CN114777607B - Method for detecting coaxiality error of revolving body - Google Patents
Method for detecting coaxiality error of revolving body Download PDFInfo
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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
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- G—PHYSICS
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- 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
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
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Abstract
The invention relates to the technical field of revolving body parts, and discloses a revolving body coaxiality error detection method which comprises a revolving table rotation unit, a contact type sensor unit, a visual sensor unit, a calibration unit and a data processing unit. According to the method for detecting the coaxiality error of the revolution body, a unified coordinate system taking the rotation axis of the rotary table as a Z axis is established by analyzing a measurement model of the inner and outer measurement components, the conversion relation between the inner and outer measurement components and the unified coordinate system is established, and the coaxiality error of the revolution body of the shaft hole class can be accurately calculated by combining a measurement method of the center coordinates of a section circle.
Description
Technical Field
The invention relates to the technical field of multi-sensor combined measurement, in particular to a method for detecting coaxiality errors of a revolving body.
Background
The detection of the coaxiality error of the revolving body is one of important indexes for evaluating the processing precision of the revolving body, the reduction of the coaxiality error of the manufacture of the shaft hole revolving body parts can prolong the service life of related equipment, and the traditional coaxiality detection method mainly comprises a tip method, a V-shaped frame method, a collimation method, a pneumatic plug gauge method, a gauge inspection method and the like, and the methods have the advantages of complex operation procedures, low detection speed and low precision and cannot meet the application requirements in industrial automatic production lines. In addition, the coaxiality detection often needs to be carried out by multi-parameter measurement and has a complex calculation process, and the actual production requirements of enterprises cannot be met.
The machine vision measurement technology has the advantages of nondestructive detection, online detection, high detection speed and the like, the existing machine vision-based revolving body part dimension measurement mainly comprises two-dimensional measurement based on a projection imaging principle, but the measurement parameter types are very limited, and three-dimensional measurement based on combination of a vision sensor and structured light is utilized, the system internal and external parameter calibration and the system construction are complex, and the application to an industrial measurement site is difficult, so that the problem of difficulty in the production of manufacturing industry is how to apply to the complex industrial site and meet the real-time high-efficiency measurement requirement.
Disclosure of Invention
(one) solving the technical problems
In order to overcome the technical difficulties, the invention aims to provide a revolving body coaxiality error detection method which has the characteristics of high measurement speed, high precision, high automation degree and the like, has strong environmental adaptability, can realize the function of automatic coaxiality error detection of an industrial field, and solves the problems that the existing revolving body part dimension measurement based on machine vision mainly has two-dimensional measurement by utilizing a projection imaging principle, but the measurement parameter types are very limited, and the three-dimensional measurement by combining a vision sensor and structured light is difficult to realize the system internal and external parameter calibration and the system construction and is difficult to be applied to the industrial measurement field.
(II) technical scheme
In order to achieve the above purpose, the invention is realized by adopting the following technical scheme: the method for detecting the coaxiality error of the revolving body comprises a revolving table rotating unit, a contact type sensor unit, a visual sensor unit, a calibration unit and a data processing unit; the turntable rotating unit is used for fixing the workpiece to be tested and driving the workpiece to rotate; the contact type sensor unit is used for acquiring end face point cloud data of a measuring hole in the shaft hole type rotary body; the visual sensor unit is used for acquiring end face point cloud data of the shaft hole type revolving body shaft; the calibration unit is used for calibrating the relative position relation between the contact sensor unit and the visual sensor unit; the data processing unit is used for processing the obtained relative position relationship and the end face point cloud data to obtain coaxiality error evaluation parameters of the revolving body.
