perpendicular to the motion. Due to the limitation of the mechanical structure and the adjustment sensitivity limit, the adjustment may not be completely ideal, and the calibration is performed again after adjusting and stabilizing for a period of time. And use the residual error as the basis for error compensation; The position of the joint arm, that is, the center of rotation of the probe revolving body, parallel to the perpendicular line of the precision axis 5 axis and the X-direction movement is defined as the zero position of the joint arm rotation angle, and when the probe revolving body is rotated about the B-axis, that is, the vertical axis The position where the position of the measuring end is constant is defined as the cc angle zero of the revolving body 3 of the probe. When cc=90 °, the position parallel to the probe and the articulated arm of the probe is defined as the angular zero position of the revolving body of the probe;
在将整个测量机安装到机床旁后, 还需要通过标定, 将测量机的 X向运动调整到与机 床相应运动平行, 并让测头的探针在 α= 90 ° 、 β =0。 时通过机床转台的轴线; After the whole measuring machine is installed next to the machine, the X-direction movement of the measuring machine needs to be adjusted to be parallel with the corresponding movement of the machine, and the probe of the measuring head is α=90 °, β =0. Passing the axis of the machine turntable;
根据测量机的原理结构、 建立测量机的数学模型; Establish a mathematical model of the measuring machine according to the principle structure of the measuring machine;
让关节臂 4按与收拢时相反的方向转 180 ° , 进入工作状态; Let the articulated arm 4 turn 180 ° in the opposite direction to when it is folded, and enter the working state;
按照测量任务的要求, 根据所建立的数学模型, 形成测量的路径规划, 在计算机控制 下, 完成单个叶片或齿、 或某个局部的测量, 利用测头具有的 5个运动自由度, 在计算机 控制下让测头探针以合适的方向伸入被测零件的槽内、 测端移动到指定的待测点; According to the requirements of the measurement task, according to the established mathematical model, form a path plan for measurement, under computer control, complete a single blade or tooth, or a partial measurement, using the five degrees of freedom of motion of the probe, in the computer Under control, let the probe probe protrude into the slot of the part to be tested in the appropriate direction, and the measuring end moves to the designated point to be tested;
根据需要, 进行扫描或点位测量, 同时采集 X向滑板、 ζ向滑板的坐标值 和 ζ、 关节 臂的转角 θ、 测头回转体绕水平和竖直轴的转角 ^和 测头在自身坐标系下三个方向的 空间坐标的长度向量读数 、 自准直光管在两个方向的角度值 、 ψ, 假设垂直于自准直光 管的光路作一平面, 其中 φ、 ^方向分别为该平面内的水平方向与铅直方向, 对测量信号 进行调理, 含模数转换后进行存储; 根据所建立的数学模型和由标定得到的测量机的各个 参数和误差值进行误差补偿, 获得所测点云各个点的坐标值, 对所得到的点云的坐标值进 行数据拟合和重构, 获得被测曲面的形状; According to the need, scan or point measurement, and collect the X-direction slide, the coordinate value of the slide to the slide, the 转 of the joint arm, the rotation angle of the joint arm θ, the rotation angle of the probe body around the horizontal and vertical axes, and the probe at its own coordinates. The length vector reading of the spatial coordinates in the three directions, the angle value of the self-collimating light pipe in two directions, ψ, assuming a plane perpendicular to the optical path of the self-collimating light pipe, wherein the φ and ^ directions are respectively The horizontal direction and the vertical direction in the plane, the measurement signal is conditioned, and stored after the analog-to-digital conversion; the error is compensated according to the established mathematical model and the parameters and error values of the measuring machine obtained by the calibration, and the measured value is obtained. The coordinate values of the points of the point cloud are used to fit and reconstruct the coordinate values of the obtained point cloud to obtain the shape of the measured surface;
将拟合和重构后的数据与所测零件的理论数学模型进行比较, 合乎要求的通过验收, 或允许其进入下一工序; 对偏离技术要求的, 计算返修量, 并形成返修加工程序。 The fitted and reconstructed data is compared with the theoretical mathematical model of the measured part, and the required acceptance is passed, or allowed to enter the next process; for deviations from the technical requirements, the amount of repair is calculated, and a rework process is formed.
本发明具有如下技术效果: The invention has the following technical effects:
1、 尺寸小, 便于在机床旁安装, 实现原位测量。 1. Small size, easy to install next to the machine, for in-situ measurement.
2、 重量轻, 在必要时可以从机床旁移开, 不影响机床其它工作。 2, light weight, can be removed from the machine if necessary, does not affect other work of the machine.
3、 测量部件可以方便地退到机床玻璃罩外, 不受冷却液和切屑影响。 测头可以收拢, 免受损坏。 3. The measuring part can be easily retracted outside the glass cover of the machine tool, without being affected by coolant and chips. The probe can be gathered away from damage.
4、 配有测头回转体, 测量机具有 5个运动自由度, 能够在计算机控制下让探针伸入被 测零件的槽内、 测端移动到指定的待测点。 可以测量各种槽窄、 扭转角大的复杂型 面。 4. With the probe revolving body, the measuring machine has 5 degrees of freedom of movement. Under the control of the computer, the probe can be inserted into the slot of the part to be tested and the measuring end can be moved to the specified point to be measured. It is possible to measure complex profiles with narrow grooves and large torsion angles.
5、 可以利用机床转台, 将需要测量的部位转到机床前端, 进行测量。 同时通过检测安 装在机床转台上的标准球盘上某一个或若干球的球心位置变化,对机床转台分度误 差和转轴的径向与轴向运动误差进行补偿, 使机床转台误差对测量结果没有影响。 5. The machine turning table can be used to transfer the parts to be measured to the front end of the machine for measurement. At the same time, by detecting the change of the spherical center position of one or several balls on the standard ball plate mounted on the machine table, the indexing error of the machine table and the radial and axial motion errors of the rotating shaft are compensated, so that the error of the machine turning table is measured. No effect.
