CN110220454A - A kind of pose scaling method of three coordinate locating mechanisms - Google Patents
A kind of pose scaling method of three coordinate locating mechanisms Download PDFInfo
- Publication number
- CN110220454A CN110220454A CN201910479567.4A CN201910479567A CN110220454A CN 110220454 A CN110220454 A CN 110220454A CN 201910479567 A CN201910479567 A CN 201910479567A CN 110220454 A CN110220454 A CN 110220454A
- Authority
- CN
- China
- Prior art keywords
- coordinate
- coordinate system
- value
- point
- motion module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 88
- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000033001 locomotion Effects 0.000 claims abstract description 49
- 238000005259 measurement Methods 0.000 claims description 17
- 230000008569 process Effects 0.000 claims description 9
- 230000014509 gene expression Effects 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 238000011900 installation process Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
- G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
This application discloses a kind of pose scaling methods of three coordinate locating mechanisms, three coordinate locating mechanisms include X to motion module, Y-direction motion module, Z-direction motion module, product locator module, and the grating scale parallel with each motion module, it is characterized in that target point is placed in the end of three coordinate locating mechanisms, target point under the various positions state of three coordinate locating mechanisms is measured by laser tracker measuring system.
Description
Technical field
This application involves the pose calibration techniques of three coordinate locating mechanisms in aircraft assembly, are particularly suitable for restructural three and sit
Mark the pose calibration of positioning mechanism.
Background technique
Aircraft rigger skill includes the processes such as positioning, guarantor's type, clamping, wherein crucially positioning process, positioning it is accurate
Whether be directly related to the assembling quality of aircraft.
The positioning of aircraft product is usually realized by three coordinate locating mechanisms, and three coordinate locating mechanisms are a kind of
Modularization along tri- mutually perpendicular direction linear motions of XYZ, positioning accuracy height, reliable operation supports positioning unit.
Three coordinate locating mechanisms will realize the accurate positionin to aircraft product, first have to three coordinate locating mechanisms of calibration and flying
Pose under machine coordinate system, traditional scaling method is: dividing in X in motion module, Y-direction motion module and Z-direction motion module
Not She Zhi 3 non-colinear OTP points, pass through Precision Machining mode, it is ensured that OTP point and the guide rail of all directions motion module have
Accurate size relationship measures 3 OTP points in each motion module by laser tracker to be fitted the motion module guide rail
Direction, and then demarcate the pose of the three coordinate locating mechanism coordinate systems that are made of each guide rail relative to aircraft axes, should
Scaling method includes following process:
1. the OTP spot hole of processing precise, in OTP point quantity at least 12, including three motion modules of locator each 3 and
End 3.
2. using number at least 24 times of laser tracker measurement OTP point, including originating 12 measurements of pose and terminating
12 measurements of pose.
3. being fitted the seat of motion module by the coordinate value and relative dimensions (size of OTP point and guide rail) of 3 OTP points
Parameter line.
For fixed dedicated three coordinate locating mechanism, above method process is more, comparatively laborious, there are biggish fittings
Error；For general restructural three coordinate locating mechanism, due to needing frequent pose calibration, in addition to the above drawbacks, also
The problems such as it is high that there are pose calibration costs, and the period is long, it would therefore be highly desirable to which finding one kind fast and accurately demarcates three Counterbalanced coordinate positioning machines
The method that structure is especially restructural three coordinate locating mechanisms pose.
Summary of the invention
The pose that restructural three coordinate locating mechanism is especially to improve three coordinate locating mechanisms demarcates efficiency, reduces calibration
Cost has invented a kind of pose scaling method of three coordinate locating mechanisms.
A kind of pose scaling method of three coordinate locating mechanisms, three coordinate locating mechanisms include X to motion module,
Y-direction motion module, Z-direction motion module, product locator module, and the grating scale parallel with each motion module, target point are set
In the end of three coordinate locating mechanisms, by laser tracker measuring system under the various positions state of three coordinate locating mechanisms
Target point measures, detailed process the following steps are included:
Three coordinate locating mechanisms are placed on horizontal plane by step 1；
Step 2 establishes three coordinate locating mechanism coordinate system PCoordinate system:
After 2-1 X is returned to zero to motion module, Y-direction motion module, Z-direction motion module, X is to, Y in three coordinate locating mechanisms
It is set as 0 to the physical location of, Z-direction grating scale；
Target point on three coordinate locating mechanism ends is set P by 2-2Coordinate systemOrigin, the X of three coordinate locating mechanisms is to setting
It is set to PCoordinate systemX-axis, Y-direction is set as PCoordinate systemY-axis, Z-direction is set as PCoordinate systemZ axis, target point is in PCoordinate systemCoordinate are as follows: [0 0
0]{P}。
Step 3 establishes aircraft axes ACoordinate system:
3-1 is arranged in the horizontal plane for establishing ACoordinate systemMark point group；Mark point group quantity is no less than 3, and any 3
Point cannot be conllinear.
