CN115112082B - Coaxiality measuring device and calibration method based on digital twin technology - Google Patents
Coaxiality measuring device and calibration method based on digital twin technology Download PDFInfo
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- CN115112082B CN115112082B CN202210765655.2A CN202210765655A CN115112082B CN 115112082 B CN115112082 B CN 115112082B CN 202210765655 A CN202210765655 A CN 202210765655A CN 115112082 B CN115112082 B CN 115112082B
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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
- G01B21/22—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 angles or tapers; for testing the alignment of axes
- G01B21/24—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 angles or tapers; for testing the alignment of axes for testing alignment of axes
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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
- G01B21/042—Calibration or calibration artifacts
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Abstract
A coaxiality measuring device and a calibrating method based on a digital twin technology relate to a coaxiality measuring device and a calibrating method. The invention aims to solve the problem that systematic errors exist in roundness and concentricity/coaxiality during measurement of the coaxiality measuring instrument. The device comprises a coaxiality standard, an ultra-precise turntable, a position adjusting mechanism, a base, augmented reality glasses and a computer; the position adjusting mechanism and the ultra-precise turntable are arranged on the upper surface of the base side by side, the coaxiality standard is arranged on the position adjusting mechanism, the signal output end of the coaxiality standard is connected with the signal input end of the computer, and the signal input end of the augmented reality glasses is connected with the signal output end of the computer. The invention belongs to the technical field of coaxiality calibration.
Description
Technical Field
The invention relates to a coaxiality measuring device and a coaxiality calibrating method, and belongs to the technical field of coaxiality calibration.
Background
At present, the fields of aeroengines, gas turbines and the like in China lack of ultra-precise coaxiality calibration measurement, the operation is mostly dependent on manual and experience, so that the measurement precision is low, the assembly consistency is poor, the one-time assembly qualification rate is low, the assembly quality and the comprehensive performance of large-scale precise rotary equipment are seriously influenced, and the coaxiality calibration and the system intellectualization of the aeroengines, the gas turbines and the like of the large-scale rotary equipment are needed to be realized. Currently, the industrial field is undergoing a new round of industrial transformation, and various countries in the world push out industrial upgrading plans with the 'industrial Internet' and the 'industry 4.0' as cores, and China also puts forward a 'China manufacturing 2025' development strategy and takes intelligent production assembly as an important component. The digital twinning can improve the efficiency of the assembly and the test of the enterprise equipment through the virtual simulation of the production and the assembly process, and provides support for the management and the upgrading of the full life cycle of the product.
The method realizes the intellectualization of coaxiality measurement calibration and error compensation of large-scale rotary equipment aero-engines, gas turbines and the like, and is a great problem facing the development of the ultra-precise measurement field in China. Currently, domestic large-scale rotation equipment coaxiality measurement is mainly based on ultra-precise coaxiality measuring instruments, including single-channel coaxiality measuring instruments, double-channel coaxiality measuring instruments, four-channel coaxiality measuring instruments, five-channel coaxiality measuring instruments and the like. Due to installation errors of guide rails, shafting and the like, the device system errors exist, and coaxiality measurement deviation is caused. Digital twinning is an advanced technology combining virtual and reality, coaxiality calibration can be visualized by using digital twinning, and calibration of a coaxiality measuring device is realized by using a high-fidelity model and physical registration.
Disclosure of Invention
The invention aims to solve the problem that systematic errors exist in roundness and concentricity/coaxiality during measurement of a coaxiality measuring instrument, and further provides a coaxiality measuring device and a calibrating method based on a digital twin technology.
The technical scheme adopted by the invention for solving the problems is as follows: the measuring device comprises an electric sensor, a coaxiality standard, an ultra-precise turntable, a position adjusting mechanism, a base, augmented reality glasses and a computer; the position adjusting mechanism and the ultra-precise turntable are arranged on the upper surface of the base side by side, the coaxiality standard device is arranged on the base, the electric sensor is arranged on the position adjusting mechanism, the signal output end of the coaxiality standard device is connected with the signal input end of the computer, and the signal input end of the augmented reality glasses is connected with the signal output end of the computer.