6、 只有一个在水平面内转动的关节臂, 关节臂的转动对于它的重力变形没有影响。关 节臂转角较小, 关节臂转动时关节臂及测头、 测头回转体的重量对于 X向与和 ζ向 运动部件作用臂长变化小, 所引起的重力变形变化小。 6. There is only one articulated arm that rotates in the horizontal plane. The rotation of the articulated arm has no effect on its gravity deformation. The angle of the articulated arm is small. When the articulated arm rotates, the weight of the articulated arm and the probe and the revolving body of the probe changes little for the length of the arm of the X-direction and the moving part, and the change of gravity deformation caused by the joint is small.
7、 在基座上装有自准直光管, 在 ζ向滑板上装有长反射镜。 可以有效地补偿 X向与和
z向运动部件角运动误差和重力变形变化的影响, 提高测量精度。 7. A self-collimating light pipe is mounted on the base, and a long mirror is mounted on the sliding slide. Can effectively compensate X and sum z influences the angular motion error and gravity deformation of the moving parts to improve the measurement accuracy.
8、 竖直运动部件处于中间环节, 竖直运动部件只需要带动关节臂、 测头、 测头回转体 及 z向滑板, 驱动方便。 8. The vertical moving parts are in the middle link, and the vertical moving parts only need to drive the joint arm, the probe, the probe revolving body and the z-direction slide, which is convenient to drive.
9、 测量机具有性能良好的控制系统和丰富的测量软件, 可以对测量数据进行调理、误 差补偿、 拟合和重构, 并形成返修指令。 附图说明 9. The measuring machine has a good performance control system and a wealth of measurement software. It can adjust, error compensate, fit and reconstruct the measurement data and form a rework instruction. DRAWINGS
图 1为轴类零件加工中测量装置示意图。 图中, 101是机床床头箱, 102工件, 103测 量装置, 104是尾架。 Figure 1 is a schematic diagram of the measuring device in the machining of shaft parts. In the figure, 101 is a machine headboard, 102 workpieces, 103 measuring devices, and 104 is a tailstock.
图 2为机床的典型布局示意图。 图中, 1辅助工位、 2机床工作台、 刀架 3、 4转台、 另一辅助工位 5。 Figure 2 shows a typical layout of the machine tool. In the figure, 1 auxiliary station, 2 machine table, tool holder 3, 4 turntable, and another auxiliary station 5.
图 3为单关节臂在线原位测量机工作原理图。 图中, 31电动机, 32测头, 33回转体, 34关节臂, 35精密轴系, 36竖直滑板, 37长反射镜, 38导轨座, 39丝杠, 310滑枕, 311 电动机, 312水平滑板, 315滑枕, 314另一电动机, 316基座, 317自准直光管。 Figure 3 shows the working principle of the single joint arm online in-situ measuring machine. In the figure, 31 motor, 32 probe, 33 rotary body, 34 articulated arm, 35 precision shaft system, 36 vertical slide, 37 long mirror, 38 rail seat, 39 screw, 310 ram, 311 motor, 312 level Skateboard, 315 ram, 314 another motor, 316 base, 317 self-collimating light pipe.
图 4为处于收拢状态的单关节臂测量机示意图。 Figure 4 is a schematic diagram of a single articulated arm measuring machine in a collapsed state.
图 5为装有标准球盘的机床示意图。 具体实施方式 Figure 5 is a schematic view of a machine equipped with a standard ball plate. detailed description
计量学的一条基本原则是检测装置应该独立于加工机床。 A basic principle of metrology is that the inspection device should be independent of the machine tool.
为了实现原位测量, 测量机应该符合下列要求。 In order to achieve in-situ measurements, the measuring machine should meet the following requirements.
1. 体积小 为实现原位测量, 测量机必须放置在机床近旁, 而机床近旁通常没有多 少空间。 图 2是数控机床与加工中心的一种典型布局。加工件安装在机床工作台 2 的转台 4上, 它的后方是刀架 3, 前方有两个辅助工位 1和 5, 供上下料用。 测量 机只能安装在两个辅助工位 1和 5之间的狭小地带 (通常只有四、 五百毫米宽) 内。 此外测量机在 JC方向也有一定限制, 它不应伸出到车间过道。 1. Small size For in-situ measurement, the measuring machine must be placed close to the machine, and there is usually not much space near the machine. Figure 2 shows a typical layout of a CNC machine tool and machining center. The machined part is mounted on the turntable 4 of the machine table 2, behind which is the tool holder 3, and there are two auxiliary stations 1 and 5 in front for loading and unloading. The measuring machine can only be installed in a small area between the two auxiliary stations 1 and 5 (usually only four or five hundred millimeters wide). In addition, the measuring machine has certain restrictions in the JC direction, and it should not protrude into the workshop aisle.
2. 重量轻 两个辅助工位 1和 5之间的狭小地带虽然可以安装原位测量用的测量机, 但是不宜永久占用, 因为在有的情况下还希望能够利用这一空间进行一些其它工 作, 如维护、 清理等。 2. Light weight The narrow area between the two auxiliary stations 1 and 5 can be installed in the in-situ measuring machine, but it should not be permanently occupied, because in some cases it is also desirable to use this space for some other work. , such as maintenance, cleaning, etc.
3. 探测部件具有退出与收拢功能 在测量时,探测部件应该至少能够伸到转台 4的转 轴处, 以实现对工件的全面测量。加工时探测部件应该退到机床的玻璃罩外, 以免 受冷却液和切屑影响。 探测部件最好还具有收拢功能, 使测头得到有效保护。 3. The detecting part has an exit and gather function. When measuring, the detecting part should extend at least to the rotating shaft of the turntable 4 to achieve a comprehensive measurement of the workpiece. The part to be tested should be retracted outside the glass cover of the machine during processing to protect it from coolant and chips. Preferably, the detecting component also has a folding function to effectively protect the probe.
4. 具有足够的测量范围, 灵活的探测性能, 能够伸入到工件的各个部位, 对工件实 现全面测量。 4. With sufficient measuring range and flexible detection performance, it can reach all parts of the workpiece and measure the workpiece comprehensively.
5. 具有通用性, 能够测量在该机床上加工的各种零件。 5. It is versatile and can measure various parts processed on this machine.