3-2 successively measures mark point group with laser tracker, obtains mark point group in laser tracker coordinate system LCoordinate systemUnder
Each point coordinate value；
3-3 transfers label point group in ACoordinate systemTheoretical coordinate value；
3-4 is according to the L for identifying point groupCoordinate systemCoordinate value and ACoordinate systemCoordinate value establishes the L of mark point groupCoordinate systemCoordinate value mapping
To ACoordinate systemThe transformation relation of coordinate value, to establish aircraft axes ACoordinate system。
Step 4 measures three coordinate locating mechanisms using internal grating scale and external laser tracker measuring system respectively and moves
Target point coordinate in the process, calibrates three coordinate locating mechanism coordinate system PCoordinate systemRelative to aircraft axes ACoordinate systemPose.
For 4-1 when three coordinate locating mechanisms are in " 0 " position, target point is relative to PCoordinate systemCoordinate value are as follows: [0 0 0]{P}；
4-2 laser tracker measurement target drone point obtains when " 0 " position target point in ACoordinate systemCoordinate value: [x0 y0 z0]{A}；
4-3 is by the X of three coordinate locating mechanisms to motion module along PCoordinate systemThe mobile X value of X-direction after, it is fixed,
Current location is denoted as " 1 " position, current location numerical value is read by grating scale, obtains when " 1 " position target point in PCoordinate systemCoordinate
It is worth [X 0 0]{P}；
4-4 laser tracker measurement target drone point obtains when " 1 " position target point in ACoordinate systemCoordinate value: [x1 y1 z1]{A}；
4-5 is by the Y-direction motion module of three coordinate locating mechanisms along PCoordinate systemThe mobile Y value of Y-direction after, it is fixed,
Current location is denoted as " 2 " position, current location numerical value is read by grating scale, obtains when " 2 " position target point in PCoordinate systemCoordinate
It is worth [X Y 0]{P}；
4-6 laser tracker measurement target drone point obtains when " 2 " position target point in ACoordinate systemCoordinate value: [x2 y2 z2]{A}；
4-7 is by the Z-direction motion module of three coordinate locating mechanisms along PCoordinate systemThe mobile Z value of Z-direction after, it is fixed,
Current location is denoted as " 3 " position, current location numerical value is read by grating scale, obtains when " 3 " position target point in PCoordinate systemCoordinate
It is worth [X Y Z]{P}；
4-8 laser tracker measurement target drone point obtains when " 3 " position target point in ACoordinate systemCoordinate value: [x3 y3 z3]{A}；
Tri- coordinate locating mechanism coordinate system P of 4-9Coordinate systemRelative to aircraft axes ACoordinate systemPoseIt is resolved by following expressions:
Tri- coordinate locating mechanism coordinate system P of 4-10Coordinate systemRelative to aircraft axes ACoordinate systemPose calibration it is as follows: PCoordinate system's
Origin is in ACoordinate systemCoordinate value be [M N P], PCoordinate systemX-axis and ACoordinate systemThe angle of X-axis bePCoordinate systemY
Axis and ACoordinate systemThe angle of Y-axis bePCoordinate systemZ axis and ACoordinate systemThe angle of Z axis be
Compared with traditional pose scaling method, advantage has the pose scaling method:
1) target spot hole accurate one by one need to be only processed on three coordinate locating mechanism ends, for installing target, phase
Than 12 traditional precision OTP spot hole, manufacturing cost is reduced.
2) only had 4 times using the number of laser tracker measurement target drone point, compared to the measurement of 24 times traditional OTP points, contracting
Short pose scalar period, also reduces use cost.
3) it directlys adopt measured coordinate value calibration pose and improves pose mark compared to traditional Fitting Coordinate System axis
Fixed precision.
For the regular calibration demand of restructural locator, its advantage is that obviously.