Further, the position adjusting mechanism comprises a horizontal guide rail and a vertical guide rail, the lower end of the vertical guide rail is fixedly connected with the upper surface of the base, the horizontal guide rail is installed on the vertical guide rail, the horizontal guide rail can move along the vertical guide rail vertically and linearly, the coaxiality standard is installed on the horizontal guide rail, and the coaxiality standard can move along the horizontal guide rail in a straight reciprocating mode.
Further, the coaxiality measuring device based on the digital twin technology further comprises an electric sensor; the ultra-precise turntable is connected with the upper surface of the base through an electric sensor, and the signal output end of the electric sensor is connected with the signal input end of the computer.
The calibration method comprises the following specific steps:
firstly, placing a coaxiality standard for measurement in the center of a turntable, and ensuring that an inductance sensor can measure the profile of the coaxiality standard;
based on the augmented reality glasses, registering the virtual coaxiality standard and the real coaxiality standard by using a virtual-real registration technology, and visualizing a coaxiality standard measurement and calibration process on the augmented reality glasses and a display screen;
step three, the inductance sensor measures the runout of a plurality of sections of the coaxiality standard, records the height data of the sections relative to the plane of the turntable, and fits the coaxiality value of the coaxiality standard;
step four, the digital twin body of the coaxiality standard device follows the contour data and the coaxiality data of the coaxiality standard device in real time;
and fifthly, comparing the numerical value of the coaxiality standard measured by the coaxiality measuring device with the actual value of the standard, thereby realizing the precise calibration of the real object and the virtual model of the coaxiality measuring device.
Further, the virtual-real registration technique in the second step comprises the following steps:
step A, performing point cloud processing on both the entity and the virtual model in digital twin, and performing point cloud registration by adopting an improved ICP method;
step B, determining a loss function as follows:
in equations 1 and 2, N Y (y k ) Representing y k A local neighborhood in Y, h represents the kernel bandwidth, L k,l Represents the loss function value, w l Representing weight, T (X) represents point cloud formed by the point cloud X after rotation translation transformation, y l Representing points in a point cloud T (X), y i Representing y k Points in the local domain, η represents the overlap ratio of the point set, k represents the point y k The number in the point cloud Y, l denotes the point Y l Sequence numbers in the point cloud T (X).
The beneficial effects of the invention are as follows: the invention performs coaxiality measurement calibration on a large-scale coaxiality measurement device based on a digital twin technology and a coaxiality standard. And registering the entity and the virtual model of the coaxiality standard through a digital twin virtual-real registration technology, and realizing real-time follow-up of coaxiality calibration based on device coaxiality measurement calibration data. The accuracy and the visualization of coaxiality measurement calibration of the coaxiality measurement device are effectively guaranteed.
Drawings
FIG. 1 is a schematic view of a measuring device according to the present invention;
FIG. 2 is a digital twin frame of the coaxiality measuring device;
in FIG. 1, 1-turntable theoretical rotation axis, 2-turntable actual rotation axis, 3-electric sensor, 4-coaxiality standard, 5-ultra-precise turntable, 6-horizontal guide rail, 7-vertical guide rail, 8-base, 9-augmented reality glasses and 10-computer.
Detailed Description
The first embodiment is as follows: referring to fig. 1 and 2, a coaxiality measuring device based on digital twin technology according to the present embodiment includes an electric sensor 3, a coaxiality standard 4, an ultra-precise turntable 5, a position adjusting mechanism, a base 8, augmented reality glasses 9 and a computer 10; the position adjusting mechanism and the ultra-precise turntable 5 are arranged on the upper surface of the base 8 side by side, the coaxiality standard 4 is arranged on the base 8, the electric sensor 3 is arranged on the position adjusting mechanism, the signal output end of the coaxiality standard 4 is connected with the signal input end of the computer 10, and the signal input end of the augmented reality glasses 9 is connected with the signal output end of the computer 10.
The second embodiment is as follows: referring to fig. 1 and 2, the position adjusting mechanism of the coaxiality measuring device based on the digital twin technology according to the present embodiment includes a horizontal guide rail 6 and a vertical guide rail 7, the lower end of the vertical guide rail 7 is fixedly connected with the upper surface of the base 8, the horizontal guide rail 6 is installed on the vertical guide rail 7, the horizontal guide rail 6 can move up and down along the vertical guide rail 7, the coaxiality standard 4 is installed on the horizontal guide rail 6, and the coaxiality standard 4 can move linearly and reciprocally along the horizontal guide rail 6. Other components and connection relationships are the same as those of the first embodiment.
