技术领域technical field
本发明涉及轮廓测量领域，特别是涉及一种复杂曲面轮廓测量系统。The invention relates to the field of contour measurement, in particular to a complex curved surface contour measurement system.
背景技术Background technique
现阶段对完成加工的复杂曲面的轮廓测量往往会面临曲面的不规则性带来的困难。现有不同的测量手段均不能适应工业生产过程中对加工后的复杂曲面的测量需求。三坐标测量机可以满足测量的精度需求，但由于其一次只能采样一个点，很难实现快速测量，不能满足测量的速度需求。基于结构光等非接触式的测量方法可以实现快速测量，但在测量精度方面面临着在复杂曲面大曲率部位处测量精度难以达到10μm以下的问题，不能满足复杂曲面的测量精度需求。At this stage, the contour measurement of the processed complex surface often faces difficulties brought about by the irregularity of the surface. The existing different measurement methods cannot meet the measurement requirements of the processed complex curved surface in the industrial production process. The three-coordinate measuring machine can meet the measurement accuracy requirements, but because it can only sample one point at a time, it is difficult to achieve fast measurement and cannot meet the measurement speed requirements. Non-contact measurement methods based on structured light can achieve rapid measurement, but in terms of measurement accuracy, it is difficult to achieve a measurement accuracy of less than 10 μm at parts of large curvature on complex surfaces, which cannot meet the measurement accuracy requirements of complex surfaces.
发明内容Contents of the invention
鉴于以上所述现有技术的缺点，本发明的目的在于提供一种复杂曲面轮廓测量系统，用于解决现有技术中不能适应工业生产过程中对加工后的复杂曲面的测量精确度以及测量速度的需求等问题。In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a complex curved surface profile measurement system, which is used to solve the problem that the prior art cannot adapt to the measurement accuracy and measurement speed of the processed complex curved surface in the industrial production process. needs and other issues.
为实现上述目的及其他相关目的，本发明提供一种复杂曲面轮廓测量系统，所述系统包括：所述系统包括：转台，用于带动待测复杂曲面以该系统坐标系下的Z轴为中心转动；其中，所述待测复杂曲面的水平基准面垂直于Z轴；第一运动机构，用于带动固定在其上的所述转台沿该系统坐标系下的Y轴方向运动；覆盖一视角范围的激光采集系统，其激光面垂直于Z轴，用于采集所述待测复杂曲面的轮廓数据；第二运动机构，以供带动固定在其上的激光采集系统沿所述Z轴方向运动；控制器，连接所述转台、第一运动机构以及第二运动机构，用于控制所述所述转台、第一运动机构以及第二运动机构中的一种或多种进行相应的补偿运动，以供所述激光采集系统采集到用于获得所述待测复杂曲面整体轮廓的轮廓数据。In order to achieve the above purpose and other related purposes, the present invention provides a complex curved surface profile measurement system, the system includes: the system includes: a turntable, which is used to drive the complex curved surface to be measured centered on the Z axis in the coordinate system of the system Rotation; wherein, the horizontal reference plane of the complex curved surface to be measured is perpendicular to the Z-axis; the first motion mechanism is used to drive the turntable fixed thereon to move along the Y-axis direction under the system coordinate system; covering a viewing angle A range of laser acquisition systems, the laser surface of which is perpendicular to the Z-axis, is used to collect the profile data of the complex curved surface to be measured; the second movement mechanism is used to drive the laser acquisition system fixed on it to move along the Z-axis direction a controller, connected to the turntable, the first movement mechanism and the second movement mechanism, for controlling one or more of the turntable, the first movement mechanism and the second movement mechanism to perform corresponding compensation movements, The laser acquisition system collects the profile data used to obtain the overall profile of the complex curved surface to be measured.
于本发明的一实施例中，所述激光采集系统包括：激光面处于同一平面的至少三个激光传感器，且共覆盖一视角范围。In an embodiment of the present invention, the laser collection system includes: at least three laser sensors whose laser surfaces are on the same plane, and cover a range of viewing angles.