Attached drawing is described in further detail the application with reference to embodiments:
Detailed description of the invention
Fig. 1 is schematic diagram when three coordinate locating mechanisms are in " 0 " position
Fig. 2 is schematic diagram when locator is in " 1 " position
Fig. 3 is schematic diagram when locator is in " 2 " position
Fig. 4 is schematic diagram when locator is in " 3 " position
Explanation: 1, three coordinate locating mechanism is numbered in figure；2, target point；3, three coordinate locating mechanism coordinate system PCoordinate system；4,
Identify point group；5, aircraft axes ACoordinate system；6, laser tracker；7, laser tracker coordinate system LCoordinate system；8, horizontal plane；10, X to
Motion module；11, Y-direction motion module；12, Z-direction motion module；13, product orientation mechanism；14, X is to grating scale；15, Y-direction light
Grid ruler；16, Z-direction grating scale；17, measuring head；18, positioning surface；19, product orientation point
Specific embodiment
As shown in Figs 1-4, a kind of pose scaling method of three coordinate locating mechanisms, wherein three coordinate locating mechanisms 1 include X
To motion module 10, Y-direction motion module 11, Z-direction motion module 12, product locator module 13 and X to grating scale 14, Y-direction light
Grid ruler 15, Z-direction grating scale 16, target point 2 are placed in the end of three coordinate locating mechanisms 1, pass through laser tracker measuring system pair
Target point 2 measures under the various positions state of three coordinate locating mechanisms 1, detailed process the following steps are included:
Three coordinate locating mechanisms 1 are placed on horizontal plane 8 by step 1；
Step 2 establishes three coordinate locating mechanism coordinate system PCoordinate system3:
After 2-1 X is returned to zero to motion module 10, Y-direction motion module 11, Z-direction motion module 12, in three coordinate locating mechanisms 1
X to, Y-direction, the physical location of Z-direction grating scale be set as 0；
Target point 2 on three coordinate locating mechanisms, 1 end is set P by 2-2Coordinate systemOrigin, the X of three coordinate locating mechanisms to
It is set as PCoordinate systemX-axis, Y-direction is set as PCoordinate systemY-axis, Z-direction is set as PCoordinate systemZ axis, target point is in PCoordinate systemCoordinate are as follows: [0
0 0]{P}。
Step 3 establishes aircraft axes ACoordinate system5:
3-1 is arranged in the horizontal plane for establishing ACoordinate systemMark point group 4；Mark 4 quantity of point group is no less than 3, and appoints
Anticipate 3 points cannot be conllinear.
3-2 successively measures mark point group with laser tracker 6, obtains mark point group 4 in laser tracker coordinate system LCoordinate system7
Lower each point coordinate value；
3-3 transfers label point group 4 in ACoordinate systemTheoretical coordinate value；
3-4 is according to the L for identifying point group 4Coordinate systemCoordinate value and ACoordinate systemCoordinate value establishes the L of mark point group 4Coordinate systemCoordinate value reflects
It is mapped to ACoordinate systemThe transformation relation of coordinate value, to establish aircraft axes ACoordinate system5。
Step 4 measures three coordinate locating mechanisms 1 using internal grating scale and external laser tracker measuring system respectively and transports
2 coordinate of target point during dynamic, calibrates three coordinate locating mechanism coordinate system PCoordinate system3 relative to aircraft axes ACoordinate system5
Pose.
For 4-1 when three coordinate locating mechanisms 1 are in " 0 " position, target point 2 is relative to PCoordinate systemCoordinate value are as follows: [0 00
]{P}；
4-2 6 measurement target drone point 2 of laser tracker obtains when " 0 " position target point 2 in ACoordinate systemCoordinate value: [x0 y0
z0]{A}；
4-3 is by the X of three coordinate locating mechanisms 1 to motion module 10 along PCoordinate systemThe mobile X value of X-direction after, it is fixed not
It is dynamic, current location is denoted as " 1 " position, current location numerical value is read to grating scale 14 by X, target point exists when obtaining " 1 " position
PCoordinate systemCoordinate value [X 0 0]{P}；
4-4 6 measurement target drone point 2 of laser tracker obtains when " 1 " position target point 2 in ACoordinate systemCoordinate value: [x1 y1
z1]{A}；
4-5 is by the Y-direction motion module 11 of three coordinate locating mechanisms 1 along PCoordinate systemThe mobile Y value of Y-direction after, it is fixed not
It is dynamic, current location is denoted as " 2 " position, current location numerical value is read by Y-direction grating scale 15, target point exists when obtaining " 2 " position
PCoordinate systemCoordinate value [X Y 0]{P}；
4-6 6 measurement target drone point 2 of laser tracker obtains when " 2 " position target point 2 in ACoordinate systemCoordinate value: [x2 y2
z2]{A}；
4-7 is by the Z-direction motion module 12 of three coordinate locating mechanisms 1 along PCoordinate systemThe mobile Z value of Z-direction after, it is fixed not
It is dynamic, current location is denoted as " 3 " position, current location numerical value is read by Z-direction grating scale 16, target point 2 when " 3 " position is obtained and exists
PCoordinate systemCoordinate value [X Y Z]{P}；
4-8 6 measurement target drone point 2 of laser tracker obtains when " 3 " position target point 2 in ACoordinate systemCoordinate value: [x3 y3
z3]{A}；
Tri- coordinate locating mechanism coordinate system P of 4-9Coordinate systemRelative to aircraft axes ACoordinate systemPoseIt is resolved by following expressions:
Tri- coordinate locating mechanism coordinate system P of 4-10Coordinate systemRelative to aircraft axes ACoordinate systemPose calibration it is as follows: PCoordinate system's
Origin is in ACoordinate systemCoordinate value be [M N P], PCoordinate systemX-axis and ACoordinate systemThe angle of X-axis bePCoordinate systemY
Axis and ACoordinate systemThe angle of Y-axis bePCoordinate systemZ axis and ACoordinate systemThe angle of Z axis be
The rigidity of three coordinate locating mechanisms 1 has control to require, in handling, transport, installation process, three coordinate locating mechanisms
1 deflection is not more than 0.01mm.The stability of three coordinate locating mechanisms 1 also has control to require, the X of three coordinate locating mechanisms 1
When being moved in stroke range to motion module 10, Y-direction motion module 11, Z-direction motion module 12, three coordinate locating mechanisms 1
Maximum displacement is not more than 0.005mm.
