CN108917604A - A kind of normal direction measuring device and its scaling method - Google Patents
A kind of normal direction measuring device and its scaling method Download PDFInfo
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- CN108917604A CN108917604A CN201810765649.0A CN201810765649A CN108917604A CN 108917604 A CN108917604 A CN 108917604A CN 201810765649 A CN201810765649 A CN 201810765649A CN 108917604 A CN108917604 A CN 108917604A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- 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
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Abstract
The embodiment of the invention provides a kind of normal direction measuring devices, including：Disk, angle displacement platform, standard gauge block and laser range sensor component are smoothed, wherein：The angle displacement platform is located at the workbench of system to be calibrated；The smoothing disk is installed to machining tool main shaft, and is displaced downwardly to plane on the angle displacement platform, is leveled by adjusting the angle of the angle displacement platform to smoothing disk；Standard gauge block is provided between the angle displacement platform and the smoothing disk；The laser range sensor component includes four laser range sensors, emits laser to the angle displacement platform respectively, and the standard gauge block on the angle displacement platform emits laser, obtains the numerical difference of laser range sensor and the height of standard gauge block；The angle that the laser of its injection and the upper plane of the angle displacement platform are calculated according to the height of the numerical difference of laser range sensor and standard gauge block, is demarcated for treating calibration system.
Description
Technical field
The present invention relates to a kind of scaling methods of normal direction measuring device, and in particular to is sensed to a kind of based on laser ranging
The scaling method of the normal direction measuring device of device.
Background technique
Currently, the application of Flexible Manufacturing Technology has become state in the manufacturing field of the large scale equipments such as carrier rocket, aircraft
The mainstream development trend of inside and outside Digitized manufacturing.Structure curve flexibility is being carried out certainly using robot and dedicated end effector
When dynamicization drilling, normal direction measuring device is usually used in the measurement of drilling normal direction, guarantees that drilling axis and curved surface normal angle reach essence
Degree requires.Under normal circumstances, normal direction measuring device is made of 4 groups of laser range sensors and the presser feet of end effector front end,
It when installing laser displacement sensor, is installed in a manner of end-effector inclined main axes, four measurement points are uniformly divided at this time
Cloth in lesser subrange, improves the precision of drilling position part plan fitting near the drilling position.Due to presser feet
The installation error of mismachining tolerance and laser displacement sensor, by the position for the laser range sensor that Three Dimensional Design Model determines
There are deviations with laser direction.Therefore it needs to demarcate the normal direction measuring device based on laser range sensor, existing mark
Method is determined mostly using the scaling method of fixed point and plane template, although both methods is able to satisfy the requirement of stated accuracy, but
Calibration process is relatively complicated, and needs the subsidiary equipment of complicated calibration object or precision, and calibration cost is high.
Summary of the invention
The scaling method for the normal direction measuring device based on laser range sensor that the object of the present invention is to provide a kind of；This hair
The scaling method of the existing normal direction measuring device based on laser range sensor of bright solution is cumbersome, low precision, and calibration cost is high
The problems such as.
One embodiment of the invention provides a kind of normal direction measuring device, which is characterized in that including：Smooth disk, angle
Displacement platform, standard gauge block and laser range sensor component, wherein：
The angle displacement platform is located at the workbench of system to be calibrated；
The smoothing disk is installed to machining tool main shaft, and is displaced downwardly to plane on the angle displacement platform, by adjusting
The angle of the angle displacement platform levels smoothing disk；
Standard gauge block is provided between the angle displacement platform and the smoothing disk；
The laser range sensor component includes four laser range sensors, is emitted respectively to the angle displacement platform
Laser, and the standard gauge block transmitting laser on the angle displacement platform, obtain the numerical difference and standard of laser range sensor
The height of gauge block；
The laser and the angle that it is projected are calculated according to the height of the numerical difference of laser range sensor and standard gauge block
The angle for spending the upper plane of displacement platform, is demarcated for treating calibration system.