于本发明的一实施例中，述激光采集系统包括：至少两个局部激光传感器，用于采集所述待测复杂曲面的局部细节区域的轮廓数据；至少一个全局激光传感器，用于采集所述待测复杂曲面的除所述局部细节区域之外的区域的轮廓数据；其中，各局部激光传感器以及全局激光传感器的激光面处于同一平面，且共覆盖一视角范围。In an embodiment of the present invention, the laser acquisition system includes: at least two local laser sensors, used to collect the contour data of the local detail area of the complex curved surface to be measured; at least one global laser sensor, used to collect the Contour data of areas other than the local detail area of the complex curved surface to be measured; wherein, the laser surfaces of the local laser sensors and the global laser sensor are on the same plane and cover a viewing angle range.
于本发明的一实施例中，所述系统还包括：曲面固定装置，设于所述转台上，用于固定设于其上的所述待测复杂曲面，以供所述待检测复杂曲面的水平基准面保持垂直于Z轴。In an embodiment of the present invention, the system further includes: a curved surface fixing device, which is arranged on the turntable, and is used to fix the complex curved surface to be tested on the turntable, for the complex curved surface to be tested The horizontal datum remains perpendicular to the Z axis.
于本发明的一实施例中，所述控制器包括：数据获取模块，用于获取所述待测复杂曲面的水平基准面的高度位置、所述转台当前的Y轴位置以及视角范围；控制模块，连接所述数据获取模块，用于根据所述待测复杂曲面的水平基准面的高度位置、所述转台当前的Y轴位置以及所述视角范围控制所述所述转台、第一运动机构以及第二运动机构中的一种或多种进行相应的补偿运动，以供所述激光采集系统采集到用于获得所述待测复杂曲面整体轮廓的轮廓数据。In an embodiment of the present invention, the controller includes: a data acquisition module, configured to acquire the height position of the horizontal reference plane of the complex curved surface to be measured, the current Y-axis position and the viewing angle range of the turntable; a control module , connected to the data acquisition module, used to control the turntable, the first motion mechanism and the One or more of the second motion mechanisms perform corresponding compensating motions for the laser acquisition system to collect profile data for obtaining the overall profile of the complex curved surface to be measured.
于本发明的一实施例中，所述控制模块包括：Y轴补偿运动控制单元，用于由激光采集系统所覆盖的视角范围确定最佳测量位置，并控制所述第一运动机构带动所述转台从当前的Y轴位置沿Y轴方向运动至最佳测量位置；Z轴补偿运动控制单元，用于由所述待测复杂曲面的尺寸信息确定检测高度限制值位置，并控制所述第二运动机构带动所述激光采集系统沿所述Z轴方向从所述水平基准面所对应的高度值位置运动至检测高度限制值位置；补偿转动控制单元，用于由所述视角范围确定未覆盖视角范围，并控制所述转台进行一或多次转动，以供所述激光采集系统覆盖所述未覆盖视角范围。In an embodiment of the present invention, the control module includes: a Y-axis compensation motion control unit, used to determine the best measurement position from the viewing angle range covered by the laser acquisition system, and control the first motion mechanism to drive the The turntable moves from the current Y-axis position to the best measurement position along the Y-axis direction; the Z-axis compensation motion control unit is used to determine the detection height limit value position based on the size information of the complex curved surface to be measured, and control the second The movement mechanism drives the laser acquisition system to move along the Z-axis direction from the height value position corresponding to the horizontal reference plane to the detection height limit value position; the compensation rotation control unit is used to determine the uncovered viewing angle from the viewing angle range range, and control the turntable to perform one or more rotations, so that the laser collection system can cover the uncovered viewing angle range.
于本发明的一实施例中，所述第一运动机构设置有用于确定所述转台当前的Y轴位置的光栅尺；和/或，所述第二运动机构设置有用于确定水平基准面所对应的基准高度位置以及所述激光采集系统的当前的高度值位置的光栅尺。In an embodiment of the present invention, the first motion mechanism is provided with a grating ruler for determining the current Y-axis position of the turntable; and/or, the second motion mechanism is provided with a grating ruler for determining the horizontal reference plane corresponding to The reference height position and the grating ruler of the current height value position of the laser acquisition system.