Target point 2 contains target and target seat, and target is the included attachment of laser tracker 6, containing for reflection laser
Sphere and foot piece for fixing, target seat contains circular hole and positioning surface 18, and target is inserted into target seat, and target point 2 is pacified
In the product orientation mechanism 13 of three coordinate locating mechanisms 1, it is desirable that target point 2 and product orientation point 19 have accurate and stablize
Positional relationship.
Mark point group 4 contains but is not limited to landmark point or TB point or ERS point, and the quantity of mark point group 4 is no less than 3
It is a, and any 3 points cannot be conllinear, identification point need to be arranged in the horizontal plane 8 that rigidity is sufficiently strong, is unlikely to deform and is subjected to displacement or
In structure, mark point group 4 need to include three coordinate locating mechanisms 1 in horizontal plane 8 or platform in the projection of horizontal plane 8 or platform
Projection.
Optical path requirements between measuring head 17 on laser tracker 6 and target point 2 are unblocked, and laser tracker 6 begins
Target point 2 can be detected eventually.
The rigidity of horizontal plane 8 has control to require, horizontal before and after carrying locator 1, laser tracker 6 and operator
The deflection in face 8 is not more than 0.005mm.
Claims (6)
1. a kind of pose scaling method of three coordinate locating mechanisms, three coordinate locating mechanisms include X to motion module, Y
To motion module, Z-direction motion module, product locator module, and the grating scale parallel with each motion module, it is characterised in that
Target point is placed in the end of three coordinate locating mechanisms, by laser tracker measuring system to the various positions of three coordinate locating mechanisms
Target point under state is set to measure, detailed process the following steps are included:
Three coordinate locating mechanisms are placed on horizontal plane by step 1；
Step 2 establishes three coordinate locating mechanism coordinate system PCoordinate system:
Step 3 establishes aircraft axes ACoordinate system:
Step 4 measures three coordinate locating mechanism motion processes using internal grating scale and external laser tracker measuring system respectively
In target point coordinate, calibrate three coordinate locating mechanism coordinate system PCoordinate systemRelative to aircraft axes ACoordinate systemPose.
2. a kind of pose scaling method of three coordinate locating mechanism according to claim 1, it is characterised in that the step
Rapid 2, specifically includes the following steps:
After 2-1 X is returned to zero to motion module, Y-direction motion module, Z-direction motion module, in three coordinate locating mechanisms X to, Y-direction, Z-direction
The physical location of grating scale is set as 0；
Target point on three coordinate locating mechanism ends is set P by 2-2Coordinate systemOrigin, the X of three coordinate locating mechanisms is to being set as
PCoordinate systemX-axis, Y-direction is set as PCoordinate systemY-axis, Z-direction is set as PCoordinate systemZ axis, target point is in PCoordinate systemCoordinate are as follows: [0 0
0]{P}。
3. a kind of pose scaling method of three coordinate locating mechanism according to claim 1, it is characterised in that the step
Rapid 3, specifically includes the following steps:
3-1 is arranged in the horizontal plane for establishing ACoordinate systemMark point group；
3-2 successively measures mark point group with laser tracker, obtains mark point group in laser tracker coordinate system LCoordinate systemLower each point
Coordinate value；
3-3 transfers label point group in ACoordinate systemTheoretical coordinate value；
3-4 is according to the L for identifying point groupCoordinate systemCoordinate value and ACoordinate systemCoordinate value establishes the L of mark point groupCoordinate systemCoordinate value is mapped to
ACoordinate systemThe transformation relation of coordinate value, to establish aircraft axes ACoordinate system。
4. a kind of pose scaling method of three coordinate locating mechanism according to claim 3, it is characterised in that the mark
Know point group quantity and be no less than 3, and any 3 points cannot be conllinear.