6. 具有高的测量精度, 能够满足加工需要。 6. With high measurement accuracy, it can meet the processing needs.
7. 测量效率高, 测量能够自动进行, 以减少测量占用的机床工时。 7. The measurement efficiency is high, and the measurement can be performed automatically to reduce the machine tool time occupied by the measurement.
8. 测量结果能够用于零件的返修, 形成返修指令。
显然, 目前广泛应用的正交式三坐标测量机由于体积大、 重量重, 无法满足上述要求, 不适用于工件的在线原位测量。 目前存在的商品关节臂测量机, 由于精度低、 一般采用手 动操作、 效率低, 也无法满足上述要求, 不适用于在线原位测量。 8. The measurement results can be used for part repair and form a rework instruction. Obviously, the widely used orthogonal coordinate measuring machine cannot meet the above requirements due to its large size and heavy weight, and is not suitable for online in-situ measurement of workpieces. The existing product articulated arm measuring machine cannot meet the above requirements due to its low precision, generally manual operation, and low efficiency, and is not suitable for online in-situ measurement.
本发明提供了一种能够在机床加工完毕后, 在加工原位, 不卸下工件, 对复杂工件进 行各种尺寸、 形状、 位置参数全面检测的测量系统。 在发现加工件不符合要求情况下, 能 够对机床发出返修指令、 进行返修加工的测量系统。 The invention provides a measuring system capable of comprehensively detecting various dimensions, shapes and position parameters of complex workpieces in the in-situ processing without removing the workpiece after the machine tool is finished. A measuring system that can issue a return instruction to the machine tool and perform a rework process if the workpiece is found to be unsatisfactory.
本发明的关节臂在线原位测量系统由图 3所示各部分组成。 它的主要特征是: The on-line in-situ measurement system of the articulated arm of the present invention consists of the various parts shown in FIG. Its main features are:
1. 它的前端(安装测头的一端)是一个可以绕竖直精密轴系 35转动的关节臂 34。 在 测量时,它伸入机床玻璃罩内测量工件;测量完毕后,关节臂 34在计算机控制下, 由电动机 31通过减速箱带动, 转动 180 ° , 退到机床玻璃罩外。 1. Its front end (one end of the mounting probe) is an articulated arm 34 that can be rotated about a vertical precision shaft system 35. During the measurement, it protrudes into the glass cover of the machine tool to measure the workpiece; after the measurement is completed, the articulated arm 34 is driven by the motor 31 through the reduction gear box under the computer control, rotates 180 °, and retreats outside the glass cover of the machine tool.
2. 为适应测量整体叶盘等复杂零件的需要,在关节臂 34的前端安装有测头回转体 33 与测头 32。 为了能够正确探测, 不仅要求测端能够在计算机控制下移动到指定的 待测点, 而且要求测头 32的探针能够方便地伸入槽内, 这就是说要求测量机具有 5个自由度。 这里依靠测头回转体 33可以做绕水平与竖直轴转动、 关节臂 34能 够绕精密轴系 35转动、 竖直滑板 36可以做 z向运动; 水平滑板 312可以做 x向 运动, 实现 5自由度的运动。 2. In order to accommodate the need to measure complex parts such as the integral leaf disc, the probe revolving body 33 and the probe 32 are mounted at the front end of the articulated arm 34. In order to be able to detect correctly, not only the measuring end can be moved to the designated point to be tested under computer control, but also the probe of the measuring head 32 can be easily inserted into the slot, which means that the measuring machine is required to have 5 degrees of freedom. Here, the revolving body 33 can be rotated around the horizontal and vertical axes, the articulated arm 34 can be rotated around the precision shafting 35, and the vertical sliding plate 36 can be moved in the z direction; the horizontal sliding plate 312 can be moved in the x direction to achieve 5 freedoms. Degree of movement.
3. 由于测量机没有 >向直线运动,不需要 _y向运动导轨,大大地减小测量机 _y向尺寸, 使它能够方便地安装在机床的两个辅助工位之间 (参看图 2)。 这里测端的 向位 移由关节臂 34的转动产生, 它们之间具有非线性关系。 关节臂 34的转动还会引 起 JC 向的附加运动。 实际上即使采用正交式三坐标测量机, 测头回转体的转动也 会引起测端的在 x、 _y、 z三个方向的附加位移。这些问题很容易通过建立数学模型, 在计算机控制程序中解决。 3. Since the measuring machine does not move to the linear direction, the _y-direction moving guide is not required, which greatly reduces the size of the measuring machine _y, so that it can be easily installed between the two auxiliary stations of the machine tool (see Figure 2). ). Here, the directional displacement of the measuring end is produced by the rotation of the articulated arm 34, which has a non-linear relationship between them. The rotation of the articulated arm 34 also causes additional movement in the JC direction. In fact, even with the orthogonal coordinate measuring machine, the rotation of the measuring head revolving body will cause additional displacement of the measuring end in the three directions of x, _y and z. These problems are easily solved by building mathematical models in computer control programs.
4. 测量完毕后首先将测头 32的探针转到水平向后的位置, 然后通过将关节臂 34转 动 180 ° , 将整个测量装置退到机床玻璃罩外, 并收拢, 如图 4所示, 使测头得到 保护。 与单纯依靠移动 向滑板 312, 将整个测量装置退到机床玻璃罩外相比, 大 大地减小了所需要的 X向行程, 减小了测量机 X向尺寸。 4. After the measurement is completed, first turn the probe of the probe 32 to the horizontal backward position, then rotate the joint arm 34 by 180 °, and then the entire measuring device is retracted outside the glass cover of the machine tool and folded, as shown in Figure 4. , to protect the probe. Compared with simply moving to the slide 312, the entire measuring device is retracted to the outside of the machine cover, which greatly reduces the required X-direction stroke and reduces the X-direction of the measuring machine.
5. 由于同时减小了测量机在 X与 方向的尺寸, 使测量机的重量大幅度地减轻。在需 要的时候, 可以较方便地从机床旁移开。 5. The weight of the measuring machine is greatly reduced by reducing the size of the measuring machine in the X direction. It can be easily removed from the side of the machine when needed.