于本发明的一实施例中，所述系统还包括：数据处理装置，连接所述激光采集系统，用于将所述激光采集系统采集到的轮廓数据进行拼合以及预处理，获得所述待测复杂曲面的整体轮廓。In an embodiment of the present invention, the system further includes: a data processing device, connected to the laser acquisition system, for merging and preprocessing the contour data collected by the laser acquisition system to obtain the measured The overall profile of a complex surface.
于本发明的一实施例中，各激光器在构成平面的180度范围内设置。In one embodiment of the present invention, each laser is arranged within 180 degrees of the constituting plane.
于本发明的一实施例中，各局部激光传感器相邻设置。In an embodiment of the present invention, each local laser sensor is arranged adjacent to each other.
如上所述，本发明是一种复杂曲面轮廓测量系统，具有以下有益效果：本发明通过覆盖一视角范围的激光采集系统、可旋转的转台、可供转台沿Y轴运动的运动机构以及可供激光采集系统可沿Z轴运动的运动机构，实现激光采集系统坐标系和待测复杂曲面坐标系统一，并通过控制器控制所述转台、第一运动机构以及第二运动机构中的一种或多种进行相应的补偿运动，实现了自动对复杂曲面整体的三维轮廓测量，并保证了测量效率以及测量精度。As mentioned above, the present invention is a complex curved surface profile measurement system, which has the following beneficial effects: the present invention covers a range of viewing angles through a laser acquisition system, a rotatable turntable, a movement mechanism for the turntable to move along the Y axis, and a The kinematic mechanism of the laser acquisition system that can move along the Z axis realizes the coordinate system of the laser acquisition system and the coordinate system of the complex curved surface to be measured, and controls one or more of the turntable, the first kinematic mechanism and the second kinematic mechanism through the controller A variety of corresponding compensation movements realize the automatic three-dimensional contour measurement of the complex curved surface, and ensure the measurement efficiency and measurement accuracy.
附图说明Description of drawings
图1显示为本发明一实施例中的复杂曲面轮廓测量系统的结构示意图。FIG. 1 is a schematic structural diagram of a complex curved surface profile measurement system in an embodiment of the present invention.
图2显示为本发明一实施例中的激光采集系统示意图。Fig. 2 is a schematic diagram of a laser collection system in an embodiment of the present invention.
图3显示为本发明一实施例中的激光采集系统示意图。FIG. 3 is a schematic diagram of a laser collection system in an embodiment of the present invention.
图4显示为本发明一实施例中的最佳检测位置确定示意图。FIG. 4 is a schematic diagram of determining the best detection position in an embodiment of the present invention.
图5显示为本发明一实施例中的视角范围覆盖示意图。FIG. 5 is a schematic view showing coverage of viewing angle ranges in an embodiment of the present invention.
图6显示为本发明一实施例中的基于多激光传感器的叶片轮廓测量系统的结构示意图。Fig. 6 is a schematic structural diagram of a blade profile measurement system based on multiple laser sensors in an embodiment of the present invention.
图7显示为本发明一实施例中的最佳检测位置确定示意图。Fig. 7 is a schematic diagram of determining the optimal detection position in an embodiment of the present invention.
具体实施方式Detailed ways
以下通过特定的具体实例说明本发明的实施方式，本领域技术人员可由本说明书所揭露的内容轻易地了解本发明的其他优点与功效。本发明还可以通过另外不同的具体实施方式加以实施或应用，本说明书中的各项细节也可以基于不同观点与应用，在没有背离本发明的精神下进行各种修饰或改变。需说明的是，在不冲突的情况下，以下实施例及实施例中的特征可以相互组合。Embodiments of the present invention are described below through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation modes, and various modifications or changes can be made to the details in this specification based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, in the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.