5. a kind of pose scaling method of three coordinate locating mechanism according to claim 1, it is characterised in that the step
Rapid 4, specifically includes the following steps:
For 5-1 when three coordinate locating mechanisms are in " 0 " position, target point is relative to PCoordinate systemCoordinate value are as follows: [0 0 0]{P}；
5-2 laser tracker measurement target drone point obtains when " 0 " position target point in ACoordinate systemCoordinate value: [x0 y0 z0]{A}；
5-3 is by the X of three coordinate locating mechanisms to motion module along PCoordinate systemThe mobile X value of X-direction after, it is fixed, will work as
Front position is denoted as " 1 " position, reads current location numerical value by grating scale, obtains when " 1 " position target point in PCoordinate systemCoordinate value [X
0 0]{P}；
5-4 laser tracker measurement target drone point obtains when " 1 " position target point in ACoordinate systemCoordinate value: [x1 y1 z1]{A}；
5-5 is by the Y-direction motion module of three coordinate locating mechanisms along PCoordinate systemThe mobile Y value of Y-direction after, it is fixed, will work as
Front position is denoted as " 2 " position, reads current location numerical value by grating scale, obtains when " 2 " position target point in PCoordinate systemCoordinate value [X
Y 0]{P}；
5-6 laser tracker measurement target drone point obtains when " 2 " position target point in ACoordinate systemCoordinate value: [x2 y2 z2]{A}；
5-7 is by the Z-direction motion module of three coordinate locating mechanisms along PCoordinate systemThe mobile Z value of Z-direction after, it is fixed, will work as
Front position is denoted as " 3 " position, reads current location numerical value by grating scale, obtains when " 3 " position target point in PCoordinate systemCoordinate value [X
Y Z]{P}；
5-8 laser tracker measurement target drone point obtains when " 3 " position target point in ACoordinate systemCoordinate value: [x3 y3 z3]{A}；
Tri- coordinate locating mechanism coordinate system P of 5-9Coordinate systemRelative to aircraft axes ACoordinate systemPoseIt is resolved by following expressions:
Tri- coordinate locating mechanism coordinate system P of 5-10Coordinate systemRelative to aircraft axes ACoordinate systemPose calibration it is as follows: PCoordinate systemOrigin
In ACoordinate systemCoordinate value be [M N P], PCoordinate systemX-axis and ACoordinate systemThe angle of X-axis bePCoordinate systemY-axis with
ACoordinate systemThe angle of Y-axis bePCoordinate systemZ axis and ACoordinate systemThe angle of Z axis be
6. a kind of pose scaling method of three coordinate locating mechanism according to claim 1, it is characterised in that the target
Punctuate includes target and target seat, and target is used cooperatively for reflection laser and with target seat, and target seat is placed on determining for product
On bit architecture.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910479567.4A CN110220454B (en) | 2019-06-03 | 2019-06-03 | Pose calibration method of three-coordinate positioning mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910479567.4A CN110220454B (en) | 2019-06-03 | 2019-06-03 | Pose calibration method of three-coordinate positioning mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110220454A true CN110220454A (en) | 2019-09-10 |
| CN110220454B CN110220454B (en) | 2020-11-13 |
Family
ID=67819526
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910479567.4A Active CN110220454B (en) | 2019-06-03 | 2019-06-03 | Pose calibration method of three-coordinate positioning mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110220454B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110640546A (en) * | 2019-09-20 | 2020-01-03 | 西安工业大学 | Measured gear rotation axis measuring method for large gear measurement beside machine |
| CN110966934A (en) * | 2019-12-13 | 2020-04-07 | 西安飞机工业（集团）有限责任公司 | Calibration method for ball socket central point of posture adjusting device |
| CN111539575A (en) * | 2020-04-29 | 2020-08-14 | 南京航空航天大学 | A Layout Method of Aircraft Assembly Measurement Field Based on Genetic Algorithm |
| CN111551142A (en) * | 2020-05-22 | 2020-08-18 | 西安飞机工业（集团）有限责任公司 | Positioning method of three-coordinate position-following serial positioner |