6. 测头回转体 33与测头 32可以根据任务情况选择。 对于整体叶盘等叶片扭转角很 大, 而相邻叶片间槽很窄的零件, 需要采用能够连续回转的测头回转体, 如 Revo。 而对于一般齿轮等扭转角不是很大, 而相邻齿间槽较宽的零件, 可以采用非连续 回转的测头回转体, 如 rai0、 TESASTAR等。 根据对于精度与测量效率的要求, 可 以采用扫描或触发测头。 通过选用适当的测头回转体与测头, 测量机可以探测各 种具有复杂形状的零件, 并具有较高的测量效率。 6. The probe revolving body 33 and the probe 32 can be selected according to the task. For parts such as the integral blade, the blade torsion angle is large, and the groove between the adjacent blades is narrow, and it is necessary to use a revolving body that can continuously rotate, such as Revo. For the general gears, the torsion angle is not very large, and the parts with wide slots between adjacent teeth can be used for non-continuously rotating probe heads, such as rai0, TESASTAR, etc. Depending on the accuracy and measurement efficiency requirements, a scanning or triggering probe can be used. By selecting the appropriate probe revolving body and probe, the measuring machine can detect a variety of parts with complex shapes and has high measurement efficiency.
7. 为了补偿由于 X向滑板 312与 z向滑板 36的角运动误差,以及关节臂 34转动过程 中可能引起的 z向与 X向运动部件的变形发生变化, 在基座 316上装有自准直光
管 317, 在 z向滑板 36上装有长反射镜 37。 在测量过程中自准直光管 317测量长 反射镜 37的角度位置的变化, 并按此引入误差补偿, 提高了测量精度。 7. In order to compensate for the angular motion error of the X-direction slide 312 and the z-direction slide 36, and the deformation of the z-direction and the X-direction moving part which may occur during the rotation of the joint arm 34, self-collimation is mounted on the base 316. Light The tube 317 is provided with a long mirror 37 on the z-direction slide 36. The self-collimating light pipe 317 measures the change in the angular position of the long mirror 37 during the measurement, and introduces error compensation according to this, thereby improving the measurement accuracy.
8. 对于整体叶盘、 齿轮等复杂零件, 由于从机床后端 (图 2中的 -X端) 探入困难, 需要通过转动机床转台 (图 2中的件 4), 将需要测量的叶片或齿转到机床前端, 进行测量。 为了避免机床转台分度误差和转轴的径向与轴向运动误差的影响, 在 机床转台上安装一个标准球盘 6,如图 5所示。图 5中其它符号的含义与图 2相同。 通过用本测量机检测转台 4转动前后标准球盘 6上某一个或若干球的球心位置变 化, 可以检测出机床转台分度误差和转轴的径向与轴向运动误差, 并对其进行误 差补偿。 8. For complex parts such as integral blade discs and gears, due to the difficulty of accessing from the rear end of the machine (the -X end in Figure 2), it is necessary to rotate the machine table (key 4 in Figure 2), the blades to be measured or The tooth is turned to the front of the machine for measurement. In order to avoid the influence of the indexing error of the machine table and the radial and axial motion errors of the rotating shaft, a standard ball plate 6 is mounted on the machine table, as shown in Fig. 5. The meanings of the other symbols in Fig. 5 are the same as those in Fig. 2. By using the measuring machine to detect the change of the spherical center position of one or several balls on the standard ball plate 6 before and after the rotation of the turntable 4, the indexing error of the machine tool table and the radial and axial motion errors of the rotating shaft can be detected and the error is made. make up.
9. 根据需要, 测量机可以进行扫描或点位测量。 测量机同时采集 向滑板 312、 z向 滑板 36的坐标值 X和 z、 关节臂 34的转角 θ、 测头回转体 33绕水平和竖直轴的 转角 α和 测头 32的读数 3、 自准直光管 317在两个方向的读数^ ψ。 测头在 自身坐标系下三个方向的空间坐标的长度向量读数为 自准直光管在两个方向 的角度值^ ψ, 假设垂直于自准直光管的光路作一平面, 其中 ^ 方向分别为 该平面内的水平方向与铅直方向。 对测量信号进行调理 (含模数转换) 后进行存 储。 根据所建立的数学模型和由标定得到的测量机的各个参数和误差值进行误差 补偿, 获得所测点云各个点的坐标值。 对所得到的点云各个点的坐标进行数据拟 合和重构, 获得被测曲面的形状。 对于需要通过转动机床转台才能实现全盘测量 的零件, 还要根据测量标准球盘上球心位置的结果, 对机床转台分度误差和转轴 的径向与轴向运动误差进行误差补偿, 并将测量结果统一到同一坐标系中。 将拟 合和重构后的数据与所测零件的理论数学模型进行比较, 合乎要求的通过验收, 或允许其进入下一工序。 对偏离技术要求的, 计算各点的返修量, 并形成返修加 工程序, 进行返修。 9. The measuring machine can perform scanning or point measurement as needed. The measuring machine simultaneously collects the coordinate values X and z to the slide plate 312, the z-direction slide plate 36, the rotation angle θ of the joint arm 34, the rotation angle α of the probe revolving body 33 about the horizontal and vertical axes, and the reading of the probe 32. The straight tube 317 reads in both directions ^ ψ. The length vector reading of the space coordinates of the probe in three directions in its own coordinate system is the angle value of the self-collimating light pipe in two directions ^ ψ, assuming that the optical path perpendicular to the self-collimating light pipe is a plane, where ^ direction They are the horizontal direction and the vertical direction in the plane. The measurement signal is conditioned (including analog-to-digital conversion) and stored. According to the established mathematical model and the error compensation of each parameter and error value of the measuring machine obtained by calibration, the coordinate values of each point of the measured point cloud are obtained. The coordinates of each point of the obtained point cloud are data-combined and reconstructed to obtain the shape of the measured surface. For the parts that need to be rotated by the machine turning table to achieve the full disk measurement, the machine tool turntable indexing error and the radial and axial motion errors of the rotating shaft are compensated according to the result of measuring the ball center position on the standard disk, and the measurement will be performed. The results are unified into the same coordinate system. Compare the fitted and reconstructed data with the theoretical mathematical model of the part being tested, pass the acceptance as required, or allow it to proceed to the next step. For deviations from the technical requirements, the amount of repair at each point is calculated, and a repair processing procedure is formed for rework.