需要说明的是，在下述描述中，参考附图，附图描述了本发明的若干实施例。应当理解，还可使用其他实施例，并且可以在不背离本发明的精神和范围的情况下进行机械组成、结构、电气以及操作上的改变。下面的详细描述不应该被认为是限制性的，并且本发明的实施例的范围仅由公布的专利的权利要求书所限定。这里使用的术语仅是为了描述特定实施例，而并非旨在限制本发明。空间相关的术语，例如“上”、“下”、“左”、“右”、“下面”、“下方”、““下部”、“上方”、“上部”等，可在文中使用以便于说明图中所示的一个元件或特征与另一元件或特征的关系。It should be noted that in the following description, reference is made to the accompanying drawings, which describe several embodiments of the present invention. It is to be understood that other embodiments may be utilized, and mechanical, structural, electrical, and operational changes may be made without departing from the spirit and scope of the present invention. The following detailed description should not be considered limiting, and the scope of embodiments of the present invention is defined only by the claims of the issued patent. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Spatially relative terms, such as "upper", "lower", "left", "right", "below", "below", "lower", "above", "upper", etc., may be used in the text to facilitate Describes the relationship of one element or feature shown in the drawings to another element or feature.
在通篇说明书中，当说某部分与另一部分“连接”时，这不仅包括“直接连接”的情形，也包括在其中间把其它元件置于其间而“间接连接”的情形。另外，当说某种部分“包括”某种构成要素时，只要没有特别相反的记载，则并非将其它构成要素，排除在外，而是意味着可以还包括其它构成要素。Throughout the specification, when it is said that a certain part is "connected" to another part, this includes not only the case of "direct connection" but also the case of "indirect connection" with other elements interposed therebetween. In addition, when it is said that a certain part "includes" a certain component, it does not mean that other components are excluded, but it means that other components may be included, unless there is a particularly contrary description.
其中提到的第一、第二及第三等术语是为了说明多样的部分、成分、区域、层及/或段而使用的，但并非限定于此。这些术语只用于把某部分、成分、区域、层或段区别于其它部分、成分、区域、层或段。因此，以下叙述的第一部分、成分、区域、层或段在不超出本发明范围的范围内，可以言及到第二部分、成分、区域、层或段。The terms first, second, and third mentioned herein are used to describe various parts, components, regions, layers, and/or sections, but are not limited thereto. These terms are only used to distinguish some part, component, region, layer or section from another part, component, region, layer or section. Therefore, a first part, component, region, layer or section described below may refer to a second part, component, region, layer or section without departing from the scope of the present invention.
再者，如同在本文中所使用的，单数形式“一”、“一个”和“该”旨在也包括复数形式，除非上下文中有相反的指示。应当进一步理解，术语“包含”、“包括”表明存在所述的特征、操作、元件、组件、项目、种类、和/或组，但不排除一个或多个其他特征、操作、元件、组件、项目、种类、和/或组的存在、出现或添加。此处使用的术语“或”和“和/或”被解释为包括性的，或意味着任一个或任何组合。因此，“A、B或C”或者“A、B和/或C”意味着“以下任一个：A；B；C；A和B；A和C；B和C；A、B和C”。仅当元件、功能或操作的组合在某些方式下内在地互相排斥时，才会出现该定义的例外。Furthermore, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms "comprising", "comprising" indicate the presence of stated features, operations, elements, components, items, species, and/or groups, but do not exclude one or more other features, operations, elements, components, Existence, occurrence, or addition of items, categories, and/or groups. The terms "or" and "and/or" as used herein are to be construed as inclusive, or to mean either one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C" . Exceptions to this definition will only occur when combinations of elements, functions or operations are inherently mutually exclusive in some way.
本发明提供一种复杂曲面轮廓测量系统，本发明通过覆盖一视角范围的激光采集系统、可旋转的转台、可供转台沿Y轴运动的运动机构以及可供激光采集系统可沿Z轴运动的运动机构，实现激光采集系统坐标系和待测复杂曲面坐标系统一，并通过控制器控制所述转台、第一运动机构以及第二运动机构中的一种或多种进行相应的补偿运动，实现了自动对复杂曲面整体的三维轮廓测量，并保证了测量效率以及测量精度。The invention provides a complex curved surface profile measurement system. The invention uses a laser acquisition system covering a range of viewing angles, a rotatable turntable, a movement mechanism for the turntable to move along the Y axis, and a movement mechanism for the laser acquisition system to move along the Z axis. The motion mechanism realizes the coordinate system of the laser acquisition system and the coordinate system of the complex curved surface to be measured, and controls one or more of the turntable, the first motion mechanism and the second motion mechanism to perform corresponding compensation motions through the controller to realize It realizes the automatic three-dimensional contour measurement of complex curved surfaces, and ensures the measurement efficiency and measurement accuracy.