| CN113247298A (en) * | 2021-06-30 | 2021-08-13 | 成都飞机工业（集团）有限责任公司 | Coordinate transformation method for multiple control localizer physical space arbitrary axis |
| CN119555012A (en) * | 2025-01-22 | 2025-03-04 | 西安爱德华测量设备股份有限公司 | Rapid alignment device for parts of three-dimensional coordinate measuring machine |
Citations (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1605829A (en) * | 2004-11-11 | 2005-04-13 | 天津大学 | Device and method for field calibration of vision measurement system |
| CN101362512A (en) * | 2008-09-19 | 2009-02-11 | 浙江大学 | A system and method for adjusting the position and attitude of aircraft components based on four locators |
| CN101456452A (en) * | 2008-12-25 | 2009-06-17 | 浙江大学 | Aircraft fuselage flexible and automatic attitude-adjusting method |
| CN102062576A (en) * | 2010-11-12 | 2011-05-18 | 浙江大学 | Device for automatically marking additional external axis robot based on laser tracking measurement and method thereof |
| CN102313516A (en) * | 2011-08-05 | 2012-01-11 | 南京航空航天大学 | Measuring tool for spatial coordinate of spherical center of top end of follow-up positioner and measuring method thereof |
| CN102506702A (en) * | 2011-09-29 | 2012-06-20 | 天津大学 | Large three-dimensional coordinate measuring method with laser tracking and device |
| CN102768016A (en) * | 2012-07-31 | 2012-11-07 | 爱佩仪中测（成都）精密仪器有限公司 | Method and device for compensating precision of coordinate measuring machine |
| CN102944188A (en) * | 2012-10-18 | 2013-02-27 | 北京航空航天大学 | Calibration method of spot scanning three-dimensional topography measuring system |
| CN102980542A (en) * | 2012-10-31 | 2013-03-20 | 天津大学 | Multiple-sensor united calibration method |
| CN103434653A (en) * | 2013-08-22 | 2013-12-11 | 北京航空航天大学 | Aircraft component digitized flexible assembling measuring method based on laser tracking measuring technique |
| CN103447884A (en) * | 2013-08-02 | 2013-12-18 | 西安交通大学 | Numerical control machine tool translational shaft geometric error measuring device and measuring and identifying method |
| CN103528538A (en) * | 2013-09-26 | 2014-01-22 | 南京航空航天大学 | Large profile automatic measurement assisting device based on laser tracker |
| CN103743340A (en) * | 2013-12-30 | 2014-04-23 | 清华大学 | System and method for measuring angle and spatial coordinate |
| CN103884271A (en) * | 2012-12-20 | 2014-06-25 | 中国科学院沈阳自动化研究所 | Direct calibration method for line structured light vision sensor |
| CN103991006A (en) * | 2014-04-01 | 2014-08-20 | 浙江大学 | Calibration method and device for robot hole forming platform vision measurement system |
| US20150070468A1 (en) * | 2013-09-10 | 2015-03-12 | Faro Technologies, Inc. | Use of a three-dimensional imager's point cloud data to set the scale for photogrammetry |
| CN105058387A (en) * | 2015-07-17 | 2015-11-18 | 北京航空航天大学 | Industrial robot base coordinate system calibration method based on laser tracker |
| US20150354942A1 (en) * | 2014-06-10 | 2015-12-10 | Faro Technologies, Inc. | Length artifact and method of measurement |
| CN105652305A (en) * | 2016-01-08 | 2016-06-08 | 深圳大学 | Three-dimensional positioning and attitude-determining method and system for track detection platform in dynamic environment |
| CN105806309A (en) * | 2016-04-19 | 2016-07-27 | 上海交通大学 | Robot zero calibration system and method based on laser triangulation ranging |
| CN107309622A (en) * | 2017-07-04 | 2017-11-03 | 西安飞机工业（集团）有限责任公司 | A kind of flexible positioning adsorption device of curve surface work pieces normal direction and positioning adsorption method |
| CN107560538A (en) * | 2017-08-17 | 2018-01-09 | 安徽零点精密机械有限责任公司 | The scaling method of six-DOF robot tool coordinates system based on laser tracker |
| KR20180055469A (en) * | 2016-11-17 | 2018-05-25 | 한국기계연구원 | Space Coordinate Measurement System and Method of Space Coordinate Measurement Using the Same |
| CN108180831A (en) * | 2017-12-30 | 2018-06-19 | 北京工业大学 | The CMM error of coordinate update the system uncertainty analysis methods measured based on LT multi-court positions |
| CN108406123A (en) * | 2018-03-26 | 2018-08-17 | 湖北工业大学 | 3 d part calibration system and method in a kind of laser processing |
| CN109581457A (en) * | 2018-10-26 | 2019-04-05 | 武汉长天铁路技术有限公司 | A kind of three-dimensional localization method for determining posture of dynamic environment lower railway detection platform |
| CN109732600A (en) * | 2018-12-29 | 2019-05-10 | 南京工程学院 | A fully automatic sequential multi-station measurement system and measurement method |