下面结合附图和具体实施方式, 进一步详细说明本发明。 The invention will be further described in detail below with reference to the drawings and specific embodiments.
本发明的目的在于提供一种能够在零件加工后、 在加工原位对加工件的尺寸、 形状、 各个元素的相对位置进行检测的在线、 原位测量系统。 它可以用于检测各种复杂型面, 并 能够在需要时输出返修指令。 它具有尺寸小, 可以安装在机床旁, 重量轻、 必要时可以移 开, 进行各种误差补偿、 精度高的特点。 SUMMARY OF THE INVENTION It is an object of the present invention to provide an in-line, in-situ measurement system capable of detecting the size, shape, and relative position of each element in the machined position after machining of the part. It can be used to detect a variety of complex profiles and to output a rework command when needed. It has a small size and can be installed next to the machine. It is light in weight and can be removed when necessary. It is characterized by various error compensation and high precision.
本发明提出了一种单关节臂在线原位测量系统。 其工作原理如图 3所示。 The invention proposes a single joint arm online in-situ measurement system. Its working principle is shown as in Fig. 3.
1 . 它由关节臂 34及安装在其上的测头回转体 33与测头 32、 ζ向运动部件、 χ向 运动部件、 误差补偿系统及数据处理与控制系统等部分组成。 1. It consists of an articulated arm 34 and a probe revolving body 33 and a probe 32 mounted thereon, a moving moving part, a moving moving part, an error compensation system, and a data processing and control system.
2. 关节臂 34采用比重小、 弹性模量大的碳素纤维制作。 在它的前端安装有测头 回转体 33与测头 32。 测头回转体 33与测头 32可以根据任务情况选择。 对于整 体叶盘等叶片扭转角很大, 而相邻叶片间槽很窄的零件, 需要采用能够连续回转 的测头回转体, 如 Revo。 而对于一般齿轮等扭转角不是很大, 而相邻齿间槽较 宽的零件, 可以采用非连续回转的测头回转体, 如 PH10、 Tesastar等。 根据对于
精度与测量效率的要求, 可以采用扫描或触发测头。 2. The joint arm 34 is made of carbon fiber with a small specific gravity and a large elastic modulus. A probe revolving body 33 and a probe 32 are mounted at the front end thereof. The probe revolving body 33 and the probe 32 can be selected according to the task situation. For parts such as the integral blade disc, where the blade torsion angle is large and the groove between adjacent blades is narrow, it is necessary to use a revolving body that can continuously rotate, such as Revo. For the general gear, the torsion angle is not very large, and the parts with wide slots between adjacent teeth can be used for non-continuously rotating probe heads, such as PH10 and Tesastar. According to Accuracy and measurement efficiency requirements can be used to scan or trigger the probe.
关节臂 4可以绕径向与轴向运动误差小、角摆运动误差小的精密轴系 35转动。 精密轴系 35上安装有精密测角系统。在计算机控制下电动机 31经过减速箱带动 关节臂 34转动所需角度。 关节臂 34在一个方向可以转动 180 ° , 以将整个测量 机退出到机床玻璃罩外, 不受冷却液和切屑影响。 测头 32可以收拢, 免受损坏。 在另一个方向的最大转角根据量程需要设定。 The articulated arm 4 is rotatable about a precision shaft system 35 having a small radial and axial motion error and a small angular pendulum motion error. A precision angle measuring system is mounted on the precision shafting system 35. Under computer control, the motor 31 drives the articulated arm 34 to the desired angle through the reduction gearbox. The articulated arm 34 can be rotated 180 ° in one direction to withdraw the entire measuring machine out of the machine cover without the influence of coolant and chips. The probe 32 can be folded away from damage. The maximum corner in the other direction needs to be set according to the range.
精密轴系 35的座固定在 z向滑板 36上, z向滑板 36上的两个滑枕 310与 z向 导轨座 38上的精密导轨构成直线运动导轨副, z向滑板 36和 z向导轨座 38上分 别装有光栅尺与读数头,利用它读出 z向滑板 36相对于 z向导轨座 38的移动量。 在计算机控制下, 电动机 311经过减速箱和丝杠 39带动 z向滑板 36移动到所需 位置。 The seat of the precision shafting 35 is fixed to the z-direction slide 36, and the two rams 310 on the slide 36 and the precision guide rails on the z-guide rail 38 constitute a linear motion guide pair, the z-direction slide 36 and the z-direction guide rail. A scale and a readhead are respectively mounted on the 38, and the amount of movement of the z-direction slide 36 relative to the z-direction guide rail 38 is read by it. Under computer control, the motor 311 is moved by the reduction gear box and the lead screw 39 to the slider 36 to the desired position.
z向导轨座 38固定在 X向滑板 312上, X向滑板 312上的两个滑枕 315与基座 316上的精密导轨构成直线运动导轨副, JC向滑板 312和基座 316上分别装有光 栅尺与读数头, 利用它读出 X向滑板 312相对于基座 316的移到量。 在计算机控 制下, 电动机 314经过减速箱和丝杠 313带动 X向滑板 312移动到所需位置。 精密轴系 35的座与 z向滑板 36的相对位置、 z向导轨座 38与 JC向滑板 312的 相对位置均可以调整。 根据标定结果, 利用测量机的调整机构将精密轴系 35 的 转轴与 z向运动调平行, 将 z向运动调到与 向运动垂直。 由于受机械结构和调 整灵敏限的限制, 调整不可能完全理想, 在调整并稳定一段时间后再次标定, 并 将残存的误差作为误差补偿的依据。 The z-guide rails 38 are fixed to the X-direction slides 312. The two rams 315 on the X-direction slide 312 and the precision guide rails on the base 316 constitute a linear motion guide pair, and the JC is mounted on the slide 312 and the base 316, respectively. A scale and a readhead are used to read the amount of movement of the X-direction slide 312 relative to the base 316. Under computer control, the motor 314 drives the X to the slider 312 to the desired position via the reduction gearbox and lead screw 313. The relative position of the seat of the precision shafting 35 and the z-direction slide 36, and the relative positions of the z-direction guide rail 38 and JC to the slide 312 can be adjusted. According to the calibration result, the adjustment mechanism of the measuring machine is used to adjust the rotation axis of the precision shaft system 35 parallel to the z-direction motion, and adjust the z-direction motion to be perpendicular to the motion. Due to the limitation of mechanical structure and adjustment sensitivity limit, the adjustment cannot be completely ideal. After adjusting and stabilizing for a period of time, it is calibrated again, and the residual error is used as the basis for error compensation.
