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CN102288115A - Method for precisely measuring roller geometric dimension on line - Google Patents

Method for precisely measuring roller geometric dimension on line Download PDF

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Publication number
CN102288115A
CN102288115A CN 201110192649 CN201110192649A CN102288115A CN 102288115 A CN102288115 A CN 102288115A CN 201110192649 CN201110192649 CN 201110192649 CN 201110192649 A CN201110192649 A CN 201110192649A CN 102288115 A CN102288115 A CN 102288115A
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roller
cloud data
point cloud
radius
point
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CN102288115B (en
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赵显富
王新志
曹爽
孙景领
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Suzhou Xiao Qi Mdt Infotech Ltd
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Nanjing University of Information Science and Technology
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Abstract

本发明为了解决现有滚子几何尺寸测量方法效率不高、精度偏低的问题，提出一种滚子几何尺寸精密在线检测方法，测量精度高，适用于工业上高速在线检测。本发明采用两台相对设置的三维激光扫描仪，获取待检测滚子的点云数据，由计算机数据处理系统，对点云数据进行处理，根据所获取的滚子几何参数及误差要求，从而判断滚子的几何尺寸是否合格。

In order to solve the problem of low efficiency and low precision of the existing roller geometric dimension measurement method, the present invention proposes a precise on-line detection method of the geometric dimension of the roller, which has high measurement accuracy and is suitable for high-speed on-line detection in industry. The present invention adopts two relatively set three-dimensional laser scanners to obtain the point cloud data of the roller to be detected, and the computer data processing system processes the point cloud data, and judges according to the obtained roller geometric parameters and error requirements. Whether the geometric dimensions of the rollers are qualified.

Description

滚子几何尺寸精密在线检测方法Precise On-Line Detection Method of Roller Geometric Dimensions

技术领域：Technical field:

本发明属于测量技术装置技术领域，涉及滚子几何尺寸的高速在线测量方法。 The invention belongs to the technical field of measurement technology devices, and relates to a high-speed online measurement method for the geometric dimensions of rollers.

背景技术：Background technique:

轴承是机械行业中非常重要且应用十分广泛的机械部件，其生产批量大、精度要求高。目前，我国大多数轴承生产厂家在轴承滚子尺寸精度的检测方面还是依靠机械式、光学式等测量仪器进行的，手段比较落后，这种依靠人力的随机抽样检测方法检测效率低、精度低、易于引起人为误差；随着现代制造业的发展，传统的检测技术已不能满足其需要。为了适应轴承制造业生产批量大、质量要求严格、检测任务繁重的特点以及自动化流水线作业、实现产品“零废品率”检测目标的要求。 Bearings are very important and widely used mechanical parts in the machinery industry, with large production batches and high precision requirements. At present, most bearing manufacturers in my country still rely on mechanical, optical and other measuring instruments to measure the dimensional accuracy of bearing rollers, and the means are relatively backward. It is easy to cause human error; with the development of modern manufacturing industry, traditional detection technology can no longer meet its needs. In order to adapt to the characteristics of large production batches, strict quality requirements, and heavy inspection tasks in the bearing manufacturing industry, as well as the requirements of automated assembly line operations and the realization of the "zero scrap rate" inspection goal of products.

滚子的几何参数是判断滚子几何尺寸是否合格的重要依据，滚子的几何参数主要包括：滚子某一高度截面处的半径、对应于该截面圆周上某一点的半径误差。目前滚子几何尺寸的检测在国内还基本停留在手工或接触式的检测方式，大部分采用千分尺或是差动变压器式传感器进行接触测量。这种传统式的手工测量方法对操作人员的依赖性强，工人劳动强度比较大，效率低，更重要的是产品精度得不到有效的保障，还可能产生很多人为的误差，这样就难以满足大批量、快节奏、高精度的产品检测要求。由于我国滚子的加工设备普遍精度不高，一致性差，滚子的精度大部分是靠检测设备进行分等，这严重的制约着我国轴承产品的质量和产量。对于轴承滚子外径非接触高精度高速度检测的研究目前还处于空白阶段。 The geometric parameters of the roller are an important basis for judging whether the geometric dimension of the roller is qualified. The geometric parameters of the roller mainly include: the radius at a certain height section of the roller, and the radius error corresponding to a certain point on the circumference of the section. At present, the detection of the geometric dimensions of the rollers is still basically in the manual or contact detection mode in China, and most of them use micrometers or differential transformer sensors for contact measurement. This traditional manual measurement method is highly dependent on the operator, the labor intensity of the workers is relatively high, and the efficiency is low. More importantly, the product accuracy cannot be effectively guaranteed, and many human errors may occur, which is difficult to meet High-volume, fast-paced, high-precision product testing requirements. Due to the generally low precision and poor consistency of the roller processing equipment in our country, the accuracy of the rollers is mostly classified by the testing equipment, which seriously restricts the quality and output of bearing products in our country. The research on the non-contact high-precision and high-speed detection of the outer diameter of bearing rollers is still in a blank stage.