Another embodiment of the present invention additionally provides a kind of scaling method of normal direction measuring device, it is characterised in that：Including
Step：
Step 1：Cartesian coordinate system is leveled and established to manual angle displacement platform；The angle displacement platform is located at
The workbench of system to be calibrated；
Step 2：Measure and calculate the folder of the laser of laser range sensor injection and the upper plane of the angle displacement platform
The position coordinates of angle and the laser range sensor relative to machining tool main shaft；The laser range sensor component includes
Four laser range sensors are located above the system to be calibrated, for emitting laser to the angle displacement platform, obtain and swash
The angle of the upper plane of light and the angle displacement platform；
Step 3：It measures and calculates the laser of laser range sensor injection in the straight of the first plane and the second plane projection
Line equation, first plane and the second plane are each perpendicular to the upper plane of the angle displacement platform, and the first plane and the
Two planes are mutually perpendicular to and by the machining tool main shafts；
Step 4：Obtain the measurement numerical value of laser range sensor, i.e. laser range sensor to the angle displacement platform
The distance of upper plane：
Step 5：Angle, laser range sensor phase according to the laser calibrated with the upper plane of the angle displacement platform
For the linear equation projected in the position coordinates of machining tool main shaft, the first plane, the linear equation projected in the second plane
And the measurement numerical value of laser range sensor calculates the spatial value of measurement point；According to the space of any three measurement points
Coordinate value calculates the normal direction of measurement plane and the space angle of the machining tool main shaft, completes calibration.
Preferably, the step 1 includes：
The smoothing disk is installed to machining tool main shaft, and is displaced downwardly to plane on the angle displacement platform, described in adjustment
The angle of angle displacement platform keeps the upper plane of the angle displacement platform parallel with the discal bottom surface in the school, completes leveling；
Cartesian coordinate system O-XYZ is established as XOY plane using the upper plane of the angle displacement platform, wherein origin O is to add
The intersection point of plane on work tool spindle extended line and the angle displacement platform, Z axis are machining tool main shaft upward direction, X-axis, Y
Axis is respectively parallel to X-axis, the Y-axis of the angle displacement platform.
Preferably, first plane is plane YOZ, and the second plane is plane XOZ.
Preferably, the step 2 includes：
The smoothing disk is removed, the distance of measurement laser range sensor to XOY plane obtains initial position value,
Plane places standard gauge block on the angle displacement platform, obtains the numerical value of laser range sensor, utilizes laser range sensor
Numerical difference and standard gauge block height calculate the laser of injection and the angle of XOY plane and project point Z coordinate.
Preferably, the step 3 includes：
The angle displacement platform is turned about the X axis into two groups of angles, and respectively after two groups of angles of measurement rotation, laser ranging
The distance of plane on sensor to the angle displacement platform calculates laser range sensor institute by space line projection relation
The linear equation that the laser of injection projects on plane YOZ.
Preferably, the step 3 includes：
The angle displacement platform is rotated into two groups of angles around Y-axis, and respectively after two groups of angles of measurement rotation, laser ranging
The distance of plane on sensor to the angle displacement platform calculates laser range sensor institute by space line projection relation
The linear equation that the laser of injection projects on plane XOZ.
The present invention has following technical effect：Tool structure needed for demarcating is simple, and calibration process is simple, quick, at low cost.
Detailed description of the invention
Fig. 1 is the geometrical model schematic diagram demarcated to the normal direction measuring device based on laser range sensor；
Fig. 2 is the laser of laser range sensor A injection in the projection and two-dimentional manual angle displacement platform on plane YOZ
Relation schematic diagram of the plane between the projection on plane YOZ；
Fig. 3 is the laser of laser range sensor A injection in the projection and two-dimentional manual angle displacement platform on plane XOZ
Relation schematic diagram of the plane between the projection on plane XOZ.