通过标定, 将关节臂 34 (即测头回转体 33的回转中心到与精密轴线 35轴线 的垂线) 与 X向运动平行的位置定义为关节臂 34转角 Θ的零位。 将测头回转体 33绕 B轴 (竖直轴) 转动时测端位置不变的位置定义为测头回转体 33的 a角零 位。 将 cc= 90 ° 时, 测头 32的探针与关节臂 34平行位置定义为测头回转体 33 的^角零位。 By calibrating, the position of the articulated arm 34 (i.e., the center of rotation of the probe revolving body 33 to the perpendicular to the axis of the precision axis 35) parallel to the X-direction motion is defined as the zero position of the corner of the articulated arm 34. The position at which the position of the measuring end is constant when the measuring head revolving body 33 is rotated about the B axis (vertical axis) is defined as the a-corner zero position of the revolving body 33 of the probe. When cc = 90 °, the position of the probe of the probe 32 parallel to the articulated arm 34 is defined as the ^-zero position of the revolving body 33 of the probe.
在将整个测量机安装到机床旁后, 还需要通过标定, 将测量机的 向运动调整 到与机床相应运动平行, 并让测头 32的探针在 cc= 90 ° 、 β = 0。 时通过机床转 台 34 (参看图 2 ) 的轴线。 After the entire measuring machine is installed next to the machine, it is also necessary to adjust the movement of the measuring machine parallel to the corresponding movement of the machine by calibration, and let the probe of the probe 32 be at cc=90 °, β = 0. It passes through the axis of the machine table 34 (see Figure 2).
根据测量机的原理结构、 建立测量机的数学模型。 According to the principle structure of the measuring machine, the mathematical model of the measuring machine is established.
以测量机在图 4所示处于收拢状态的位置作为"回家"位置。在零件加工完毕、 并打开机床玻璃罩后, 让关节臂 4按与收拢时相反的方向转 180 ° , 测量机进入 工作状态。 The position of the measuring machine in the collapsed state shown in Fig. 4 is taken as the "home" position. After the part has been machined and the glass cover of the machine is opened, let the articulated arm 4 rotate 180 ° in the opposite direction to the folding, and the measuring machine enters the working state.
按照测量任务的要求, 根据所建立的数学模型, 形成测量机的路径规划。 在计 算机控制下, 测量机完成单个叶片或齿、 或某个局部的测量。 利用测量机具有的 5个运动自由度, 在计算机控制下让探针以合适的方向伸入被测零件的槽内、 测 端移动到指定的待测点。
根据需要,测量机可以进行扫描或点位测量。测量机同时采集 X向滑板 312 (图 3 ) 、 z向滑板 36的坐标值 X和 z、 关节臂 34的转角 θ、 测头回转体 33绕水平和 竖直轴的转角 和 测头 32的读数 、 自准直光管 317在两个方向的读数^ ψ. 对测量信号进行调理 (含模数转换) 后进行存储。 根据所建立的数学模型和 由标定得到的测量机的各个参数和误差值进行误差补偿, 获得所测点云各个点的 坐标值。 对所得到的点云的坐标值进行数据拟合和重构, 获得被测曲面的形状。 对于需要通过转动机床转台才能实现全盘测量的零件,需要在完成单个叶片或 齿、 或某个局部的测量后, 转动机床转台 4 (图 5 ) , 将所需测量的叶片或齿、 或某个部位转到测量机前方, 继续测量。 还要利用测量机测量标准球盘 6上某个 或某些球心在转动前后的位置。 根据测量标准球盘 6上球心位置的结果, 对机床 转台 4的分度误差和转轴的径向与轴向运动误差进行误差补偿, 并将测量结果统 一到同一坐标系中。 According to the requirements of the measurement task, according to the established mathematical model, the path planning of the measuring machine is formed. Under computer control, the measuring machine performs a single blade or tooth, or some local measurement. Using the five degrees of freedom of motion of the measuring machine, under the control of the computer, the probe is inserted into the groove of the part to be tested in the appropriate direction, and the measuring end is moved to the designated point to be tested. The measuring machine can perform scanning or point measurement as needed. The measuring machine simultaneously acquires the X-direction slide 312 (Fig. 3), the coordinate values X and z of the z-direction slide 36, the rotation angle θ of the articulated arm 34, the rotation angle of the probe revolving body 33 about the horizontal and vertical axes, and the reading of the probe 32. The self-collimating light pipe 317 reads in two directions ^ ψ. The measurement signal is conditioned (including analog-to-digital conversion) and stored. According to the established mathematical model and the various parameters and error values of the measuring machine obtained by the calibration, the coordinate values of the points of the measured point cloud are obtained. Data fitting and reconstruction are performed on the coordinate values of the obtained point cloud to obtain the shape of the measured surface. For parts that require full rotation measurement by turning the machine table, it is necessary to rotate the machine table 4 (Fig. 5) after completing a single blade or tooth, or a partial measurement, to measure the blade or tooth, or some The part is turned to the front of the measuring machine and the measurement is continued. A measuring machine is also used to measure the position of one or more of the balls on the standard ball plate 6 before and after the rotation. According to the result of measuring the position of the spherical center on the standard spherical disk 6, the indexing error of the machine tool turret 4 and the radial and axial motion errors of the rotating shaft are compensated, and the measurement results are unified into the same coordinate system.