下面以附图为参考，针对本发明的实施例进行详细说明，以便本发明所述技术领域的技术人员能够容易地实施。本发明可以以多种不同形态体现，并不限于此处说明的实施例。The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, so that those skilled in the technical field of the present invention can easily implement them. The present invention can be embodied in various forms and is not limited to the embodiments described here.
如图1展示本发明实施例中的一种复杂曲面轮廓测量系统的结构示意图。FIG. 1 shows a schematic structural diagram of a complex curved surface profile measurement system in an embodiment of the present invention.
该系统对应有一系统坐标系，包括：X轴、Y轴以及Z轴，且X轴、Y轴以及Z轴相互垂直。The system corresponds to a system coordinate system, including: X-axis, Y-axis and Z-axis, and the X-axis, Y-axis and Z-axis are perpendicular to each other.
所述系统包括：The system includes:
转台11，用于带动待测复杂曲面10以该系统坐标系下的Z轴为中心转动；其中，所述待测复杂曲面10的水平基准面垂直于Z轴；The turntable 11 is used to drive the complex curved surface 10 to be measured to rotate around the Z axis under the system coordinate system; wherein, the horizontal reference plane of the complex curved surface 10 to be measured is perpendicular to the Z axis;
第一运动机构12，用于带动固定在其上的所述转台11沿该系统坐标系下的Y轴方向运动；优选的，第一运动机构上设有沿Y轴延伸的移动轨道，所述转台设于所述移动轨道上，且利用第一运动机构带动所述转台沿Y轴运动；The first motion mechanism 12 is used to drive the said turntable 11 fixed thereon to move along the Y-axis direction under the system coordinate system; preferably, the first motion mechanism is provided with a moving track extending along the Y-axis, said The turntable is arranged on the moving track, and the first movement mechanism is used to drive the turntable to move along the Y axis;
覆盖一视角范围的激光采集系统13，其激光面垂直于Z轴，用于采集所述待测复杂曲面的轮廓数据；A laser acquisition system 13 covering a range of viewing angles, the laser plane of which is perpendicular to the Z-axis, for collecting the profile data of the complex curved surface to be measured;
第二运动机构14，以供带动固定在其上的激光采集系统13沿所述Z轴方向运动；优选的，第二运动机构上设有沿Z轴延伸的移动轨道，所述激光采集系统13设于所述移动轨道上，且利用第二运动机构带动激光采集系统13沿所述Z轴方向运动；The second motion mechanism 14 is used to drive the laser collection system 13 fixed thereon to move along the Z-axis direction; preferably, the second motion mechanism is provided with a moving track extending along the Z-axis, and the laser collection system 13 set on the moving track, and use the second movement mechanism to drive the laser acquisition system 13 to move along the Z-axis direction;
控制器，连接所述转台11、第一运动机构12以及第二运动机构14，用于控制所述所述转台11、第一运动机构12以及第二运动机构14中的一种或多种进行相应的补偿运动，以供所述激光采集系统13采集到用于获得所述待测复杂曲面整体轮廓的轮廓数据。需要说明的是，图1的控制器置于所述控制柜内，但是控制器的设置位置不仅限于图1，本发明对此不作限定。The controller is connected to the turntable 11, the first movement mechanism 12 and the second movement mechanism 14, and is used to control one or more of the turntable 11, the first movement mechanism 12 and the second movement mechanism 14 to perform The corresponding compensation movement is used for the laser collection system 13 to collect the contour data used to obtain the overall contour of the complex curved surface to be measured. It should be noted that the controller in FIG. 1 is placed in the control cabinet, but the location of the controller is not limited to that in FIG. 1 , which is not limited in the present invention.
可选的，所述激光采集系统13包括：激光面处于同一平面的至少三个激光传感器，且共覆盖一视角范围；各激光传感器依次设置于所述第一运动机构上；优选的，各激光器在平面的180度范围内设置，其所覆盖的视角范围大于等于180度。如图2所示为三个传感器设置示意图。Optionally, the laser acquisition system 13 includes: at least three laser sensors whose laser surfaces are on the same plane, and cover a viewing angle range; each laser sensor is sequentially arranged on the first movement mechanism; preferably, each laser It is set within 180 degrees of the plane, and the viewing angle range it covers is greater than or equal to 180 degrees. Figure 2 is a schematic diagram of three sensor setups.