Specific embodiment
Hereinafter, scaling method of the invention is clearly and completely described in conjunction with the accompanying drawings and embodiments.
As shown in Figure 1, for a kind of normal direction measuring device that an embodiment of the present invention provides, including：Smooth disk 1, angle
Displacement platform 3, standard gauge block 2 and laser range sensor component are spent, wherein：The angle displacement platform is located at system to be calibrated
Workbench；The smoothing disk is installed to machining tool main shaft 5, and is displaced downwardly to plane on the angle displacement platform, by adjusting
The angle of the angle displacement platform levels smoothing disk；Mark is provided between the angle displacement platform and the smoothing disk
Quasi- gauge block；The laser range sensor component includes four laser range sensors, is emitted respectively to the angle displacement platform
Laser, and the standard gauge block transmitting laser on the angle displacement platform, obtain the numerical difference and standard of laser range sensor
The height of gauge block；According to the height of the numerical difference of laser range sensor and standard gauge block calculate its injection laser with it is described
The angle of the upper plane of angle displacement platform, is demarcated for treating calibration system.
The embodiment of the invention also provides it is a kind of to be installed on end effector of robot front end based on laser ranging pass
The method that the normal direction measuring device 4 of sensor is demarcated, the device used include smoothing disk 1, standard gauge block 2, two dimension manually
Angle displacement platform 3.This method installation of high-ranking officers' flat disk 1 first is to end effector main shaft 5, to two-dimentional manual angle displacement platform 3
Upper plane is leveled, and plane establishes cartesian coordinate system O-XYZ6 on two-dimentional manual angle displacement platform, measures and calculates
Then the angle of laser and plane XOY emitted by each group laser range sensor out is distinguished two-dimentional manual angle displacement platform 3
Rotate certain angle around X-axis, Y-axis, and after measuring and turning an angle, laser range sensor to two dimension manual angle position
The distance of plane in moving stage 3 calculates laser emitted by laser range sensor in plane by space line projection relation
The linear equation of projection on YOZ, XOZ, to complete the calibration to normal direction measuring device 4.
The scaling method of the normal direction measuring device may include steps of：
Step 1：Cartesian coordinate system is leveled and established to manual angle displacement platform；The angle displacement platform is located at
The workbench of system to be calibrated；
Step 2：Measure and calculate the folder of the laser of laser range sensor injection and the upper plane of the angle displacement platform
The position coordinates of angle and the laser range sensor relative to machining tool main shaft；The laser range sensor component includes
Four laser range sensors are located above the system to be calibrated, for emitting laser to the angle displacement platform, obtain and swash
The angle of the upper plane of light and the angle displacement platform；
Step 3：It measures and calculates the laser of laser range sensor injection in the straight of the first plane and the second plane projection
Line equation, first plane and the second plane are each perpendicular to the upper plane of the angle displacement platform, and the first plane and the
Two planes are mutually perpendicular to and by the machining tool main shafts；
Step 4：Obtain the measurement numerical value of laser range sensor, i.e. laser range sensor to the angle displacement platform
The distance of upper plane：
Step 5：Angle, laser range sensor phase according to the laser calibrated with the upper plane of the angle displacement platform
For the linear equation projected in the position coordinates of machining tool main shaft, the first plane, the linear equation projected in the second plane
And the measurement numerical value of laser range sensor calculates the spatial value of measurement point；According to the space of any three measurement points
Coordinate value calculates the normal direction of measurement plane and the space angle of the machining tool main shaft, completes calibration.
In one embodiment of the invention, the step 1 includes：
The smoothing disk is installed to machining tool main shaft, and is displaced downwardly to plane on the angle displacement platform, described in adjustment
The angle of angle displacement platform keeps the upper plane of the angle displacement platform parallel with the discal bottom surface in the school, completes leveling；
Cartesian coordinate system O-XYZ is established as XOY plane using the upper plane of the angle displacement platform, wherein origin O is to add
The intersection point of plane on work tool spindle extended line and the angle displacement platform, Z axis are machining tool main shaft upward direction, X-axis, Y
Axis is respectively parallel to X-axis, the Y-axis of the angle displacement platform.