And a third specific embodiment: describing the present embodiment with reference to fig. 1 and 2, the coaxiality measuring device based on the digital twin technology according to the present embodiment further includes an electric sensor 3; the ultra-precise turntable 5 is connected with the upper surface of the base 8 through the electric sensor 3, and the signal output end of the electric sensor 3 is connected with the signal input end of the computer 10. Other components and connection relationships are the same as those of the first embodiment.
The specific embodiment IV is as follows: referring to fig. 1 and 2, a coaxiality calibration method based on a digital twin and coaxiality standard according to the present embodiment is implemented by the following steps:
firstly, placing a coaxiality standard for measurement in the center of a turntable, and ensuring that an inductance sensor can measure the profile of the coaxiality standard;
based on the augmented reality glasses, registering the virtual coaxiality standard and the real coaxiality standard by using a virtual-real registration technology, and visualizing a coaxiality standard measurement and calibration process on the augmented reality glasses and a display screen;
step three, the inductance sensor measures the runout of a plurality of sections of the coaxiality standard, records the height data of the sections relative to the plane of the turntable, and fits the coaxiality value of the coaxiality standard;
step four, the digital twin body of the coaxiality standard device follows the contour data and the coaxiality data of the coaxiality standard device in real time;
and fifthly, comparing the numerical value of the coaxiality standard measured by the coaxiality measuring device with the actual value of the standard, thereby realizing the precise calibration of the real object and the virtual model of the coaxiality measuring device.
Fifth embodiment: referring to fig. 1 and 2, the steps of the virtual-real registration technology in the second step of the coaxiality calibration method based on the digital twin and coaxiality standard according to the present embodiment are as follows:
step A, performing point cloud processing on both the entity and the virtual model in digital twin, and performing point cloud registration by adopting an improved ICP method;
step B, determining a loss function as follows:
in equations 1 and 2, N Y (y k ) Representing y k A local neighborhood in Y, h represents the kernel bandwidth, L k,l Represents the loss function value, w l Representing weight, T (X) represents point cloud formed by the point cloud X after rotation translation transformation, y l Representing points in a point cloud T (X), y i Representing y k Points in the local domain, η represents the overlap ratio of the point set, k represents the point y k The number in the point cloud Y, l denotes the point Y l Sequence numbers in the point cloud T (X).
Principle of operation
The coaxiality measuring device mainly performs calibration and tracing of the magnitude by means of the etalon, the coaxiality value of the coaxiality etalon is measured by the metering hospital, and then different coaxiality measuring devices are calibrated by the etalon; in the calibration process, the rotation axis of the coaxiality standard and the measurement flow cannot be dynamically visualized, so that the device calibration flow is unclear, the device calibration is not easy to analyze, and meanwhile, a virtual model in a digital twin system corresponding to the device also lacks calibration data; the coaxiality standard device is arranged on the turntable, and the coaxiality standard device and the turntable rotation center are centered through precise regulation. The coaxiality standard device has uniform mass distribution and high processing precision, and after the geometric center of the bottom surface is aligned with the center of the turntable, the axis of the coaxiality standard device is coaxial with the rotation axis of the turntable main shaft; based on the augmented reality glasses, the virtual coaxiality standard and the real coaxiality standard are registered by using a virtual-real registration technology, and the coaxiality standard measurement and calibration flow is visualized on the augmented glasses and the display screen; moving the vertical guide rail to enable the inductance sensor to move to the radial section of the coaxiality standard; the ultra-precise turntable rotates, the inductance sensor collects section profile information of the coaxiality standard, and the coaxiality value of the coaxiality standard is evaluated by utilizing a plurality of section data; and comparing the coaxiality value assessed by the device with the actual value, and calibrating the system error of the digital twin system of the coaxiality measuring device.
The present invention is not limited to the preferred embodiments, but is capable of modification and variation in detail, and other embodiments, such as those described above, of making various modifications and equivalents will fall within the spirit and scope of the present invention.