国外轴承滚子的加工和检测方式与我国轴承厂有所不同。由于国外加工滚动体的锻床和外圆磨床的加工精度普遍高于我国，因此加工出来的滚子可以较好的保证精度和一致性。但价格非常昂贵，不能为大多数国内机械制造企业所接受。可以通过对滚子精度进行定期监控，采用抽检的方式很好的控制其产品质量，其抽检的测试设备也是采用接触式的测量方式。不能实现生产现场大规模应用和实时的在线检测，也不能从本质上改变检测手段落后的状态。 The processing and testing methods of bearing rollers abroad are different from those of bearing factories in my country. Since the processing accuracy of foreign forging machines and cylindrical grinding machines for processing rolling elements is generally higher than that of our country, the processed rollers can better ensure accuracy and consistency. But the price is very expensive and cannot be accepted by most domestic machinery manufacturing enterprises. The product quality can be well controlled by means of random inspection through regular monitoring of the precision of the rollers, and the testing equipment for the random inspection also uses contact measurement methods. Large-scale application and real-time online detection at the production site cannot be realized, nor can the state of backward detection methods be fundamentally changed.

发明内容：Invention content:

本发明的目的是为了解决现有滚子几何尺寸测量方法效率不高、精度偏低的问题，提出一种滚子几何尺寸高速在线检测方法，测量精度高，适用于工业上高速在线检测。 The purpose of the present invention is to solve the problem of low efficiency and low precision of the existing roller geometric dimension measurement method, and propose a high-speed online detection method of roller geometric dimension, which has high measurement accuracy and is suitable for high-speed on-line detection in industry.

本发明的目的是通过以下措施实现的： The object of the present invention is achieved by the following measures:

1）选择两台高精度三维激光扫描仪；  1) Choose two high-precision 3D laser scanners;

2）两台三维激光扫描仪相对放置；  2) Two 3D laser scanners are placed opposite to each other;

3）设置标靶： 3) Set the target:

4）三维激光扫描仪对扫描平台上的滚子进行扫描，获得滚子任意坐标系下的点云数据，点云数据的形式为（                                                

Figure 2011101926494100002DEST_PATH_IMAGE001
）
Figure 2011101926494100002DEST_PATH_IMAGE002
4) The 3D laser scanner scans the roller on the scanning platform to obtain the point cloud data in any coordinate system of the roller, the form of the point cloud data is (
Figure 2011101926494100002DEST_PATH_IMAGE001
)
Figure 2011101926494100002DEST_PATH_IMAGE002

5）根据设置的标靶，对两台扫描仪的点云数据进行匹配； 5) Match the point cloud data of the two scanners according to the set target;

6）根据检测条件，提取滚子底部的点云数据，其坐标为（

Figure 2011101926494100002DEST_PATH_IMAGE003
）
Figure 2011101926494100002DEST_PATH_IMAGE004
，（）为于同一圆上，其方程为： 6) According to the detection conditions, extract the point cloud data at the bottom of the roller, and its coordinates are (
Figure 2011101926494100002DEST_PATH_IMAGE003
)
Figure 2011101926494100002DEST_PATH_IMAGE004
, ( ) is on the same circle, its equation is:

Figure 2011101926494100002DEST_PATH_IMAGE006
，其中为圆的半径，
Figure 2011101926494100002DEST_PATH_IMAGE008
为点（
Figure 858807DEST_PATH_IMAGE005
）所出位置的圆心角，根据（
Figure 775947DEST_PATH_IMAGE005
）解求
Figure 555684DEST_PATH_IMAGE007
。
Figure 2011101926494100002DEST_PATH_IMAGE006
,in is the radius of the circle,
Figure 2011101926494100002DEST_PATH_IMAGE008
for the point (
Figure 858807DEST_PATH_IMAGE005
) of the central angle of the position, according to (
Figure 775947DEST_PATH_IMAGE005
) solution
Figure 555684DEST_PATH_IMAGE007
.