The detection method comprises the following steps:
s1, taking the axis of a hole of a revolving body as a reference axis, unifying the measurement of a contact sensor unit and a visual sensor unit under the same space coordinate system, and establishing a unified coordinate system taking the revolving axis of a revolving table as a Z axis;
s2, measuring the center coordinates of a cross section circle of the hole: the contact sensor unit enters a certain height position inside the part under the drive of the shaft, performs contact measurement on the surface of the hole, and is matched with the rotation of the rotary table to obtain a plurality of measurement point data of the section, and the round center coordinate of the section is calculated by combining the rotation angle of the rotary table;
s3, measuring the center coordinates of a cross section circle of the shaft: the visual sensor unit moves to a certain height under the drive of the shaft, the outline shape of the shaft surface of the part is obtained, an edge linear equation is obtained by utilizing an image processing technology, and the cross-section circular center coordinate of the current height is calculated by combining the rotation of the turntable and the rotation angle information;
s4, fitting a linear equation of the axis of the hole: measuring the coordinates of a plurality of cross-section circular centers by the up-and-down moving contact sensor unit, and fitting out a linear equation of the axis of the hole under a unified coordinate system by using a least square method according to the coaxiality error detection industry standard;
s5, calculating an coaxiality error value: the straight line equation of the reference axis and the actual measured axis formed by sequentially connecting the circle centers of the cross section circles of the shaft are obtained through the previous steps, and the coaxiality error value is directly calculated according to the definition of the coaxiality error.
In the step S1, calibration is performed by using a sharp object target, a contact sensor measuring head and a standard ring gauge to obtain the relative positions of a visual sensor unit and a contact sensor unit and the coordinate relation between the two, and the steps are as follows:
s101, imaging in a visual sensor by using a measuring head of a contact sensor unit, and determining a relative height relation by image information and position information of each shaft;
s102, based on a measurement principle of a triangle circumscribing method, obtaining a hole surface section circle measurement mathematical model, and calibrating by using a standard ring gauge with a known inner diameter to obtain the position relation of an internal measurement part under a unified coordinate system;
s103, rotating the sharp object target through the turntable to obtain images acquired by the two vision sensors, solving the distance from the boundary of the imaging areas of the two vision sensors to the rotation axis, and determining the position of the vision sensor unit under a unified coordinate system.
Preferably, the obtained coaxiality error evaluation parameter of the shaft hole type revolving body comprises position coordinates of two axes.
Preferably, the cross-section circles with different heights of the holes and the shafts appearing in the S2 and the S3 are measured to obtain circle center coordinates, and the actual measured axis can be obtained according to the circle center coordinates of the cross-section circles with different heights, and the reference axis is calculated by fitting.
Preferably, the method for detecting the coaxiality error of the revolving body is suitable for a Visio Studio or Matlab platform.
(III) beneficial effects
Compared with the prior art, the invention provides a method for detecting the coaxiality error of a revolving body, which has the following beneficial effects:
according to the multi-sensor collaborative rotator coaxiality measuring method, a unified coordinate system taking the rotation axis of the turntable as a Z axis is established by analyzing a measuring model of an inner measuring part and an outer measuring part, the conversion relation between the inner measuring part and the outer measuring part and the unified coordinate system is established, and the coaxiality error of the shaft hole rotator can be accurately calculated by combining a measuring method of the center coordinates of a cross section circle.
Drawings
FIG. 1 is a schematic diagram of the present invention;
FIG. 2 is a schematic diagram of the principle of determining the relative position of the internal measurement system and the rotation axis of the turntable in the invention;
FIG. 3 is a schematic view of the imaging area and part position of the external measurement system according to the present invention;
FIG. 4 is a schematic diagram of an imaging area spacing measurement of an external measurement system according to the present invention;
FIG. 5 is a schematic diagram of the principle of determining the relative position of the external measurement system and the rotation axis of the turntable in the invention;
FIG. 6 is an image of a thin-walled revolution solid acquired by an external vision measurement unit in the present invention;
FIG. 7 is a diagram of a model of measuring cross-section circle center coordinates using a touch sensor and a turntable in the present invention;
FIG. 8 is a diagram of a model of measuring the center of a circle of an axial section by using a visual sensor in the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-8, a method for detecting coaxiality error of a revolving body comprises a revolving table rotating unit, a contact sensor unit, a visual sensor unit, a calibration unit and a data processing unit; the turntable rotating unit is used for fixing the workpiece to be tested and driving the workpiece to rotate; the contact sensor unit is used for acquiring end face point cloud data of a measuring hole in the shaft hole type rotator, and can replace lenses of the vision measuring unit, adjust measuring distance and the like according to different specifications of the size of the shaft hole type rotator; the visual sensor unit is used for acquiring end face point cloud data of the shaft hole type revolving body shaft; the calibration unit is used for calibrating the relative position relation between the contact type sensor unit and the visual sensor unit, and comprises a sharp object target, a contact type sensor unit measuring head and a standard ring gauge; the data processing unit is used for processing the obtained relative position relationship and end face point cloud data to obtain coaxiality error evaluation parameters of the revolving body, and the data processing unit can be a Visio Studio or Matlab platform.