In one embodiment of the invention, first plane is plane YOZ, and the second plane is plane XOZ.
In one embodiment of the invention, the step 2 includes：
The smoothing disk is removed, the distance of measurement laser range sensor to XOY plane obtains initial position value,
Plane places standard gauge block on the angle displacement platform, obtains the numerical value of laser range sensor, utilizes laser range sensor
Numerical difference and standard gauge block height calculate the laser of injection and the angle of XOY plane and project point Z coordinate.
In one embodiment of the invention, the step 3 includes：
The angle displacement platform is turned about the X axis into two groups of angles, and respectively after two groups of angles of measurement rotation, laser ranging
The distance of plane on sensor to the angle displacement platform calculates laser range sensor institute by space line projection relation
The linear equation that the laser of injection projects on plane YOZ.
In one embodiment of the invention, the step 3 includes：
The angle displacement platform is rotated into two groups of angles around Y-axis, and respectively after two groups of angles of measurement rotation, laser ranging
The distance of plane on sensor to the angle displacement platform calculates laser range sensor institute by space line projection relation
The linear equation that the laser of injection projects on plane XOZ.
In the following, illustrating the scaling method of measuring device of the invention by specific embodiment.For example, the scaling method can
The calibration of drilling actuator when applied to workpiece drilling.For example, this method comprises the following steps：
Step 1：Two-dimentional manual angle displacement platform is leveled, cartesian coordinate system is established.High-ranking officers' flat disk install to
Drilling actuator main shaft is displaced downwardly to smoothing disk tooling on two-dimentional manual angle displacement platform near plane, adjusts two dimension manually
The angle of angle displacement platform completes leveling, so that plane is parallel with smoothing disk tooling bottom surface thereon with two-dimentional manual angle position
Plane is that XOY plane establishes cartesian coordinate system O-XYZ in moving stage, and wherein origin O is main shaft extended line and two-dimentional manual angle
The intersection point of plane on displacement platform, Z axis are main axis upward direction, and X-axis, Y-axis are respectively parallel to the X of two-dimentional manual angle displacement platform
Axis, Y-axis；
Step 2：It measures and calculates the laser of sensor injection and the angle of XOY plane.Smoothing disk tooling is removed, is surveyed
The distance of plane on laser range sensor to two-dimentional manual angle displacement platform is measured, initial position value is obtained, in two-dimentional Manual angular
It spends plane on displacement platform and places standard gauge block, measure the value of laser range sensor at this time, utilize the numerical difference and mark of sensor
The height of quasi- gauge block can calculate the laser of its injection and the angle of XOY plane.
In an embodiment of the present invention, above-mentioned steps specifically include：
Remove smoothing disk tooling, measure four groups of laser range sensors to two-dimentional manual angle displacement platform on plane away from
From acquisition initial position value L01、L02、L03、L04, plane places standard gauge block, standard gauge block on two-dimentional manual angle displacement platform
Height be △ H, the value l of measurement laser range sensor at this time01、l02、l03、l04, calculate out sensor injection laser with
The angle of XOY plane
Step 3：Measure and calculate the linear equation that laser emitted by sensor projects on plane YOZ.By two-dimentional hand
Dynamic angle displacement platform turns about the X axis two groups of angles, and respectively after two groups of angles of measurement rotation, laser range sensor to two dimension
The distance of plane on manual angle displacement platform calculates laser emitted by sensor in plane by space line projection relation
The linear equation projected on YOZ.
Step 4：Measure and calculate the linear equation that laser emitted by sensor projects on plane XOZ.By two-dimentional hand
Dynamic angle displacement platform rotates two groups of angles around Y-axis, and respectively after two groups of angles of measurement rotation, laser range sensor to two dimension
The distance of plane on manual angle displacement platform is calculated by space line projection relation and is swashed emitted by laser range sensor
The linear equation of projection of the light on plane XOZ.