具体解求方法为： The specific solution method is:

列方程： Column equation:

Figure 2011101926494100002DEST_PATH_IMAGE009
Figure 2011101926494100002DEST_PATH_IMAGE009

其中，

Figure 2011101926494100002DEST_PATH_IMAGE010
，
Figure 2011101926494100002DEST_PATH_IMAGE011
； in,
Figure 2011101926494100002DEST_PATH_IMAGE010
,
Figure 2011101926494100002DEST_PATH_IMAGE011
;

为该处圆半径的设计值； is the design value of the circle radius;

Figure 2011101926494100002DEST_PATH_IMAGE013
为点（）所在位置的圆心角初始值，规定自X轴方向顺时针为正，；
Figure 2011101926494100002DEST_PATH_IMAGE013
for the point ( ) is the initial value of the central angle at the location, and it is stipulated that it is positive clockwise from the X-axis direction, ;

Figure 2011101926494100002DEST_PATH_IMAGE015
Figure 2011101926494100002DEST_PATH_IMAGE015

其中： in:

Figure DEST_PATH_IMAGE016
，
Figure 2011101926494100002DEST_PATH_IMAGE017
，
Figure DEST_PATH_IMAGE016
,
Figure 2011101926494100002DEST_PATH_IMAGE017
,

Figure DEST_PATH_IMAGE018
，
Figure 2011101926494100002DEST_PATH_IMAGE019
Figure DEST_PATH_IMAGE018
,
Figure 2011101926494100002DEST_PATH_IMAGE019

Figure DEST_PATH_IMAGE020
Figure DEST_PATH_IMAGE020

其中

Figure DEST_PATH_IMAGE021
表示矩阵
Figure DEST_PATH_IMAGE022
的转置运算。 in
Figure DEST_PATH_IMAGE021
representation matrix
Figure DEST_PATH_IMAGE022
The transposition operation.

解方程，可得

Figure 952217DEST_PATH_IMAGE007
的最优值
Figure DEST_PATH_IMAGE023
； Solving the equation, we get
Figure 952217DEST_PATH_IMAGE007
the optimal value of
Figure DEST_PATH_IMAGE023
;

此时，为滚子实际半径值与半径设计值的误差； at this time, is the error between the actual radius value of the roller and the design value of the radius;

7）根据 7) According to

Figure DEST_PATH_IMAGE026
    
Figure 964559DEST_PATH_IMAGE004
    
Figure DEST_PATH_IMAGE026
    
Figure 964559DEST_PATH_IMAGE004
    

可得：

Figure DEST_PATH_IMAGE027
Available:
Figure DEST_PATH_IMAGE027

Figure DEST_PATH_IMAGE028
Figure DEST_PATH_IMAGE028

其中：

Figure DEST_PATH_IMAGE029
表示某一高度面上对应于点（
Figure DEST_PATH_IMAGE030
）的半径误差，[]表示求和。 in:
Figure DEST_PATH_IMAGE029
Indicates that a point corresponding to a certain height surface (
Figure DEST_PATH_IMAGE030
) radius error, [] means summation.

根据

Figure DEST_PATH_IMAGE031
，
Figure DEST_PATH_IMAGE032
，
Figure DEST_PATH_IMAGE033
及误差要求判断滚子底部尺寸是否合格。 according to
Figure DEST_PATH_IMAGE031
,
Figure DEST_PATH_IMAGE032
,
Figure DEST_PATH_IMAGE033
And error requirements to judge whether the size of the bottom of the roller is qualified.

8）对于任一高度面处滚子几何尺寸的检测，可以提取该高度面上滚子的点云数据

Figure DEST_PATH_IMAGE035
，根据误差要求判断该滚子该高度面
Figure 293910DEST_PATH_IMAGE034
上几何尺寸是否合格，其具体算法同步骤6。 8) For any height surface The detection of the geometric dimensions of the roller at this height can extract the point cloud data of the roller on the plane
Figure DEST_PATH_IMAGE035
, according to the error requirements to judge the height surface of the roller
Figure 293910DEST_PATH_IMAGE034
Whether the upper geometric dimension is qualified or not, the specific algorithm is the same as step 6.