-
2019
- 2019-06-03 CN CN201910479567.4A patent/CN110220454B/en active Active
Patent Citations (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1605829A (en) * | 2004-11-11 | 2005-04-13 | 天津大学 | Device and method for field calibration of vision measurement system |
| CN101362512A (en) * | 2008-09-19 | 2009-02-11 | 浙江大学 | A system and method for adjusting the position and attitude of aircraft components based on four locators |
| CN101456452A (en) * | 2008-12-25 | 2009-06-17 | 浙江大学 | Aircraft fuselage flexible and automatic attitude-adjusting method |
| CN102062576A (en) * | 2010-11-12 | 2011-05-18 | 浙江大学 | Device for automatically marking additional external axis robot based on laser tracking measurement and method thereof |
| CN102313516A (en) * | 2011-08-05 | 2012-01-11 | 南京航空航天大学 | Measuring tool for spatial coordinate of spherical center of top end of follow-up positioner and measuring method thereof |
| CN102506702A (en) * | 2011-09-29 | 2012-06-20 | 天津大学 | Large three-dimensional coordinate measuring method with laser tracking and device |
| CN102768016A (en) * | 2012-07-31 | 2012-11-07 | 爱佩仪中测（成都）精密仪器有限公司 | Method and device for compensating precision of coordinate measuring machine |
| CN102944188A (en) * | 2012-10-18 | 2013-02-27 | 北京航空航天大学 | Calibration method of spot scanning three-dimensional topography measuring system |
| CN102980542A (en) * | 2012-10-31 | 2013-03-20 | 天津大学 | Multiple-sensor united calibration method |
| CN103884271A (en) * | 2012-12-20 | 2014-06-25 | 中国科学院沈阳自动化研究所 | Direct calibration method for line structured light vision sensor |
| CN103447884A (en) * | 2013-08-02 | 2013-12-18 | 西安交通大学 | Numerical control machine tool translational shaft geometric error measuring device and measuring and identifying method |
| CN103434653A (en) * | 2013-08-22 | 2013-12-11 | 北京航空航天大学 | Aircraft component digitized flexible assembling measuring method based on laser tracking measuring technique |
| US20150070468A1 (en) * | 2013-09-10 | 2015-03-12 | Faro Technologies, Inc. | Use of a three-dimensional imager's point cloud data to set the scale for photogrammetry |
| CN103528538A (en) * | 2013-09-26 | 2014-01-22 | 南京航空航天大学 | Large profile automatic measurement assisting device based on laser tracker |
| CN103743340A (en) * | 2013-12-30 | 2014-04-23 | 清华大学 | System and method for measuring angle and spatial coordinate |
| CN103991006A (en) * | 2014-04-01 | 2014-08-20 | 浙江大学 | Calibration method and device for robot hole forming platform vision measurement system |
| US20150354942A1 (en) * | 2014-06-10 | 2015-12-10 | Faro Technologies, Inc. | Length artifact and method of measurement |
| CN105058387A (en) * | 2015-07-17 | 2015-11-18 | 北京航空航天大学 | Industrial robot base coordinate system calibration method based on laser tracker |
| CN105652305A (en) * | 2016-01-08 | 2016-06-08 | 深圳大学 | Three-dimensional positioning and attitude-determining method and system for track detection platform in dynamic environment |
| CN105806309A (en) * | 2016-04-19 | 2016-07-27 | 上海交通大学 | Robot zero calibration system and method based on laser triangulation ranging |
| KR20180055469A (en) * | 2016-11-17 | 2018-05-25 | 한국기계연구원 | Space Coordinate Measurement System and Method of Space Coordinate Measurement Using the Same |
| CN107309622A (en) * | 2017-07-04 | 2017-11-03 | 西安飞机工业（集团）有限责任公司 | A kind of flexible positioning adsorption device of curve surface work pieces normal direction and positioning adsorption method |
| CN107560538A (en) * | 2017-08-17 | 2018-01-09 | 安徽零点精密机械有限责任公司 | The scaling method of six-DOF robot tool coordinates system based on laser tracker |
| CN108180831A (en) * | 2017-12-30 | 2018-06-19 | 北京工业大学 | The CMM error of coordinate update the system uncertainty analysis methods measured based on LT multi-court positions |
| CN108406123A (en) * | 2018-03-26 | 2018-08-17 | 湖北工业大学 | 3 d part calibration system and method in a kind of laser processing |
| CN109581457A (en) * | 2018-10-26 | 2019-04-05 | 武汉长天铁路技术有限公司 | A kind of three-dimensional localization method for determining posture of dynamic environment lower railway detection platform |
| CN109732600A (en) * | 2018-12-29 | 2019-05-10 | 南京工程学院 | A fully automatic sequential multi-station measurement system and measurement method |
Non-Patent Citations (5)
| Title |
|---|