A method for detecting coaxiality errors of a revolving body comprises the following steps:
s1, taking the axis of a hole of a revolving body as a reference axis, unifying the measurement of a contact sensor unit and a visual sensor unit under the same space coordinate system, and establishing a unified coordinate system which takes the revolving axis of a revolving table as a Z axis, wherein the revolving body coaxiality error detection method is applicable to a visual Studio or Matlab platform;
in S1, calibrating by using a sharp object target, a contact sensor measuring head and a standard ring gauge to obtain the relative positions of a visual sensor unit and a contact sensor unit and the coordinate relation between the two, wherein the method comprises the following steps:
s101, imaging in a visual sensor by using a measuring head of a contact sensor unit, and determining a relative height relation by image information and position information of each shaft;
s102, based on a measurement principle of a triangle circumscribing method, obtaining a hole surface section circle measurement mathematical model, and calibrating by using a standard ring gauge with a known inner diameter to obtain the position relation of an internal measurement part under a unified coordinate system;
s103, rotating a sharp object target through a turntable to obtain images acquired by two vision sensors, solving the distance from the boundary of the imaging areas of the two vision sensors to the rotation axis, and determining the position of the vision sensor unit under a unified coordinate system;
fixing a certain sharp object target on a rotary table, enabling the tip of the sharp object target to image in a left-side vision sensor, rotating the rotary table for 180 degrees, imaging the rotated object in a right-side vision sensor, and determining the position of a vision sensor unit in a unified coordinate system according to a geometric relation;
s2, measuring the center coordinates of a cross section circle of the hole: the contact sensor unit enters a certain height position inside the part under the drive of the shaft, performs contact measurement on the surface of the hole, and is matched with the rotation of the rotary table to obtain a plurality of measurement point data of the section, and the round center coordinate of the section is calculated by combining the rotation angle of the rotary table;
s3, measuring the center coordinates of a cross section circle of the shaft: the visual sensor unit moves to a certain height under the drive of the shaft, the outline shape of the shaft surface of the part is obtained, an edge linear equation is obtained by utilizing an image processing technology, meanwhile, the cross-section circle center coordinates of the current height are calculated by matching with the rotation and rotation angle information of the turntable, the cross-section circles of the holes and the shaft with different heights in S2 and S3 are measured to obtain circle center coordinates, the actual measured axis can be obtained according to the cross-section circle center coordinates of the different heights, and the reference axis is calculated by fitting;
s4, fitting a linear equation of the axis of the hole: measuring the coordinates of a plurality of cross-section circular centers by the up-and-down moving contact sensor unit, and fitting out a linear equation of the axis of the hole under a unified coordinate system by using a least square method according to the coaxiality error detection industry standard;
s5, calculating an coaxiality error value: the straight line equation of the reference axis and the actual measured axis formed by sequentially connecting the circle centers of the cross section circles of the shaft are obtained through the previous steps, and the coaxiality error value is directly calculated according to the definition of the coaxiality error.
The multi-sensor-based method for detecting the coaxiality error of the revolving body can realize on-line measurement in an industrial field, is particularly suitable for measuring the coaxiality of the revolving body with the thin-wall shaft hole, and comprises the following steps:
s01, constructing a multi-sensor-based revolving body coaxiality error detection method, and adjusting a visual measurement unit to enable revolving body parts to be clearly imaged in two visual sensors.
S02, calibrating a multi-sensor measurement system formed by a contact sensor unit, a visual measurement unit and a turntable rotation unit by using a sharp object target and a standard ring gauge to obtain the relative position relation between the contact sensor unit system and the visual measurement unit system and the turntable rotation axis;
s03, a vision sensor measuring unit acquires point cloud data of the outer end face of the rotator, and fits the circle center on the shaft end face of the shaft hole type rotator; the contact measurement unit acquires point cloud data of the inner end face of the revolving body, and fits the circle center on the end face of the revolving body of the shaft hole class; therefore, an axis equation and a plurality of axis section circular center coordinates in the same coordinate system are respectively calculated;
s04, imaging in a vision sensor by using a sensor measuring head, and determining a relative height relation according to the image information and the position information of each axis.