需要说明的是，在轮廓测量前需要进行运动机构误差的校准以及通过标定方法实现各激光传感器坐标系和被测三维复杂曲面坐标系的统一，即调节各激光传感器的激光面处于同一平面且垂直于第二运动机构所对应的Z轴，以保证坐标系的统一。It should be noted that before the contour measurement, it is necessary to calibrate the error of the motion mechanism and realize the unification of the coordinate system of each laser sensor and the coordinate system of the measured three-dimensional complex surface through the calibration method, that is, adjust the laser surface of each laser sensor to be on the same plane and vertical The Z axis corresponding to the second kinematic mechanism ensures the unity of the coordinate system.
可选的，由于复杂曲面一般具有相对的局部细节区域需要重点关注，只是通过全局采集并不能详细的描述该区域的特征，导致待测复杂曲面的轮廓计算不准确；因此所述激光采集系统13包括：Optionally, because complex curved surfaces generally have relatively local detail areas that need to be focused on, but the characteristics of the region cannot be described in detail through global acquisition, resulting in inaccurate calculation of the contour of the complex curved surface to be measured; therefore, the laser acquisition system 13 include:
至少两个局部激光传感器，用于采集所述待测复杂曲面的局部细节区域的轮廓数据；令两个局部激光传感器的激光角度面向待测复杂曲面的局部细节区域，可以实现局部细节区域更全面的轮廓数据采集，进而可以获得更准确的轮廓。需要说明的是，局部细节区域的大小及形状对应不同尺寸的复杂曲面是各不相同，若待复杂曲面的局部细节区域的范围大则需增加局部激光传感器，若范围小则只需采用两个局部传感器即可。优选的，各局部激光传感器相邻设置。优选的，局部激光传感器等距和/或对称设置，保证局部细节区域的轮廓数据的完整采集。举例来说，如图3所示，局部细节区域为两个叶片的交叉区域，采用两个局部传感器的中心视角呈垂直设置，以保证局部细节区域的轮廓数据的完整采集。At least two local laser sensors are used to collect the contour data of the local detail area of the complex curved surface to be measured; making the laser angles of the two local laser sensors face the local detail area of the complex curved surface to be measured can realize a more comprehensive local detail area Contour data collection, and then more accurate contours can be obtained. It should be noted that the size and shape of the local detail area are different for complex surfaces of different sizes. If the range of the local detail area of the complex surface is large, a local laser sensor needs to be added; if the range is small, only two laser sensors are required. local sensors. Preferably, each local laser sensor is arranged adjacent to each other. Preferably, the local laser sensors are arranged equidistantly and/or symmetrically to ensure the complete collection of contour data of the local detail area. For example, as shown in Figure 3, the local detail area is the intersection area of two blades, and the central viewing angles of the two local sensors are vertically set to ensure the complete collection of the contour data of the local detail area.
至少一个全局激光传感器，用于采集所述待测复杂曲面的除所述局部细节区域之外的区域的轮廓数据；at least one global laser sensor, configured to collect contour data of areas other than the local detail area of the complex curved surface to be measured;
其中，各局部激光传感器以及全局激光传感器的激光面处于同一平面，且共覆盖一视角范围。Wherein, the laser planes of the local laser sensors and the global laser sensor are on the same plane and cover a viewing angle range.
可选的，所述系统还包括：曲面固定装置15为复杂曲面零件快速固定装置，设于所述转台上，用于固定设于其上的所述待测复杂曲面，以供所述待检测复杂曲面的水平基准面保持垂直于Z轴。举例来说，所述曲面固定装置为夹具装置。Optionally, the system further includes: the curved surface fixing device 15 is a fast fixing device for complex curved surface parts, which is arranged on the turntable and is used to fix the complex curved surface to be measured on it for the to-be-tested The horizontal datum plane of the complex surface remains perpendicular to the Z axis. For example, the curved surface fixing device is a clamp device.