将拟合和重构后的数据与所测零件的理论数学模型进行比较,合乎要求的通过 验收, 或允许其进入下一工序。 对偏离技术要求的, 计算返修量, 并形成返修加 工程序。 The fitted and reconstructed data is compared to the theoretical mathematical model of the part being tested, passed through acceptance, or allowed to proceed to the next step. For deviations from the technical requirements, the amount of repair is calculated and a repair processing procedure is formed.
在完成全部测量后, 在计算机控制下, 测量机回到图 4所示 "回家"位置。 如果测量结果表明所加工零件符合要求,则将零件送到图 5所示辅助工位 1或 5后卸下。 接着安装并加工下一零件。 如果测量结果表明所加工零件偏离技术要 求, 则工件留在原位, 关闭机床玻璃罩。 根据所形成的返修加工程序, 进行返修 加工。
After all measurements have been completed, under computer control, the measuring machine returns to the "home" position shown in Figure 4. If the measurement indicates that the machined part meets the requirements, remove the part and send it to the auxiliary station 1 or 5 shown in Figure 5. Then install and machine the next part. If the measurement indicates that the part being machined deviates from the technical requirements, the workpiece remains in place and the machine cover is closed. Rework processing is performed according to the formed rework processing program.
Claims
1、 一种单关节臂在线原位测量装置, 其特征是, 由关节臂、 测头回转体、 测头、 z向运动 部件、 X向运动部件、 误差补偿系统及数据处理与控制计算机、 电动机组成; 1. A single-joint arm online in-situ measurement device, characterized by consisting of an articulated arm, a probe rotary body, a probe, a z-direction moving part, an X-direction moving part, an error compensation system, a data processing and control computer, and an electric motor. composition;
关节臂采用比重小、 弹性模量大的碳素纤维制作; 关节臂的前端安装有测头回转 体, 测头安装在测头回转体上, 关节臂套装在径向与轴向运动误差小、 角摆运动误差 小的精密轴系上, 套装锁死时, 关节臂随精密轴系转动, 套装松开时, 关节臂可以绕 精密轴系转动; The articulated arm is made of carbon fiber with small specific gravity and large elastic modulus; the front end of the articulated arm is equipped with a probe rotary body, and the probe is installed on the probe rotary body. The articulated arm is set in a position where the radial and axial movement errors are small and On the precision axis system with small angular motion error, when the suit is locked, the articulated arm rotates with the precision axis system, and when the suit is loosened, the articulated arm can rotate around the precision axis system;
z向运动部件由精密轴系、 z向滑板、 导轨座组成, 精密轴系上安装有精密测角系 统, 在计算机控制下电动机经过减速箱带动精密轴系转动从而带动关节臂转动所需角 度, 精密测角系统测得转动所需角度; 精密轴系的座固定在 z向滑板上, z向滑板上的 两个滑枕与 z向导轨座上的精密导轨构成直线运动导轨副, z向滑板和 z向导轨座上分 别装有光栅尺与读数头,利用光栅尺与读数头读出 z向滑板相对于 z向导轨座的移动量, 在计算机控制下, 另一电动机经过其减速箱和丝杠带动 z向滑板移动到所需位置; The z-direction moving parts are composed of a precision shaft system, a z-direction slide plate, and a guide rail seat. A precision angle measuring system is installed on the precision shaft system. Under computer control, the motor drives the precision shaft system to rotate through the reduction box, thereby driving the joint arm to rotate to the required angle. The precision angle measurement system measures the angle required for rotation; the seat of the precision shaft system is fixed on the z-direction slide plate. The two rams on the z-direction slide plate and the precision guide rail on the z-direction rail seat form a linear motion guide rail pair. The z-direction slide plate The grating ruler and the reading head are respectively installed on the and z-guide rail seats. The grating ruler and the reading head are used to read the movement amount of the z-direction slide relative to the z-direction rail seat. Under computer control, another motor passes through its reduction box and wire The lever drives the z-direction skateboard to move to the desired position;
X向运动部件由 向滑板构成, Z向导轨座固定在 JC向滑板上, X向滑板上的两个滑 枕与机床基座上的精密导轨构成直线运动导轨副, 向滑板和基座上分别装有光栅尺与 读数头, 利用该光栅尺与读数头读出 X向滑板相对于基座的移到量; 在计算机控制下, 第三个电动机经过其减速箱和丝杠带动 X向滑板移动到所需位置; The X-direction moving part is composed of a sliding plate. The Z-directing rail seat is fixed on the JC-directing sliding plate. The two rams on the X-directing sliding plate and the precision guide rail on the machine tool base form a linear motion guide pair. The moving slide plate and the base are respectively Equipped with a grating ruler and a reading head, the grating ruler and the reading head are used to read the movement of the X-direction slide relative to the base; under computer control, the third motor drives the X-direction slide to move through its reduction box and lead screw. to the desired location;
误差补偿系统的组成为: 在机床基座上装有自准直光管, 在 z向滑板上装有长反 射镜, 在测量过程中自准直光管测量长反射镜的角度位置的变化, 并按此引入误差补 偿; The error compensation system consists of: a self-collimating light tube is installed on the machine tool base, and a long reflector is installed on the z-direction slide. During the measurement process, the self-collimating light tube measures the change in the angular position of the long reflector, and presses This introduces error compensation;
精密轴系的座与 z向滑板的相对位置、 z向导轨座与 X向滑板的相对位置均可调整; 根据标定结果, 利用测量机的调整机构将精密轴系的转轴与 z向运动调平行, 将 z向运 动调到与 向运动垂直, 由于受机械结构和调整灵敏限的限制, 调整不可能完全理想, 在调整并稳定一段时间后再次标定, 并将残存的误差作为误差补偿的依据。 The relative positions of the precision axis system seat and the z-direction slide plate, and the relative positions of the z-guide rail seat and the X-direction slide plate can be adjusted; according to the calibration results, use the adjustment mechanism of the measuring machine to align the rotation axis of the precision axis system parallel to the z-direction motion. , adjust the z-direction motion to be perpendicular to the z-direction motion. Due to the limitations of the mechanical structure and the adjustment sensitivity limit, the adjustment cannot be completely ideal. Calibrate again after adjusting and stabilizing for a period of time, and use the remaining error as the basis for error compensation.