S05, obtaining a mathematical model for measuring the cross section circle of the surface of the hole by a measurement principle based on a triangle circumscribing method, wherein a radius expression polynomial containing an unknown number L can be obtained by a geometric relationship as shown in figure 2, and the deduction process is as follows:
the inner diameter is R by using a standard ring gauge with a known inner diameter 0 The equation can be derived:
R(L)＝R 0
and carrying out measurement data, and solving an equation by utilizing Matlab to obtain a value. Thus, the distance from the measuring start point of the contact sensor measuring head to the rotation axis of the turntable is obtained, and the position of the inner measuring part in the unified coordinate system is determined.
S06, after the targets are rotated through a turntable, images acquired by the two vision sensors are obtained, a pixel coordinate system O1X1Y1 and O2X2Y2 are established by taking the upper left corners of the two acquired images as original points, and the geometric relationship is that:
d＝l 0l +l 0 -l 0r
the Y axis which drives the vision sensor to move back and forth is moved to a position where the two vision sensors can collect part edge images, the current position is recorded, and the Y axis moves to the position when the circle center of the cross section circle of the part axis of the model is measured each time. The part is then removed, and a sharp object is fixed on the turret and its tip is allowed to image in the left vision sensor. The schematic diagram is shown in fig. 5. Left vision sensor acquisitionObject image, obtaining distance l from sharp object point to boundary of imaging region by image processing technique rl Then the turntable rotates 180 degrees, the rotated object is imaged in the right-side vision sensor, and the l in the image is obtained by using the image processing technology rr The distances from the center points of the front and rear rotating bodies to the rotation axis are equal, and according to the property, the geometric relationship can be obtained:
according to the principle, the distance d between the boundary of the imaging areas of the two vision sensors and the rotation axis of the turntable is obtained l And d r The position of the external measurement component in the unified coordinate system is also determined.
S07, measuring a cross-section circle center coordinate model by using a contact sensor and a rotary table, wherein the cross-section circle center coordinate calculating process according to three measuring points is as follows, as shown in fig. 7:
three measurement point coordinates:
carry-in round equation:
and (5) solving to obtain center coordinates:
s08, fitting the axis of the hole according to the circle center coordinate sequences of the section circles with different heights, wherein the fitting process is as follows:
arithmetic mean center point O 0 (x 0 ,y 0 ,z 0 ) The coordinates of (2) are:
let the linear equation of the straight line LEO be:
fitting by using a least square method to obtain l, m and n:
s09, measuring the center of the axial section circle by using a visual sensor, wherein a model diagram is shown in FIG. 8, and the abscissa x of A, B points in the diagram in a coordinate system can be obtained A 、x B And the ordinate y of C, D two points C And y D Let P point coordinates be (x P ,y P ) Bringing A, B, C, D four-point coordinates into a circular equation yields a set of equations:
and (3) solving to obtain:
s10, calculating coaxiality as follows:
a certain center point O' i (x′ i ,y′ i ,z′ i ) The distance to the straight line LEO is:
d i ＝l i ·sinθ i
wherein,,
k distances (d) 1 ,d 2 ,…,d k ) Wherein the maximum value is d max The coaxiality error value is:
φf＝2d max 。
in summary, the method for detecting coaxiality errors of the revolving body comprises the steps of firstly adjusting a measuring device to be positioned at a proper position according to the size of a measured revolving body, then establishing a unified coordinate system according to the calibration method provided by the invention, entering a certain height position inside a part under the drive of a shaft, carrying out contact measurement on the surface of a hole, simultaneously matching with the rotation of a turntable to obtain a plurality of measuring point data of the section, moving two vision sensors to a certain height under the drive of the shaft to obtain the outline shape of the surface of the shaft of the part, obtaining an edge linear equation by utilizing an image processing technology, simultaneously matching with the rotation and rotation angle information of the turntable, calculating to obtain the circular center coordinates of the section of the current height, further respectively calculating to obtain an axis equation and a plurality of circular center coordinates of the section of the shaft in the same coordinate system, and giving coaxiality error evaluation parameters.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. A method for detecting coaxiality errors of a revolving body is characterized by comprising the following steps of: the device comprises a turntable rotation unit, a contact type sensor unit, a visual sensor unit, a calibration unit and a data processing unit; the turntable rotating unit is used for fixing the workpiece to be tested and driving the workpiece to rotate; the contact type sensor unit is used for acquiring end face point cloud data of a measuring hole in the shaft hole type rotary body; the visual sensor unit is used for acquiring end face point cloud data of the shaft hole type revolving body shaft; the calibration unit is used for calibrating the relative position relation between the contact sensor unit and the visual sensor unit; the data processing unit is used for processing the obtained relative position relationship and the end face point cloud data to obtain coaxiality error evaluation parameters of the revolving body;