In an embodiment of the present invention, above-mentioned two step specifically includes：
By the range information measured, projection of the laser on plane YOZ emitted by sensor is calculated；It will be two-dimentional manual
Angle displacement platform turns about the X axis angle, θ1, record the numerical value L of sensor at this time11、L12、L13、L14, turn about the X axis angle, θ2, note
Record the numerical value L of sensor at this time21、L22、L23、L24, by two-dimentional manual angle displacement platform around Y-axis rotational angle θ3, record and pass at this time
The numerical value L of sensor31、L32、L33、L34, around Y-axis rotational angle θ4, record the numerical value L of sensor at this time41、L42、L43、L44；
Calculating turns about the X axis angle, θ1When, the Z-direction coordinate of plane point of intersection on laser and displacement platform emitted by sensor：
Z01=(LO1-L11)·sin(α1)
Z02=(LO2-L12)·sin(α2)
Z03=(LO3-L13)·sin(α3)
Z04=(LO4-L14)·sin(α4)
It similarly calculates and turns about the X axis angle, θ2When, the Z-direction coordinate Z of intersection point11、Z12、Z13、Z14；
Referring to fig. 2.By taking sensors A as an example, Q1For the revolution origin of two-dimentional manual angle displacement platform, straight line l1, l2 difference
After rotating angle, θ 1, θ 2 around X-axis for plane on two-dimentional manual angle displacement platform, projection on plane XOZ, and A1It then indicates to pass
Projection of the laser emitted by sensor A on plane YOZ, N1, N2 respectively indicate straight line l1, l2 and straight line A1Intersection point, R1It indicates
The radius of gyration of two-dimentional manual angle displacement platform, the linear equation of l1, l2 are respectively known to space line projection relation：
Straight line l1Linear equation be：
Straight line l2Linear equation be：
And the Z-direction coordinate of M1, M2 are respectively Z01、Z11, above-mentioned Z value is substituted into straight line l1, straight line l2 respectively, can be calculated
The coordinate of M1, M2 are respectively (X out01,Z01)、(X11,Z11), it thus can solve A1Linear equation be：
Referring to Fig. 3.Projection straight line A of the laser emitted by sensors A on plane YOZ can similarly be found out2Straight line side
Thus journey completes the calibration to the normal direction measuring device based on laser range sensor.
Completing above four steps to four laser range sensors is to complete the calibration of normal direction measuring device.
When normal direction measuring device works, according to the angle of the laser and XOY plane that calibrate, the Z coordinate for projecting point, YOZ
The measurement numerical value of upper projection equation, the upper projection equation of XOZ and laser range sensor can accurately calculate the sky of measurement point
Between coordinate value.Normal direction and Z axis (the i.e. drilling actuator master of measurement plane can be calculated according to the coordinate value of any three measurement points
Axis) space angle.
Although the present invention is disclosed as above with preferred embodiment, it not does limit in any form to the present invention
System, anyone skilled in the art without departing from the spirit and scope of the present invention, may be by the disclosure above method and
Technology contents make possible variation and modification to technical solution of the present invention, therefore, all without departing from technical solution of the present invention
Content, any simple modifications, equivalents, and modifications to the above embodiments, belong to according to the technical essence of the invention
The protection scope of technical solution of the present invention.