2、 如权利要求 1 所述的传感器, 其特征是, 回转体为能够连续回转的测头回转体, 或非 连续回转的测头回转体, 测头为扫描或触发测头, 回转体做绕水平与竖直轴转动、 关 节臂绕精密轴系转动、 z向滑板做 z向运动; X向滑板做 X向运动, 最终带动测头实现 5 自由度的运动。 2. The sensor according to claim 1, characterized in that the rotating body is a measuring head rotating body capable of continuous rotation, or a measuring head rotating body capable of discontinuous rotation, the measuring head is a scanning or triggering measuring head, and the rotating body rotates The horizontal and vertical axes rotate, the articulated arm rotates around the precision axis system, the z-direction skateboard performs z-direction movement; the X-direction skateboard performs X-direction movement, and finally drives the probe to achieve 5 degrees of freedom movement.
3、 一种单关节臂在线原位测量方法, 其特征是, 借助于前述单关节臂在线原位测量装置 实现, 包括下列步骤: 3. An online in-situ measurement method for a single-joint arm, which is characterized in that it is implemented with the help of the aforementioned single-joint arm online in-situ measurement device and includes the following steps:
将精密轴系的转轴与 z向运动调平行, 将 z向运动调到与 X向运动垂直, 由于受机 械结构和调整灵敏限的限制, 调整不可能完全理想, 在调整并稳定一段时间后再次标 定, 并将残存的误差作为误差补偿的依据; Adjust the rotation axis of the precision shaft system to be parallel to the z-direction movement, and adjust the z-direction movement to be perpendicular to the Calibrate, and use the remaining error as the basis for error compensation;
将关节臂即测头回转体的回转中心到与精密轴线 5轴线的垂线与 向运动平行的位 置定义为关节臂转角 Θ的零位, 将测头回转体绕 B轴即竖直轴转动时测端位置不变的 位置定义为测头回转体 3的 oc角零位, 将《= 90 ° 时, 测头的探针与关节臂平行位置定 义为测头回转体的 ^角零位;
在将整个测量机安装到机床旁后,还需要通过标定,将测量机的 向运动调整到与 机床相应运动平行, 并让测头的探针在 α=90 ° 、 =0° 时通过机床转台的轴线; 根据测量机的原理结构、 建立测量机的数学模型; Define the zero position of the joint arm rotation angle Θ from the rotation center of the articulated arm, that is, the probe rotary body, to the vertical line parallel to the vertical axis of the precision axis 5. When the probe rotary body rotates around the B axis, the vertical axis The position where the measuring end position does not change is defined as the oc angle zero position of the measuring head rotary body 3. When = 90°, the parallel position of the probe probe and the joint arm of the measuring head is defined as the oc angle zero position of the measuring head rotating body; After the entire measuring machine is installed next to the machine tool, it is necessary to calibrate the directional movement of the measuring machine to be parallel to the corresponding movement of the machine tool, and allow the probe of the probe to pass through the machine tool turntable at α=90°, =0°. axis; establish a mathematical model of the measuring machine based on the principle structure of the measuring machine;
让关节臂 4按与收拢时相反的方向转 180 ° , 进入工作状态; Let the articulated arm 4 rotate 180° in the opposite direction to when it is folded, and enter the working state;
按照测量任务的要求, 根据所建立的数学模型, 形成测量的路径规划, 在计算机 控制下, 完成单个叶片或齿、 或某个局部的测量, 利用测头具有的 5 个运动自由度, 在计算机 控制下让测头探针以合适的方向伸入被测零件的槽内、 测端移动到指定的 待测点; According to the requirements of the measurement task and based on the established mathematical model, a measurement path planning is formed. Under computer control, the measurement of a single blade or tooth, or a certain part is completed, using the 5 degrees of freedom of movement of the probe, in the computer Under control, let the probe probe extend into the groove of the part being measured in the appropriate direction, and move the measuring end to the designated point to be measured;
根据需要, 进行扫描或点位测量, 同时采集 X向滑板、 ζ向滑板的坐标值 和 ζ、 关节臂的转角 θ、测头回转体绕水平和竖直轴的转角 ^和 测头在自身坐标系下三个 方向的空间坐标的长度向量读数 、 自准直光管在两个方向的角度值 、 ψ, 假设垂直 于自准直光管的光路作一平面,其中 φ、 方向分别为该平面内的水平方向与铅直方向; 对测量信号进行调理, 含模数转换后进行存储; 根据所建立的数学模型和由标定得到 的测量机的各个参数和误差值进行误差补偿, 获得所测点云各个点的坐标值, 对所得 到的点云的坐标值进行数据拟合和重构, 获得被测曲面的形状; As needed, scan or point measurement is performed, and at the same time, the coordinate values and ζ of the X-direction slide and the ζ-direction slide are collected, the rotation angle θ of the joint arm, the rotation angle of the probe rotary body around the horizontal and vertical axes, and the probe's own coordinates The length vector readings of the spatial coordinates in the three directions under the system, the angle values of the autocollimating light tube in the two directions, ψ, assume that a plane is drawn perpendicular to the light path of the autocollimating light tube, where the directions of φ and The horizontal and vertical directions within the measurement signal; condition the measurement signal, including analog-to-digital conversion and then store it; perform error compensation based on the established mathematical model and various parameters and error values of the measuring machine obtained from calibration to obtain the measured points The coordinate values of each point in the cloud are obtained, and data fitting and reconstruction are performed on the coordinate values of the obtained point cloud to obtain the shape of the measured surface;
将拟合和重构后的数据与所测零件的理论数学模型进行比较, 合乎要求的通过验 收, 或允许其进入下一工序; 对偏离技术要求的, 计算返修量, 并形成返修加工程序。
Compare the fitted and reconstructed data with the theoretical mathematical model of the measured part. If it meets the requirements, it will pass the acceptance or be allowed to enter the next process; for those that deviate from the technical requirements, the amount of repair will be calculated and a repair processing program will be formed.
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