the detection method comprises the following steps:
s1, taking the axis of a hole of a revolving body as a reference axis, unifying the measurement of a contact sensor unit and a visual sensor unit under the same space coordinate system, and establishing a unified coordinate system taking the revolving axis of a revolving table as a Z axis;
s2, measuring the center coordinates of a cross section circle of the hole: the contact sensor unit enters a certain height position inside the part under the drive of the shaft, performs contact measurement on the surface of the hole, and is matched with the rotation of the rotary table to obtain a plurality of measurement point data of the section, and the round center coordinate of the section is calculated by combining the rotation angle of the rotary table;
s3, measuring the center coordinates of a cross section circle of the shaft: the visual sensor unit moves to a certain height under the drive of the shaft, the outline shape of the shaft surface of the part is obtained, an edge linear equation is obtained by utilizing an image processing technology, and the cross-section circular center coordinate of the current height is calculated by combining the rotation of the turntable and the rotation angle information;
s4, fitting a linear equation of the axis of the hole: measuring the coordinates of a plurality of cross-section circular centers by the up-and-down moving contact sensor unit, and fitting out a linear equation of the axis of the hole under a unified coordinate system by using a least square method according to the coaxiality error detection industry standard;
s5, calculating an coaxiality error value: obtaining a linear equation of a reference axis and an actual measured axis formed by sequentially connecting the circle centers of the cross-section circles of the shaft through the previous steps, and directly calculating to obtain a coaxiality error value according to definition of the coaxiality error;
in the step S1, calibration is performed by using a sharp object target, a contact sensor measuring head and a standard ring gauge to obtain the relative positions of a visual sensor unit and a contact sensor unit and the coordinate relation between the two, and the steps are as follows:
s101, imaging in a visual sensor by using a measuring head of a contact sensor unit, and determining a relative height relation by image information and position information of each shaft;
s102, based on a measurement principle of a triangle circumscribing method, obtaining a hole surface section circle measurement mathematical model, and calibrating by using a standard ring gauge with a known inner diameter to obtain the position relation of an internal measurement part under a unified coordinate system;
s103, rotating the sharp object target through the turntable to obtain images acquired by the two vision sensors, solving the distance from the boundary of the imaging areas of the two vision sensors to the rotation axis, and determining the position of the vision sensor unit under a unified coordinate system.
2. The method for detecting coaxiality error of a revolving body according to claim 1, wherein the method comprises the following steps: the obtained coaxiality error evaluation parameters of the shaft hole type revolving body comprise the position coordinates of two axes.
3. The method for detecting coaxiality error of a revolving body according to claim 1, wherein the method comprises the following steps: and measuring the cross-section circles with different heights of the holes and the shafts in the S2 and the S3 to obtain circle center coordinates, obtaining an actual measured axis according to the circle center coordinates of the cross-section circles with different heights, and fitting and calculating a reference axis.
4. The method for detecting coaxiality error of a revolving body according to claim 1, wherein the method comprises the following steps: the method for detecting the coaxiality error of the revolving body is suitable for a Visio Studio or Matlab platform.
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| JP5936357B2 (en) * | 2012-01-06 | 2016-06-22 | 株式会社ミツトヨ | Attitude detector, contact probe, and multi-sensing probe |
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| CN202869440U (en) * | 2012-11-02 | 2013-04-10 | 天津大学 | Five-shaft system solid of revolution measuring instrument |
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