本发明相比现有技术具有如下优点：Compared with the prior art, the present invention has the following advantages:

1、高速在线检测 1. High-speed online detection

现有检测方法主要采用抽检的方式，效率低，不能满足件件检测的要求。 The existing detection method mainly adopts random inspection, which has low efficiency and cannot meet the requirements of piece-by-piece inspection.

本发明的检测方法，每件产品检测只需10s,一分钟可检测6件产品，一小时360件，可以达到一天24小时不间断检测，一天可以检测8640件。可见其检测效率高。 The detection method of the present invention only needs 10 seconds to detect each product, can detect 6 products in one minute, and 360 products in one hour, can achieve 24 hours of uninterrupted detection in a day, and can detect 8640 products in a day. It can be seen that its detection efficiency is high.

2、本发明的精度最高可达0.02mm。而现有技术一般达不到该精度。 2. The precision of the present invention can reach up to 0.02mm. However, the prior art generally cannot achieve this precision.

附图说明：Description of drawings:

图1为本发明装置的数据采集部分示意图。 Fig. 1 is a schematic diagram of the data acquisition part of the device of the present invention.

图2为所建立的直角坐标系示意图。 Figure 2 is a schematic diagram of the established Cartesian coordinate system.

图中：1为三维激光扫描仪，2为三维激光扫描仪，3为待检测滚子，4-为标靶，5为标靶。 In the figure: 1 is a three-dimensional laser scanner, 2 is a three-dimensional laser scanner, 3 is a roller to be detected, 4- is a target, and 5 is a target.

具体实施方式：Detailed ways:

本发明的方法可实现轴承滚子生产线的在线检测。 The method of the invention can realize the online detection of the bearing roller production line.

如图1、图2所示，为圆柱形滚子的在线检测。本发明同样可实现锥形滚子的测量。 As shown in Figure 1 and Figure 2, it is the online detection of cylindrical rollers. The invention can also realize the measurement of tapered rollers.

本发明可用的三维激光扫描仪可采用：国外品牌如徕卡、拓普康、天宝，国产品牌如深圳市华朗科技有限公司，北京博维恒信科技发展有限公司生产的扫描仪均可使用。具体型号根据检测精度要求确定。 The available three-dimensional laser scanner of the present invention can adopt: the scanner of foreign brand such as Leica, Topcon, Tianbao, domestic brand such as Shenzhen Hualang Technology Co., Ltd., Beijing Bowei Hengxin Technology Development Co., Ltd. can be used. The specific model is determined according to the detection accuracy requirements.

图1中，测量滚子几何尺寸精密检测系统，可包括扫描系统和计算机数据处理系统；扫描系统由扫描平台和两台相对设置的三维激光扫描仪组成，其作用是获取待检测滚子的点云数据；计算机数据处理系统由数据获取模块和数据处理模块组成，其作用是对点云数据进行处理，并判断滚子几何尺寸是否合格。 In Figure 1, the precision detection system for measuring the geometric dimensions of rollers may include a scanning system and a computer data processing system; the scanning system is composed of a scanning platform and two oppositely arranged 3D laser scanners, and its function is to obtain the points of the rollers to be detected Cloud data; the computer data processing system is composed of a data acquisition module and a data processing module, its function is to process the point cloud data and judge whether the geometric dimension of the roller is qualified.

本发明的检测步骤简述如下： The detection steps of the present invention are briefly described as follows:

步骤1：待检测滚子3被传入扫描平台； Step 1: The roller 3 to be detected is passed into the scanning platform;

步骤2：设置标靶4、标靶5； Step 2: Set target 4 and target 5;

步骤3、三维激光扫描仪1、三维激光扫描仪2对待检测滚子3进行扫描，获得待检测滚子的点云数据； Step 3, the three-dimensional laser scanner 1 and the three-dimensional laser scanner 2 scan the roller 3 to be detected, and obtain the point cloud data of the roller to be detected;

步骤4、扫描系统获得的待检测滚子3的点云数据传入计算机数据处理系统； Step 4, the point cloud data of the roller 3 to be detected obtained by the scanning system is transferred to the computer data processing system;

步骤5、计算机数据处理系统的数据处理模块对点云数据进行处理（具体按前面6处理即可），获得待检测滚子某一高度面

Figure 492810DEST_PATH_IMAGE034
上的相关几何参数，并与待检测滚子该高度面上几何参数的设计值进行比较，根据误差要求判断滚子几何尺寸是否合格。 Step 5. The data processing module of the computer data processing system processes the point cloud data (specifically according to the previous 6), and obtains a certain height surface of the roller to be detected
Figure 492810DEST_PATH_IMAGE034
The relevant geometric parameters on the height plane are compared with the design value of the geometric parameters on the height plane of the roller to be tested, and whether the geometric dimension of the roller is qualified or not is judged according to the error requirements.