| 关月 等: "飞机部件自动对接的位姿标定计算及软件系统设计", 《机械制造与自动化》 * |
| 巴晓甫 等: "大型复合材料机身壁板调姿定位与真空吸附柔性工装设计", 《航空制造技术》 * |
| 朱永国 等: "机身自动调姿方法及误差分析", 《南京航空航天大学学报》 * |
| 邱宝贵 等: "大型飞机机身调姿与对接试验系统", 《航空学报》 * |
| 马志强: "飞机部件调姿系统结构设计与误差补偿", 《中国优秀硕士学位论文全文数据库工程科技Ⅱ辑》 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110640546A (en) * | 2019-09-20 | 2020-01-03 | 西安工业大学 | Measured gear rotation axis measuring method for large gear measurement beside machine |
| CN110640546B (en) * | 2019-09-20 | 2021-06-29 | 西安工业大学 | Method for determining the rotation axis of the measured gear for the measurement of large gears on the side of the machine |
| CN110966934A (en) * | 2019-12-13 | 2020-04-07 | 西安飞机工业（集团）有限责任公司 | Calibration method for ball socket central point of posture adjusting device |
| CN111539575A (en) * | 2020-04-29 | 2020-08-14 | 南京航空航天大学 | A Layout Method of Aircraft Assembly Measurement Field Based on Genetic Algorithm |
| CN111551142A (en) * | 2020-05-22 | 2020-08-18 | 西安飞机工业（集团）有限责任公司 | Positioning method of three-coordinate position-following serial positioner |
| CN113247298A (en) * | 2021-06-30 | 2021-08-13 | 成都飞机工业（集团）有限责任公司 | Coordinate transformation method for multiple control localizer physical space arbitrary axis |
| CN113247298B (en) * | 2021-06-30 | 2021-11-19 | 成都飞机工业（集团）有限责任公司 | Coordinate transformation method for multiple control localizer physical space arbitrary axis |
| CN119555012A (en) * | 2025-01-22 | 2025-03-04 | 西安爱德华测量设备股份有限公司 | Rapid alignment device for parts of three-dimensional coordinate measuring machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110220454B (en) | 2020-11-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110220454A (en) | A kind of pose scaling method of three coordinate locating mechanisms | |
| CN106141814B (en) | The detection of Digit Control Machine Tool translation shaft geometric error and discrimination method based on LaserTRACER | |
| CN106247932B (en) | A robot online error compensation device and method based on a camera system | |
| JP2764103B2 (en) | Method of using analog measuring probe and positioning device | |
| TWI579123B (en) | Robot correction system and method thereof | |
| CN114459345B (en) | Aircraft fuselage position and posture detection system and method based on visual space positioning | |
| CN105928946B (en) | Compensation method of detection equipment | |
| CN109341471A (en) | Appraisal method for geometric error detection of three-axis machine tool based on ball row | |
| CN108351203A (en) | The error compensation that coordinate measuring machine is carried out using base modules | |
| US11002529B2 (en) | Robot system with supplementary metrology position determination system | |
| CN111707189A (en) | Beam direction calibration method of laser displacement sensor based on binocular vision | |
| CN112361957B (en) | Method for measuring and adjusting spatial position relationship of multiple positioners | |
| TWM530737U (en) | Calibration system of robot | |
| CN110530296A (en) | Method for determining line laser installation error angle | |
| CN114406991A (en) | Industrial robot calibration and spatial position measurement method based on wire-pull encoder | |
| US7539586B2 (en) | Correction method and measuring instrument | |
| CN208588391U (en) | A kind of more plain shaft parallelism calibrating installations and system | |
| CN111708321B (en) | Device and method for detecting dynamic error of cutter shaft direction of numerical control machine tool | |
| CN110966934B (en) | Calibration method for ball socket central point of posture adjusting device | |
| CN107131826B (en) | A Rapid Measurement Method of Geometric Error of Translational Axis of Machine Tool Based on Laser Interferometer | |
| CN106392773B (en) | A five-axis linkage machine tool spindle head attitude angle measurement device and measurement method | |
| CN114578754B (en) | Method for identifying pitching error and deflection error of numerical control machine tool | |
| CN216846033U (en) | Inner wall measurement system based on deep sagittal workpiece | |
| CN111707450A (en) | Device and method for detecting positional relationship between focal plane of optical lens and mechanical mounting surface | |
| CN106979750A (en) | A kind of method for fast measuring and its device of lathe translation shaft geometric error |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |