CN116330043A - Curved surface edge error measurement method and system based on fixed longitude vector measurement - Google Patents
Curved surface edge error measurement method and system based on fixed longitude vector measurement Download PDFInfo
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Abstract
The invention discloses a curved surface edge error measurement method and a system based on fixed longitude vector measurement, wherein the method comprises the following steps: s1) calibrating a fixed longitude vector of a measuring probe to obtain a trigger radius of the measuring probe; s2) acquiring a measuring program of the edge to be measured according to the trigger radius; s3) obtaining theoretical contour point coordinates through a measuring program of the edge to be measured, obtaining actual contour point coordinates through actual measurement of a measuring probe, and obtaining vector errors of the edge to be measured through calculation by comparing the theoretical contour point coordinates with the actual contour point coordinates. Compared with the traditional vector measurement method, the method can finish measurement by calibrating a few groups of points on a certain longitude line of the measurement probe through the longitude calibration and compensation mode, thereby greatly reducing the calibration quantity required by vector measurement and improving the working efficiency. The invention can realize the on-machine measurement of the edge error of the curved surface, is used for guiding the processes of chamfering or trimming, and the like, and improves the qualification rate of products.
Description
Technical Field
The invention belongs to the technical field of five-axis numerical control, and particularly relates to a curved surface edge error measurement method and system based on constant longitude vector measurement.
Background
The curved surface detection technology is an important circle for realizing on-machine measurement, has decisive influence on improving the automation efficiency and precision of the machining industry and forming an innovative industry of detection-machining integration, and the five axes are the high points of the numerical control industry, so how to realize the measurement of the complex curved surface of the five-axis machine tool becomes an important subject which needs to be solved in the current industrial field. The further application of the edge measurement technology as five-axis curved surface measurement has become a serious obstacle which puzzles the processing qualification rate of the industry.
The curved surface measuring method commonly used at present can be divided into normal measurement and vector measurement. When normal measurement is required to be measured, the cutter shaft is parallel to the normal vector of the point to be measured, and vector measurement is not required to be performed on the cutter shaft direction, and only the speed direction is required to be parallel to the normal vector of the point to be measured. Thus, compared to normal measurements, vector measurements have the following characteristics: 1) The application range is wider, and the measurement in a larger range can be realized in a smaller stroke of the machine tool; 2) The measuring efficiency is higher, the rotation of the cutter shaft can be reduced as much as possible, and redundant actions are reduced; 3) The movement angle of the rotating shaft can be reduced, so that the error caused by the movement of the rotating shaft can be reduced; 4) When actually contacting the measuring point, it may be that any position of the measuring head ball contacts the measuring point to be measured, resulting in complex calculation.
And the curved surface edge features have the characteristics of small contact area and discontinuous normal vector. The former results in an inability to touch directly at the edge, and the latter results in an inability to calculate the normal vector at that location. The difficulty of directly measuring the edge points is great, so that an efficient and accurate indirect measurement scheme needs to be developed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a curved surface edge error measurement method and system based on fixed longitude vector measurement. The curved surface edge error measurement method based on the constant longitude vector measurement, provided by the embodiment of the invention, has the advantages that the vector measurement can improve the measurement flexibility, and a larger range of measurement can be covered under a smaller-amplitude corner; the fixed longitude measuring method can reduce calibration data on the premise of ensuring accuracy, and reduces the calculated amount of the system during operation; the edge calculation realizes the error measurement of the curved surface contour by an indirect measurement method. The invention estimates the error measurement of the curved surface contour by an indirect measurement method, and solves the problem that the edge cannot be measured.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the invention discloses a curved surface edge error measurement method based on fixed longitude vector measurement, which comprises the following steps:
s1) calibrating a fixed longitude vector of a measuring probe to obtain a trigger radius of the measuring probe;
s2) acquiring a measuring program of the edge to be measured according to the trigger radius;
s3) obtaining theoretical contour point coordinates through a measuring program of the edge to be measured, obtaining actual contour point coordinates through actual measurement of a measuring probe, and obtaining vector errors of the edge to be measured through calculation by comparing the theoretical contour point coordinates with the actual contour point coordinates.
Further, the S1) specifically includes:
s101) mounting a measuring probe at a main shaft end, and mounting a standard gauge on a machine tool workbench;
s102) determining the length of a measuring probe and the distance from the center of a measuring probe sphere to the end face of the main shaft;
s103) determining the central position coordinates of the standard gauge;
s104) controlling the machine tool to move, moving the measuring probe to a certain longitude and different latitude positions relative to the standard sphere, calculating the relative distance between the sphere center of the measuring head and the standard sphere center, and further determining the trigger radius of the different latitudes on the longitude line.
Further, before calibrating the longitude vector of the measuring probe, the method further comprises the step of calibrating coaxiality of the measuring probe and the main shaft.
Further, the coaxiality calibration specifically includes:
fixing a dial indicator on a rotary table, pressing a dial indicator needle at the highest point of the side edge of a measuring probe, rotating a main shaft, and observing the jump of the dial indicator needle;
according to the dial indicator needle jumping situation, the position of the measuring probe is adjusted through the probe adjusting bolt so that the dial indicator needle jumping is smaller than a preset value.
Further, the S1) further includes: when the longitude vector calibration is carried out on the measuring probe, the actual contact position of the measuring probe is calculated through the position of the to-be-measured point and the normal vector, so that the trigger radius on the corresponding longitude and latitude is compensated along the normal vector component.
Further, the S2) specifically includes:
s201), importing the trigger radius into computer-aided manufacturing software to generate an edge curve to be detected;
s202) shifting an edge curve to be detected to two adjacent curved surfaces by a certain distance to generate two actual detection curves;
s203) establishing a normal plane of the curve at the discrete point of the edge curve to be detected and intersecting two actual detection curves at two points, so as to ensure that the three points are all on the normal plane of the discrete point of the edge curve to be detected;
s204) after being processed by computer-aided manufacturing software, generating a measuring program of the edge to be measured.
Further, the S3) specifically includes:
s301) placing a workpiece to be measured on a workbench, and confirming a coordinate system of the workpiece to be measured;
s302) obtaining theoretical contour point coordinates of the edge to be measured of the workpiece to be measured through a measuring program of the edge to be measured, and obtaining actual contour point coordinates of the corresponding position of the workpiece to be measured through a measuring probe;
s303), calculating the difference value between the coordinates of the theoretical contour point and the coordinates of the actual contour point to obtain the vector error of the edge to be detected.
Further, the contour points are approximated by a three-plane intersection method.
Further, the vector measurement further includes vector compensation, specifically including: and calculating the actual contact position of the measuring probe through the position of the edge contour point to be measured and the normal vector component, so that the trigger radius on the corresponding longitude and latitude is compensated along the normal vector component.
The invention also discloses a curved surface edge error measurement system based on the fixed longitude vector measurement, which comprises:
the receiving module is used for receiving various data of the edge to be detected;
the measuring module is used for calibrating a longitude vector of the measuring probe according to various data of the edge to be measured to obtain the trigger radius of the measuring probe; the measuring program is used for acquiring the edge to be measured according to the trigger radius; the method is used for obtaining theoretical contour point coordinates through a measuring program of the edge to be measured, obtaining actual contour point coordinates through actual measurement of a measuring probe, and obtaining vector errors of the edge to be measured through comparing the theoretical contour point coordinates with the actual contour point coordinates.
Compared with the prior art, the invention has the beneficial effects that: the invention discloses a curved surface edge error measurement method based on fixed longitude vector measurement, which comprises the following steps: s1) calibrating a fixed longitude vector of a measuring probe to obtain a trigger radius of the measuring probe; s2) acquiring a measuring program of the edge to be measured according to the trigger radius; s3) obtaining theoretical contour point coordinates through a measuring program of the edge to be measured, obtaining actual contour point coordinates through actual measurement of a measuring probe, and obtaining vector errors of the edge to be measured through calculation by comparing the theoretical contour point coordinates with the actual contour point coordinates. Compared with the traditional vector measurement method, the method can finish measurement by calibrating a few groups of points on a certain longitude line of the measurement probe through the longitude calibration and compensation mode, thereby greatly reducing the calibration quantity required by vector measurement and improving the working efficiency. Compared with the traditional compensation method, the method disclosed by the invention uses a linear interpolation method, and the trigger radius can be estimated for compensation at the position of uncalibrated longitude and latitude, so that the measurement accuracy is improved. Aiming at the current situation that the edge of the curved surface cannot be directly detected, the method introduces the idea of 'taking the place of straight bending' by measuring the coordinates near the edge, and indirectly estimates the deviation between the position of the edge processing theory and the actual position, so as to guide the subsequent processing operation, and particularly has better guiding significance and working effect. The invention can realize the on-machine measurement of the edge error of the curved surface, is used for guiding the processes of chamfering or trimming, and the like, and improves the qualification rate of products.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings described below are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a curved surface edge error measurement method based on constant longitude vector measurement according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a measurement probe and a standard gauge according to an embodiment of the present invention, wherein 1 is the measurement probe, 2 is the standard gauge, and P t0 To measure the sphere center of the probe sphere, P 0 Is the center of a standard ball.
Fig. 3 is a schematic diagram of vector compensation of a curved surface edge error measurement method based on fixed longitude vector measurement, where 1 is a workpiece to be measured, 2 is a measurement probe, and θ is a latitude.
Fig. 4 is a schematic diagram of S workpiece measurement according to a curved surface edge error measurement method based on constant longitude vector measurement according to an embodiment of the present invention, where C 1 Is the edge curve to be measured.
Fig. 5 is a partial enlarged view of an S-workpiece measurement based on a curved surface edge error measurement method of constant longitude vector measurement according to an embodiment of the present invention, where P cx1 For a point on the edge curve to be measured, P cx2 And P cx3 Is P cx1 Points on both sections.
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 to 5, the invention discloses a curved surface edge error measurement method based on fixed longitude vector measurement, which comprises the following steps:
s1) calibrating a fixed longitude vector of a measuring probe to obtain a trigger radius of the measuring probe; the measuring probe is used for calibrating longitude vectors, and the purpose of calibrating the longitude vectors is to reduce the calibration quantity, improve the calibration efficiency and reduce the measurement calculated quantity.
S2) acquiring a measuring program of the edge to be measured according to the trigger radius; existing Computer Aided Manufacturing (CAM) software is typically used to plan the measurement path and to generate a measurement program for the edge to be measured. Specifically, the model to be measured is imported into CAM software, and a measuring path is generated by extracting an edge profile curve to be measured.
S3) obtaining theoretical contour point coordinates through a measuring program of the edge to be measured, obtaining actual contour point coordinates through actual measurement of a measuring probe, and obtaining vector errors of the edge to be measured through calculation by comparing the theoretical contour point coordinates with the actual contour point coordinates.
According to the method for calibrating the longitude, the measurement can be completed by calibrating a few groups of points on a certain longitude line of the measuring probe, so that the calibration quantity required by vector measurement is greatly reduced, and the working efficiency is improved. Under the condition of uncalibrated longitude and latitude, a linear interpolation method can be used for estimating the trigger radius for compensation so as to improve the measurement accuracy. The method can indirectly estimate the deviation of the position of the edge processing theory and the actual position by measuring the coordinates near the edge and introducing the idea of replacing the curve with the straight under the condition that the edge of the curved surface cannot be directly detected, and is used for guiding the subsequent processing operation, and particularly has better guiding significance and working effect.
In a preferred embodiment, the S1) specifically includes:
s101) installing a measuring probe at the main shaft end, driving the measuring probe to move through the main shaft, and installing a standard gauge on a machine tool workbench; as shown in fig. 5. The measuring probe is used for measuring the position of the workpiece to be measured. The gauge is used for calculating the trigger radius of the measuring probe. In a preferred embodiment, the measurement probe is a ruby sphere measurement probe. In a preferred embodiment, the gauge may be a gauge ball, gauge needle or gauge block, etc. that facilitates position measurement.
S102) determining the length of a measuring probe and the distance from the center of a measuring probe sphere to the end face of the main shaft; in a preferred embodiment, the determining the length of the measuring probe specifically includes: fixing a dial indicator on a workbench, pressing a dial indicator needle on the lowest point of a ruby ball of a measuring probe, and recording the current coordinate value Z of a machine tool 1 Under the condition that the dial indicator is fixed by manually moving the machine tool, the dial indicator is pressed to the end face of the main shaft, and the coordinate value Z of the machine tool is recorded 2 The difference between the front and back times is the knife length Z 0 ＝Z 1 -Z 2 。
S103) determining the central position coordinates of the standard gauge; in a preferred embodiment, the center position of the etalon is determined by means of a beat meter, directional measurement of the measuring probe, and the like. In a preferred embodiment, the standard gauge takes a standard sphere as an example, and determining the standard sphere center position includes the following steps: the measuring probe is arranged at the end of the main shaft, the standard ball 2 is fixed on a workbench, the machine tool is manually moved, the measuring probe just touches the leftmost end of the standard ball, and the coordinate X of the machine tool is recorded 1 . Under the condition of not moving the Y axis, the measuring probe just touches the rightmost end of the standard ball, and the coordinate X of the machine tool is recorded 2 Standard sphere center coordinate X 0 ＝(X 1 +X 2 )/2。
S104) controlling the machine tool to move, moving the measuring probe to a certain longitude and different latitude positions relative to the standard sphere, calculating the relative distance between the sphere center of the measuring head and the standard sphere center, and further determining the trigger radius of the different latitudes on the longitude line.
In a preferred embodiment, the method for measuring the fixed longitude comprises the following steps: the standard gauge takes a standard ball as an example, and the position of a to-be-measured point is marked as P oi The initial measurement position is denoted as P gi The normal vector of the target point is: vai=p gi -P oi At this time, the spherical coordinates can be established at the standard sphere centerThe positioning angle of the spindle
Wherein i and j are points P to be measured respectively ai A component of the normal vector at the X, Y axis.
In a preferred embodiment, the calibration method at different latitudes is as follows: taking a standard ball as an example, on a fixed longitude line of the standard ball, dividing n equally from the topmost end of the standard ball to the equator, using a measuring probe to touch the position of a point to be measured and the initial measuring position, calculating the distance between the center of a knife point ball and the center of the standard ball, and determining the trigger radius R of the measuring probe ball under the latitude θ 。
In the preferred embodiment, the theoretical spherical position P at the corresponding angle can be obtained by equally dividing the top of a standard sphere at a certain longitude to the equator according to the calibrated scale n oθ The machine tool coordinate P of the sphere center of the measuring probe at the point is obtained by touching the measuring probe at the position aθ Further calculate the trigger radius R at the angle θ ＝P aθ -P oθ -R o ；
In a preferred embodiment, the measurement probe may communicate with a numerically controlled machine tool, which will lock and store the machine tool position coordinates of the measurement probe's sphere center when the measurement probe reads the trigger signal, which position may be calculated as the actual contact point position by the trigger radius. The measuring positions of the measuring probe are hereinafter referred to as the measuring positions of the actual contact points.
In a preferred embodiment, the method further comprises the step of calibrating coaxiality of the measuring probe and the main shaft before calibrating the longitude vector of the measuring probe. In a preferred embodiment, the coaxiality calibration specifically includes:
fixing a dial indicator on a rotary table, pressing a dial indicator needle at the highest point of the side edge of a measuring probe, and observing the jump of the dial indicator needle by manually rotating a main shaft;
according to the dial gauge needle jumping situation, the position of the measuring probe is adjusted through the probe adjusting bolt so that the dial gauge needle jumping is smaller than a preset value, and the coaxiality of the measuring probe and the main shaft meets the requirement. In a preferred embodiment, the preset value is 5um.
In a preferred embodiment, the S1) further includes: when the longitude vector calibration is carried out on the measuring probe, the actual contact position of the measuring probe is calculated through the position of the to-be-measured point and the normal vector component, so that the trigger radius on the corresponding longitude and latitude is compensated along the normal vector component.
In a preferred embodiment, the S2) specifically includes:
s201) leading parameters such as trigger radius and the like into computer aided manufacturing CAM software to generate an edge curve C to be tested 1 The method comprises the steps of carrying out a first treatment on the surface of the The CAM is NX modeling software.
S202) shifting the edge curve to be detected to a certain distance to two adjacent curved surfaces to generate two actual detection curves C 2 、C 3 The method comprises the steps of carrying out a first treatment on the surface of the The certain distance may be set to 0.5mm.
S203) to-be-measured edge curve C 1 Discrete into N points, and at each edge curve discrete point P to be measured cx1 Establishing a normal plane F of the curve cx1 And with two actual detection curves C 2 、C 3 Respectively intersect at two points P cx2 ，P cx3 Ensure P cx1 、P cx2 、P cx3 Three points are all at the edge curve C to be measured 1 Discrete point P of (2) cx1 Is a normal plane F of (2) cx1 Applying; where N is set to 60.
S204) after being processed by modeling software NX, generating a measuring program of the edge to be measured, wherein the measuring program can be recognized by the numerical control device.
In a preferred embodiment, the S3) specifically includes:
s301) placing a workpiece to be measured on a workbench, and confirming a coordinate system of the workpiece to be measured;
s302) obtaining theoretical contour point coordinates of the edge to be measured of the workpiece to be measured through a measuring program of the edge to be measured, and obtaining actual contour point coordinates of the corresponding position of the workpiece to be measured through a measuring probe; specifically, during measurement, according to the position and the posture of the to-be-measured point on the curved surface, the rotation angle phi of the measuring probe on the main shaft is determined, so that when any point of the workpiece is measured, the longitude fixed on the measuring head ball is used for touching the to-be-measured point, and the longitude is consistent with the calibrated longitude in S104). In a preferred embodiment, the measurement is performed using a spindle following mode, i.e. the spindle is turned according to the measured point normal vector, so that the same longitudinal line of the measurement probe is always used for measurement, and the longitude here coincides with the nominal longitude in S104).
In a preferred embodiment, the contour point is approximated by a three-plane intersection method, which specifically includes: at the edge curve C to be measured 1 Up-extracting the point P to be measured cx1 Two other points P at the cross section of (2) cx2 、P cx3 And two normal vectors V at corresponding positions thereof cx2 、V cx3 Plane F cx2 Is passed through point P cx2 Is a normal vector of V cx2 Plane F of (F) cx3 Is passed through point P cx3 Is a normal vector of V cx3 Is the tangent plane of point P cx1 、P cx2 、P cx3 Form plane F cx1 Plane F cx1 ，F cx2 ，F cx3 The intersection point is the theoretical contour point at the section.
S303) calculating theoretical contour point coordinates P cx And the actual contour point coordinates P ax To obtain the vector error E of the edge to be measured x ＝P ax -P cx . In a preferred embodiment, the vector error is obtained by comparing XYZ coordinate components of the theoretical contour point and the actual contour point, and the vector error of the contour point can be characterized.
Notably, P cx2 And P cx3 For variable data, i.e. P extracted from measuring programs brought into the edge to be measured during calculation of the theoretical edge contour points cx2 And P cx3 Coordinates, and P measured by a measuring probe is brought into the calculation of the actual edge contour point ax2 And P ax3 Coordinates. And P is cx1 、F cx1 、V cx2 、V cx3 The data extracted by the measuring program of the edge to be measured generated by using NX model software is irrelevant to actual measured data. Although the invention adopts a three-plane intersection method, the theory and the actual edge contour point calculation method are consistent.
In a preferred embodiment, the vector measurement further comprises vector compensation, withThe body comprises: calculating the actual contact position of the measuring probe through the position of the edge contour point to be measured and the normal vector component, thereby obtaining the corresponding longitude and latitude theta i Radius of triggering R i The compensation is carried out along the normal vector component, and the specific calculation formula is as follows:
wherein R is i For corresponding latitude theta i Is set to (1) the trigger radius, R i+1 And R is i-1 Is adjacent to two latitudes theta i+1 And theta i-1 Is defined herein as R i I.e. the trigger radius obtained in S1). Actual contact point P ai For measuring the position P of the sphere center of the probe when the probe touches ao And trigger radius R i At which point the sum of the normal components.
Compared with the traditional vector measurement method, the method can finish measurement by calibrating 10 groups of points on a certain longitude line of the measurement probe through the longitude calibration and compensation mode, thereby greatly reducing the calibration quantity required by vector measurement and improving the working efficiency.
In a preferred embodiment, the method according to the invention is also suitable for measuring edge errors of curved surfaces and flat surfaces of three-axis and five-axis machine tools, wherein the coordinate transformation of the rotary axis movement should also be taken into account when performing five-axis measurements.
In a preferred embodiment, to describe a process for measuring edge characteristics of a curved surface, taking edge measurement of an S workpiece as an example, a five-axis machine tool with an AC double turntable is used for measurement, and the S workpiece is an industry standard component with curved surface characteristics. Five-axis machine tools are used to describe five-axis measurement functions.
In a preferred embodiment, the spindle angle is fixed at 180 ° and held stationary, and the positions of the different latitudes on the 0 ° longitude line of the standard sphere are measured. And (3) indexing the calibration precision to be 10 degrees, and measuring the position on the 0 longitude line and the 0-90 latitude by taking the standard sphere center as a zero point of a reference coordinate system. In a preferred embodiment, the physical radius of the standard sphere is 15mm, the radius of the measuring probe sphere is 3mm, the measuring probe is used for touching the Cartesian coordinate system position corresponding to the longitude and latitude, the distance between the tool tip sphere center and the standard sphere center is calculated,thereby determining the trigger radius R of the measuring probe ball at the latitude θ . Taking latitude 50 ° calibration as an example, the standard spherical coordinates are: n (15×cos50,0,15×sin 50), the actual measured position is T (x, 0, y), then the trigger radius R here 50 ＝|TN|-15。
It is noted that when the method calculates the coordinate position, the coordinate of the measuring probe is preferably the coordinate of the machine tool coordinate system, and the measuring probe is offset to the detection direction by the trigger radius under the current detection angle, so that the trigger radius under any angle can be obtained according to the linear difference value of vector calibration.
The invention also discloses a curved surface edge error measurement system based on the fixed longitude vector measurement, which comprises:
the receiving module is used for receiving various data of the edge to be detected;
the measuring module is used for calibrating a longitude vector of the measuring probe according to various data of the edge to be measured to obtain the trigger radius of the measuring probe; the measuring probe is used for longitude vector calibration and vector detection, and the purpose of longitude vector calibration is to reduce the calibration quantity, improve the calibration efficiency and reduce the measurement calculated quantity. The vector detection is used for measuring the curved surface characteristics and carrying out vector compensation, and in the curved surface measurement, accurate measurement coordinates can be obtained according to the normal vector of the to-be-measured point and the trigger radius. The measuring program is used for acquiring the edge to be measured according to the trigger radius; existing Computer Aided Manufacturing (CAM) software is typically used to program the measurement path and to generate the measurement program for the edge to be measured. The method is used for obtaining theoretical contour point coordinates through a measuring program of the edge to be measured, obtaining actual contour point coordinates through actual measurement of a measuring probe, and obtaining vector errors of the edge to be measured through comparing the theoretical contour point coordinates with the actual contour point coordinates. The measurement program of the edge to be measured obtains the theoretical contour point coordinates and the actual contour point coordinates, and the positions on the same longitude line are adopted for measurement, so that the accuracy of the measurement result is ensured. The detection action is controlled by a detection program in the numerical control device, and the detection program generally adopts the existing CAM software to plan and generate a measurement path. After the detection is completed, according to the measured actual coordinates and theoretical coordinate data derived by the CAM, theoretical contour point coordinates and actual contour point coordinates of the edge curve to be detected are obtained, and vector errors of the edge to be detected are obtained through calculation. In the actual detection, the position on the same longitude line should be used for measurement, so as to ensure the accuracy of the measurement result.
In a preferred embodiment, the calibrating the longitude vector of the measurement probe to obtain the trigger radius of the measurement probe specifically includes:
s101) installing a measuring probe at the main shaft end, driving the measuring probe to move through the main shaft, and installing a standard gauge on a machine tool workbench; as shown in fig. 5. The measuring probe is used for measuring the position of the workpiece to be measured. The gauge is used for calculating the trigger radius of the measuring probe. In a preferred embodiment, the measurement probe is a ruby sphere measurement probe. In a preferred embodiment, the gauge may be a gauge ball, gauge needle or gauge block, etc. that facilitates position measurement.
S102) determining the length of a measuring probe and the distance from the center of a measuring probe sphere to the end face of the main shaft; in a preferred embodiment, the determining the length of the measuring probe specifically includes: fixing a dial indicator on a workbench, pressing a dial indicator needle on the lowest point of a ruby ball of a measuring probe, and recording the current coordinate value Z of a machine tool 1 Under the condition that the dial indicator is fixed by manually moving the machine tool, the dial indicator is pressed to the end face of the main shaft, and the coordinate value Z of the machine tool is recorded 2 The difference between the front and back times is the knife length Z 0 ＝Z 1 -Z 2 。
S103) determining the central position coordinates of the standard gauge; in a preferred embodiment, the center position of the etalon is determined by means of a beat meter, directional measurement of the measuring probe, and the like. In a preferred embodiment, the standard gauge takes a standard sphere as an example, and determining the standard sphere center position includes the following steps: the measuring probe is arranged at the end of the main shaft, the standard ball 2 is fixed on a workbench, the machine tool is manually moved, the measuring probe just touches the leftmost end of the standard ball, and the coordinate X of the machine tool is recorded 1 . Under the condition of not moving the Y axis, the measuring probe just touches the rightmost end of the standard ball, and the coordinate X of the machine tool is recorded 2 Standard sphere center coordinate X 0 ＝(X 1 +X 2 )/2。
S104) controlling the machine tool to move, moving the measuring probe to a certain longitude and different latitude positions relative to the standard sphere, calculating the relative distance between the sphere center of the measuring head and the standard sphere center, and further determining the trigger radius of the different latitudes on the longitude line.
In a preferred embodiment, the method for measuring the fixed longitude comprises the following steps: the standard gauge takes a standard ball as an example, and the position of a to-be-measured point is marked as P oi The initial measurement position is denoted as P gi The normal vector of the target point is: v (V) ai ＝P gi -P oi At this time, a spherical coordinate system can be established at the standard sphere center, and the positioning angle of the main shaft
Wherein i and j are points P to be measured respectively ai A component of the normal vector at the X, Y axis.
In a preferred embodiment, the calibration method at different latitudes is as follows: taking a standard ball as an example, on a fixed longitude line of the standard ball, dividing n equally from the topmost end of the standard ball to the equator, using a measuring probe to touch the position of a point to be measured and the initial measuring position, calculating the distance between the center of a knife point ball and the center of the standard ball, and determining the trigger radius R of the measuring probe ball under the latitude θ 。
In the preferred embodiment, the theoretical spherical position P at the corresponding angle can be obtained by equally dividing the top of a standard sphere at a certain longitude to the equator according to the calibrated scale n oθ The machine tool coordinate P of the sphere center of the measuring probe at the point is obtained by touching the measuring probe at the position aθ Further calculate the trigger radius R at the angle θ ＝P aθ -P oθ -R o ；
In a preferred embodiment, the measurement probe may communicate with a numerically controlled machine tool, which will lock and store the machine tool position coordinates of the measurement probe's sphere center when the measurement probe reads the trigger signal, which position may be calculated as the actual contact point position by the trigger radius. The measuring positions of the measuring probe are hereinafter referred to as the measuring positions of the actual contact points.
In a preferred embodiment, the method further comprises the step of calibrating coaxiality of the measuring probe and the main shaft before calibrating the longitude vector of the measuring probe. In a preferred embodiment, the coaxiality calibration specifically includes:
fixing a dial indicator on a rotary table, pressing a dial indicator needle at the highest point of the side edge of a measuring probe, and observing the jump of the dial indicator needle by manually rotating a main shaft;
according to the dial gauge needle jumping situation, the position of the measuring probe is adjusted through the probe adjusting bolt so that the dial gauge needle jumping is smaller than a preset value, and the coaxiality of the measuring probe and the main shaft meets the requirement. In a preferred embodiment, the preset value is 5um.
In a preferred embodiment, the calibrating the longitude vector of the measurement probe to obtain the trigger radius of the measurement probe further includes: when the longitude vector calibration is carried out on the measuring probe, the actual contact position of the measuring probe is calculated through the position of the to-be-measured point and the normal vector component, so that the trigger radius on the corresponding longitude and latitude is compensated along the normal vector component.
In a preferred embodiment, the acquiring a measurement program of the edge to be measured according to the trigger radius specifically includes:
s201) leading parameters such as trigger radius and the like into computer-aided manufacturing software to generate an edge curve C to be detected 1 The method comprises the steps of carrying out a first treatment on the surface of the The computer-aided manufacturing software is NX computer-aided manufacturing software.
S202) shifting the edge curve to be detected to a certain distance to two adjacent curved surfaces to generate two actual detection curves C 2 、C 3 The method comprises the steps of carrying out a first treatment on the surface of the The certain distance may be set to 0.5mm.
S203) to-be-measured edge curve C 1 Discrete into N points, and at each edge curve discrete point P to be measured cx1 Establishing a normal plane F of the curve cx1 And with two actual detection curves C 2 、C 3 Respectively intersect at two points P cx2 ，P cx3 Ensure P cx1 、P cx2 、P cx3 Three points are all at the edge curve C to be measured 1 Discrete point P of (2) cx1 Is a normal plane F of (2) cx1 Applying; where N is set to 60.
S204) after processing by the computer-aided manufacturing software NX, a measurement program of the edge to be measured is generated.
In a preferred embodiment, the obtaining a theoretical contour point coordinate by the measuring procedure of the edge to be measured, obtaining an actual contour point coordinate by the actual measurement of the measuring probe, and obtaining a vector error of the edge to be measured by comparing the theoretical contour point coordinate with the actual contour point coordinate, specifically includes:
s301) placing a workpiece to be measured on a workbench, and confirming a coordinate system of the workpiece to be measured;
s302) obtaining theoretical contour point coordinates of the edge to be measured of the workpiece to be measured through a measuring program of the edge to be measured, and obtaining actual contour point coordinates of the corresponding position of the workpiece to be measured through a measuring probe; specifically, during measurement, according to the position and the posture of the to-be-measured point on the curved surface, the rotation angle phi of the measuring probe on the main shaft is determined, so that when any point of the workpiece is measured, the longitude fixed on the measuring head ball is used for touching the to-be-measured point, and the longitude is consistent with the calibrated longitude in S104). In a preferred embodiment, the measurement is performed using a spindle following mode, i.e. the spindle is turned according to the measured point normal vector, so that the same longitudinal line of the measurement probe is always used for measurement, and the longitude here coincides with the nominal longitude in S104).
In a preferred embodiment, the contour point is approximated by a three-plane intersection method, which specifically includes: at the edge curve C to be measured 1 Up-extracting the point P to be measured cx1 Two other points P at the cross section of (2) cx2 、P cx3 And two normal vectors V at corresponding positions thereof cx2 、V cx3 Plane F cx2 Is passed through point P cx2 Is a normal vector of V cx2 Plane F of (F) cx3 Is passed through point P cx3 Is a normal vector of V cx3 Is the tangent plane of point P cx1 、P cx2 、P cx3 Form plane F cx1 Plane F cx1 ，F cx2 ，F cx3 The intersection point is the theoretical contour point at the section.
S303) calculating theoretical contour point coordinates P cx And the actual contour point coordinates P ax To obtain the vector error E of the edge to be measured x ＝P ax -P cx . In a preferred embodiment, the vector error is obtained by comparing XYZ coordinate components of the theoretical contour point and the actual contour point, and the vector error of the contour point can be characterized.
Notably, P cx2 And P cx3 For variable data, i.e. P extracted from measuring programs brought into the edge to be measured during calculation of the theoretical edge contour points cx2 And P cx3 Coordinates, and P measured by a measuring probe is brought into the calculation of the actual edge contour point ax2 And P ax3 Coordinates. And P is cx1 、F cx1 、V cx2 、V cx3 The data extracted by the measuring program of the edge to be measured generated by using NX model software is irrelevant to actual measured data. Although the invention adopts a three-plane intersection method, the theory and the actual edge contour point calculation method are consistent.
In a preferred embodiment, the vector measurement further includes vector compensation, specifically including: calculating the actual contact position of the measuring probe through the position of the edge contour point to be measured and the normal vector component, thereby obtaining the corresponding longitude and latitude theta i Radius of triggering R i The compensation is carried out along the normal vector component, and the specific calculation formula is as follows:
wherein R is i For corresponding latitude theta i Is set to (1) the trigger radius, R i+1 And R is i-1 Is adjacent to two latitudes theta i+1 And theta i-1 Is used for the triggering radius of the device. Actual contact point P ai For measuring the position P of the sphere center of the probe when the probe touches ao And trigger radius R i At which point the sum of the normal components.
Compared with the traditional vector measurement method, the method can finish measurement by calibrating 10 groups of points on a certain longitude line of the measurement probe through the longitude calibration and compensation mode, thereby greatly reducing the calibration quantity required by vector measurement and improving the working efficiency.
In a preferred embodiment, the method according to the invention is also suitable for measuring edge errors of curved surfaces and flat surfaces of three-axis and five-axis machine tools, wherein the coordinate transformation of the rotary axis movement should also be taken into account when performing five-axis measurements.
In a preferred embodiment, to describe a process for measuring edge characteristics of a curved surface, taking edge measurement of an S workpiece as an example, a five-axis machine tool with an AC double turntable is used for measurement, and the S workpiece is an industry standard component with curved surface characteristics. Five-axis machine tools are used to describe five-axis measurement functions.
In a preferred embodiment, the spindle angle is fixed at 180 ° and held stationary, and the positions of the different latitudes on the 0 ° longitude line of the standard sphere are measured. And (3) indexing the calibration precision to be 10 degrees, and measuring the position on the 0 longitude line and the 0-90 latitude by taking the standard sphere center as a zero point of a reference coordinate system. In a preferred embodiment, the physical radius of the standard sphere is 15mm, the radius of the measuring probe sphere is 3mm, the measuring probe is used for touching the Cartesian coordinate system position corresponding to the longitude and latitude, and the distance between the tool tip sphere center and the standard sphere center is calculated, so that the trigger radius R of the measuring probe sphere under the latitude is determined θ . Taking latitude 50 ° calibration as an example, the standard spherical coordinates are: n (15×cos50,0,15×sin 50), the actual measured position is T (x, 0, y), then the trigger radius R here 50 ＝|TN|-15。
It is noted that when the method of the invention calculates the coordinate position, the coordinate of the measuring probe is optimized, and the measuring probe is shifted to the detection direction by the trigger radius under the current detection angle, namely, the trigger radius under any angle can be obtained according to the linear difference value of vector calibration.
According to the method for calibrating the longitude, the measurement can be completed by calibrating a few groups of points on a certain longitude line of the measuring probe, so that the calibration quantity required by vector measurement is greatly reduced, and the working efficiency is improved. Under the condition of uncalibrated longitude and latitude, a linear interpolation method can be used for estimating the trigger radius for compensation so as to improve the measurement accuracy. The method and the device indirectly estimate the deviation of the position of the edge processing theory and the actual position by measuring the coordinates near the edge and introducing the idea of 'taking the place of bending' and are used for guiding the subsequent processing operation, and particularly have better guiding significance and working effect.
Based on the same thought, the invention also discloses electronic equipment, which can comprise: the device comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are in communication with each other through the communication bus. The processor may invoke logic instructions in the memory to perform a curved edge error measurement method based on longitude vector measurement, the method comprising: s1) calibrating a fixed longitude vector of a measuring probe to obtain a trigger radius of the measuring probe; s2) acquiring a measuring program of the edge to be measured according to the trigger radius; s3) obtaining theoretical contour point coordinates through a measuring program of the edge to be measured, obtaining actual contour point coordinates through actual measurement of a measuring probe, and obtaining vector errors of the edge to be measured through calculation by comparing the theoretical contour point coordinates with the actual contour point coordinates.
Further, the logic instructions in the memory described above may be implemented in the form of software functional units and stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, embodiments of the present invention further provide a computer program product, including a computer program stored on a non-transitory computer readable storage medium, the computer program including program instructions which, when executed by a computer, enable the computer to perform a curved edge error measurement method based on longitude vector measurement provided in the above method embodiments, the method comprising: s1) calibrating a fixed longitude vector of a measuring probe to obtain a trigger radius of the measuring probe; s2) acquiring a measuring program of the edge to be measured according to the trigger radius; s3) obtaining theoretical contour point coordinates through a measuring program of the edge to be measured, obtaining actual contour point coordinates through actual measurement of a measuring probe, and obtaining vector errors of the edge to be measured through calculation by comparing the theoretical contour point coordinates with the actual contour point coordinates.
In still another aspect, an embodiment of the present invention further provides a non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor, is implemented to perform a curved surface edge error measurement method based on longitude vector measurement provided in the above embodiments, the method including: s1) calibrating a fixed longitude vector of a measuring probe to obtain a trigger radius of the measuring probe; s2) acquiring a measuring program of the edge to be measured according to the trigger radius; s3) obtaining theoretical contour point coordinates through a measuring program of the edge to be measured, obtaining actual contour point coordinates through actual measurement of a measuring probe, and obtaining vector errors of the edge to be measured through calculation by comparing the theoretical contour point coordinates with the actual contour point coordinates.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the flowcharts of the figures may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily being sequential, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (10)
1. The curved surface edge error measurement method based on the constant longitude vector measurement is characterized by comprising the following steps of:
s1) calibrating a fixed longitude vector of a measuring probe to obtain a trigger radius of the measuring probe;
s2) acquiring a measuring program of the edge to be measured according to the trigger radius;
s3) obtaining theoretical contour point coordinates through a measuring program of the edge to be measured, obtaining actual contour point coordinates through actual measurement of a measuring probe, and obtaining vector errors of the edge to be measured through calculation by comparing the theoretical contour point coordinates with the actual contour point coordinates.
2. The curved surface edge error measurement method based on constant longitude vector measurement as claimed in claim 1, wherein said S1) specifically comprises:
s101) mounting a measuring probe at a main shaft end, and mounting a standard gauge on a machine tool workbench;
s102) determining the length of a measuring probe and the distance from the center of a measuring probe sphere to the end face of the main shaft;
s103) determining the central position coordinates of the standard gauge;
s104) controlling the machine tool to move, moving the measuring probe to a certain longitude and different latitude positions relative to the standard sphere, calculating the relative distance between the sphere center of the measuring head and the standard sphere center, and further determining the trigger radius of the different latitudes on the longitude line.
3. The method for measuring curved surface edge errors based on constant longitude vector measurement according to claim 2, further comprising performing coaxiality calibration on the measuring probe and the main shaft before performing constant longitude vector calibration on the measuring probe.
4. A curved surface edge error measurement method based on constant longitude vector measurement as claimed in claim 3, wherein said coaxiality calibration specifically comprises:
fixing a dial indicator on a rotary table, pressing a dial indicator needle at the highest point of the side edge of a measuring probe, rotating a main shaft, and observing the jump of the dial indicator needle;
according to the dial indicator needle jumping situation, the position of the measuring probe is adjusted through the probe adjusting bolt so that the dial indicator needle jumping is smaller than a preset value.
5. The curved surface edge error measurement method based on constant longitude vector measurement as claimed in claim 1, wherein said S1) further comprises: when the longitude vector calibration is carried out on the measuring probe, the actual contact position of the measuring probe is calculated through the position of the to-be-measured point and the normal vector, so that the trigger radius on the corresponding longitude and latitude is compensated along the normal vector component.
6. The curved surface edge error measurement method based on constant longitude vector measurement as claimed in claim 1, wherein said S2) specifically comprises:
s201), importing the trigger radius into computer-aided manufacturing software to generate an edge curve to be detected;
s202) shifting an edge curve to be detected to two adjacent curved surfaces by a certain distance to generate two actual detection curves;
s203) establishing a normal plane of the curve at the discrete point of the edge curve to be detected and intersecting two actual detection curves at two points, so as to ensure that the three points are all on the normal plane of the discrete point of the edge curve to be detected;
s204) after being processed by computer-aided manufacturing software, generating a measuring program of the edge to be measured.
7. The curved surface edge error measurement method based on constant longitude vector measurement as claimed in claim 1, wherein said S3) specifically comprises:
s301) placing a workpiece to be measured on a workbench, and confirming a coordinate system of the workpiece to be measured;
s302) obtaining theoretical contour point coordinates of the edge to be measured of the workpiece to be measured through a measuring program of the edge to be measured, and obtaining actual contour point coordinates of the corresponding position of the workpiece to be measured through a measuring probe;
s303), calculating the difference value between the coordinates of the theoretical contour point and the coordinates of the actual contour point to obtain the vector error of the edge to be detected.
8. The method for measuring the edge error of a curved surface based on a constant longitude vector measurement according to claim 7, wherein said contour points are approximated by a tri-plane intersection method.
9. The curved surface edge error measurement method based on constant longitude vector measurement as claimed in claim 1, wherein said vector measurement further comprises vector compensation, specifically comprising: and calculating the actual contact position of the measuring probe through the position of the edge contour point to be measured and the normal vector component, so that the trigger radius on the corresponding longitude and latitude is compensated along the normal vector component.
10. A curved surface edge error measurement system based on fixed longitude vector measurement, comprising:
the receiving module is used for receiving various data of the edge to be detected;
the measuring module is used for calibrating a longitude vector of the measuring probe according to various data of the edge to be measured to obtain the trigger radius of the measuring probe; the measuring program is used for acquiring the edge to be measured according to the trigger radius; the method is used for obtaining theoretical contour point coordinates through a measuring program of the edge to be measured, obtaining actual contour point coordinates through actual measurement of a measuring probe, and obtaining vector errors of the edge to be measured through comparing the theoretical contour point coordinates with the actual contour point coordinates.
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