Claims (7)
1. a kind of normal direction measuring device, which is characterized in that including：Smooth disk, angle displacement platform, standard gauge block and Laser Measuring
Away from sensor module, wherein：
The angle displacement platform is located at the workbench of system to be calibrated；
The smoothing disk is installed to machining tool main shaft, and is displaced downwardly to plane on the angle displacement platform, by adjusting described
The angle of angle displacement platform levels smoothing disk；
Standard gauge block is provided between the angle displacement platform and the smoothing disk；
The laser range sensor component includes four laser range sensors, is swashed respectively to angle displacement platform transmitting
Light, and the standard gauge block transmitting laser on the angle displacement platform, obtain the numerical difference and standard volume of laser range sensor
The height of block；
The laser and the angle position that it is projected are calculated according to the height of the numerical difference of laser range sensor and standard gauge block
The angle of the upper plane of moving stage, is demarcated for treating calibration system.
2. a kind of scaling method of normal direction measuring device, it is characterised in that：Including step：
Step 1：Cartesian coordinate system is leveled and established to manual angle displacement platform；The angle displacement platform is located at wait mark
Determine the workbench of system；
Step 2：Measure and calculate laser range sensor injection laser and the angle displacement platform upper plane angle with
And position coordinates of the laser range sensor relative to machining tool main shaft；The laser range sensor component includes four
Laser range sensor is located above the system to be calibrated, for emitting laser to the angle displacement platform, obtain laser with
The angle of the upper plane of the angle displacement platform；
Step 3：It measures and calculates the laser of laser range sensor injection in the straight line side of the first plane and the second plane projection
Journey, first plane and the second plane are each perpendicular to the upper plane of the angle displacement platform, and the first plane and second flat
Face is mutually perpendicular to and by the machining tool main shaft；
Step 4：The measurement numerical value of laser range sensor is obtained, i.e., laser range sensor to the angle displacement platform is upper flat
The distance in face：
Step 5：According to the angle of the upper plane of the laser that calibrates and the angle displacement platform, laser range sensor relative to
The linear equation that is projected on the linear equation that is projected on the position coordinates of machining tool main shaft, the first plane, the second plane and
The measurement numerical value of laser range sensor calculates the spatial value of measurement point；According to the space coordinate of any three measurement points
Value calculates the normal direction of measurement plane and the space angle of the machining tool main shaft, completes calibration.
3. scaling method as claimed in claim 2, it is characterised in that：The step 1 includes：
The smoothing disk is installed to machining tool main shaft, and is displaced downwardly to plane on the angle displacement platform, adjusts the angle
The angle of displacement platform keeps the upper plane of the angle displacement platform parallel with the discal bottom surface in the school, completes leveling；
Cartesian coordinate system O-XYZ is established as XOY plane using the upper plane of the angle displacement platform, wherein origin O is processing work
Has the intersection point of plane on main shaft extended line and the angle displacement platform, Z axis is machining tool main shaft upward direction, X-axis, Y-axis point
It is not parallel to X-axis, the Y-axis of the angle displacement platform.
4. scaling method as claimed in claim 3, it is characterised in that：First plane is plane YOZ, and the second plane is flat
Face XOZ.
5. scaling method as claimed in claim 3, it is characterised in that：The step 2 includes：
The smoothing disk is removed, the distance of measurement laser range sensor to XOY plane obtains initial position value, described
Plane places standard gauge block on angle displacement platform, obtains the numerical value of laser range sensor, utilizes the number of laser range sensor
The height of value difference and standard gauge block calculates the laser of injection and the angle of XOY plane and projects the Z coordinate of point.
6. scaling method as claimed in claim 5, it is characterised in that：The step 3 includes：
The angle displacement platform is turned about the X axis into two groups of angles, and respectively after two groups of angles of measurement rotation, laser ranging sensing
The distance of plane, is calculated emitted by laser range sensor by space line projection relation on device to the angle displacement platform
The linear equation that is projected on plane YOZ of laser.
7. scaling method as claimed in claim 5, it is characterised in that：The step 3 includes：
The angle displacement platform is rotated into two groups of angles around Y-axis, and respectively after two groups of angles of measurement rotation, laser ranging sensing
The distance of plane, is calculated emitted by laser range sensor by space line projection relation on device to the angle displacement platform
The linear equation that is projected on plane XOZ of laser.
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