Claims (3)

1. A precise online detection method for geometric dimension of a roller comprises the following steps:
1) selecting two high-precision three-dimensional laser scanners;
2) the two three-dimensional laser scanners are oppositely arranged;
3) setting a target:
4) the three-dimensional laser scanner scans the roller on the scanning platform to obtain point cloud data of the roller under any coordinate system, wherein the form of the point cloud data is (
Figure 142672DEST_PATH_IMAGE001
）
Figure 33268DEST_PATH_IMAGE002
5) Matching the point cloud data of the two scanners according to the set target;
6) according to the detection condition, extracting point cloud data of the bottom of the roller, wherein the coordinate of the point cloud data is (
Figure 830323DEST_PATH_IMAGE003
）
Figure 439158DEST_PATH_IMAGE004
，（
Figure 612651DEST_PATH_IMAGE005
) On the same circle, the equation is:
Figure 685649DEST_PATH_IMAGE006
wherein
Figure 653605DEST_PATH_IMAGE007
Is the radius of the circle, and the radius of the circle,
Figure 749737DEST_PATH_IMAGE008
is a point (
Figure 461341DEST_PATH_IMAGE005
) The central angle of the position is determined according to
Figure 388846DEST_PATH_IMAGE005
) Solution to the problem
Figure 527703DEST_PATH_IMAGE007
；
The specific solving method comprises the following steps:
the following equation:
wherein,
Figure 360847DEST_PATH_IMAGE010
，；
Figure 718196DEST_PATH_IMAGE012
the designed value of the radius of the circle;
is a point (
Figure 842327DEST_PATH_IMAGE005
) The initial value of the central angle of the position is defined as positive clockwise from the X-axis direction,
Figure 744424DEST_PATH_IMAGE014
；
Figure 225084DEST_PATH_IMAGE015
wherein:
Figure 517525DEST_PATH_IMAGE016
，
Figure 374622DEST_PATH_IMAGE017
，
Figure 134155DEST_PATH_IMAGE018
，
Figure 785717DEST_PATH_IMAGE019
Figure 831033DEST_PATH_IMAGE020
wherein
Figure 226242DEST_PATH_IMAGE021
Representation matrixThe transposition operation of (1);
solving the equation to obtainOptimum value of (2)
Figure 192427DEST_PATH_IMAGE023
；
At this time, the process of the present invention,
Figure 453644DEST_PATH_IMAGE024
the error between the actual radius value and the designed radius value of the roller is obtained.
2. A method for precision on-line inspection of roller geometry according to claim 1, further comprising the steps of:
according to
Figure 115887DEST_PATH_IMAGE026
Figure 932533DEST_PATH_IMAGE004
The following can be obtained:
Figure 669545DEST_PATH_IMAGE027
wherein:
Figure 622774DEST_PATH_IMAGE029
indicates a point on a certain height plane (corresponding to point:)
Figure 661138DEST_PATH_IMAGE030
) Radius error of (2 [ ], ] [, ]]Represents a summation;
according to
Figure 201840DEST_PATH_IMAGE031
，
Figure 845311DEST_PATH_IMAGE032
，And judging whether the bottom size of the roller is qualified or not according to the error requirement.
3. A method for precision on-line inspection of roller geometry according to claim 1, further comprising the steps of:
for any height surface
Figure 971716DEST_PATH_IMAGE035
Detecting the geometric size of the roller, and extracting the height surfacePoint cloud data of upper roller (b)
Figure 50531DEST_PATH_IMAGE036
）
Figure 548508DEST_PATH_IMAGE038
Judging the height surface of the roller according to the error requirement
Figure DEST_PATH_IMAGE039
And if the geometric dimension is qualified, the specific algorithm is the same as that in step 6.
CN 201110192649 2011-07-11 2011-07-11 Method for precisely measuring roller geometric dimension on line Expired - Fee Related CN102288115B (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103886593A (en) * 2014-03-07 2014-06-25 华侨大学 Method for detecting hook face circular hole based on three-dimensional point cloud
CN108458659A (en) * 2018-05-03 2018-08-28 华中科技大学无锡研究院 A kind of blade contactless detection device and method

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