Claims (3)
1. A coaxiality calibration method based on a digital twin and coaxiality standard is characterized by comprising the following steps of: the coaxiality measuring device used by the coaxiality calibration method based on the digital twin and coaxiality standard comprises an electric sensor (3), the coaxiality standard (4), an ultra-precise turntable (5), a position adjusting mechanism, a base (8), augmented reality glasses (9) and a computer (10); the position adjusting mechanism and the ultra-precise turntable (5) are arranged on the upper surface of the base (8) side by side, the coaxiality standard device (4) is arranged on the base (8), the electric sensor (3) is arranged on the position adjusting mechanism, the signal output end of the coaxiality standard device (4) is connected with the signal input end of the computer (10), and the signal input end of the augmented reality glasses (9) is connected with the signal output end of the computer (10); the coaxiality calibration method based on the digital twin and coaxiality standard is realized through the following steps:
firstly, placing a coaxiality standard for measurement in the center of a turntable, and ensuring that an inductance sensor can measure the profile of the coaxiality standard;
based on the augmented reality glasses, registering the virtual coaxiality standard and the real coaxiality standard by using a virtual-real registration technology, and visualizing a coaxiality standard measurement and calibration process on the augmented reality glasses and a display screen;
step three, the inductance sensor measures the runout of a plurality of sections of the coaxiality standard, records the height data of the sections relative to the plane of the turntable, and fits the coaxiality value of the coaxiality standard;
step four, the digital twin body of the coaxiality standard device follows the contour data and the coaxiality data of the coaxiality standard device in real time;
and fifthly, comparing the numerical value of the coaxiality standard measured by the coaxiality measuring device with the actual value of the standard, thereby realizing the precise calibration of the real object and the virtual model of the coaxiality measuring device.
2. The coaxiality measuring device based on digital twin technology as defined in claim 1, wherein: the position adjusting mechanism comprises a horizontal guide rail (6) and a vertical guide rail (7), the lower end of the vertical guide rail (7) is fixedly connected with the upper surface of the base (8), the horizontal guide rail (6) is installed on the vertical guide rail (7), the horizontal guide rail (6) can linearly move up and down along the vertical guide rail (7), the electric sensor (3) is installed on the horizontal guide rail (6), and the coaxiality standard (4) can linearly reciprocate along the horizontal guide rail (6).
3. The coaxiality calibration method based on the digital twin and coaxiality standard according to claim 1, wherein the method comprises the following steps of: the virtual and real registration technology comprises the following steps:
step A, performing point cloud processing on both the entity and the virtual model in digital twin, and performing point cloud registration by adopting an improved ICP method;
step B, determining a loss function as follows:
in the formulas (1) and (2), N Y (y k ) Representing y k A local neighborhood in Y, h represents the kernel bandwidth, L k,l Represents the loss function value, w l Representing weight, T (X) represents point cloud formed by the point cloud X after rotation translation transformation, y l Representing points in a point cloud T (X), y i Representing y k Points in the local domain, η represents the overlap ratio of the point set, k represents the point y k The number in the point cloud Y, l denotes the point Y l Sequence numbers in the point cloud T (X).
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| CN210426423U (en) * | 2019-08-19 | 2020-04-28 | 华南理工大学 | Ultra-precise roundness measuring device based on two-step method |
| WO2022007753A1 (en) * | 2020-07-06 | 2022-01-13 | 北京卫星制造厂有限公司 | Digital twin modeling method oriented to mobile robot milling processing |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| GB2478303B (en) * | 2010-03-02 | 2018-03-07 | Taylor Hobson Ltd | Surface measurement instrument and calibration thereof |
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Patent Citations (6)
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| CN102323057A (en) * | 2011-08-23 | 2012-01-18 | 宜昌长机科技有限责任公司 | A kind of multiaxis synchronous error pick-up unit and detection method |
| CN108036758A (en) * | 2017-11-17 | 2018-05-15 | 北京理工大学 | One kind is suitable for the detection of aero-engine casing concentricity and method of adjustment |
| CN110458961A (en) * | 2018-05-08 | 2019-11-15 | 莱卡地球***公开股份有限公司 | System based on augmented reality |
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