当利用曲面固定装置15将所述待检测复杂曲面固定之后使其水平基准面保持垂直于Z轴后，需要标定待检测复杂曲面的水平基准面；基准面通过激光采集系统13进行标定，还可以借助一系列标准量具(如塞尺、圆柱、球、圆锥等)实现，举例来说，为固定塞尺后选择不同角度测量塞尺的长短边，并采集激光采集系统的数据，对激光采集系统的数据作线性拟合可以得到不同传感器坐标系间的夹角；固定圆柱后采集数据，经过圆拟合计算不同坐标系下圆心位置，进而得到激光采集系统中的不同传感器坐标系的X-Y平面上的X方向偏移量和Y方向偏移量；固定圆球后采集数据，经过圆拟合计算激光采集系统中不同传感器坐标系下圆的半径大小，得到激光采集系统中的不同传感器坐标系的Z方向偏移量。After utilizing the curved surface fixing device 15 to fix the complex curved surface to be detected so that its horizontal reference plane remains perpendicular to the Z axis, it is necessary to calibrate the horizontal reference plane of the complex curved surface to be detected; the reference plane is calibrated by the laser acquisition system 13, and can also be Realized by means of a series of standard measuring tools (such as feeler gauge, cylinder, ball, cone, etc.). The angle between different sensor coordinate systems can be obtained by linear fitting of the data; the data is collected after fixing the cylinder, and the center position of the circle in different coordinate systems is calculated through circle fitting, and then the X-Y plane of different sensor coordinate systems in the laser acquisition system is obtained. The X-direction offset and the Y-direction offset; after the ball is fixed, the data is collected, and the radius of the circle under different sensor coordinate systems in the laser acquisition system is calculated through circle fitting, and the different sensor coordinate systems in the laser acquisition system are obtained. Offset in Z direction.
可选的，所述控制器包括：Optionally, the controller includes:
数据获取模块，用于获取所述待测复杂曲面的水平基准面的高度位置、所述转台11当前的Y轴位置以及视角范围；具体的，由于所述待测复杂曲面的水平基准面已经被标定，因此获取标定后的水平基准面的沿Z轴的高度位置；获取所述转台11当前的Y轴位置并获取所述视角范围，所述视角范围对应一视角，例如180度。The data acquisition module is used to obtain the height position of the horizontal reference plane of the complex curved surface to be measured, the current Y-axis position of the turntable 11 and the viewing angle range; specifically, since the horizontal reference plane of the complex curved surface to be measured has been Calibration, thus obtaining the height position along the Z-axis of the calibrated horizontal reference plane; obtaining the current Y-axis position of the turntable 11 and obtaining the viewing angle range, the viewing angle range corresponds to a viewing angle, for example, 180 degrees.
控制模块，连接所述数据获取模块，用于根据所述待测复杂曲面的水平基准面的高度位置、所述转台11当前的Y轴位置以及所述视角范围控制所述所述转台11、第一运动机构12以及第二运动机构14中的一种或多种进行相应的补偿运动，以供所述激光采集系统13采集到用于获得所述待测复杂曲面整体轮廓的轮廓数据。The control module is connected to the data acquisition module, and is used to control the turntable 11, the second turntable 11 and the viewing angle range according to the height position of the horizontal reference plane of the complex curved surface to be measured, the current Y-axis position of the turntable 11, and the viewing angle range. One or more of the first motion mechanism 12 and the second motion mechanism 14 perform corresponding compensation motions for the laser acquisition system 13 to collect profile data for obtaining the overall profile of the complex curved surface to be measured.
可选的，所述控制模块包括：Optionally, the control module includes:
Y轴补偿运动控制单元，用于由激光采集系统所覆盖的视角范围确定最佳测量位置，并控制所述第一运动机构带动所述转台从当前的Y轴位置沿Y轴方向运动至最佳测量位置；具体的，由激光采集系统所覆盖的视角范围来确定最佳测量位置，例如如图4所示，由于视角范围所对应的为180度平面半圆，且选择直径中心原点A为最佳测量位置，则使转台的圆心从当前的Y轴位置沿Y轴方向运动至最佳测量位置A。The Y-axis compensation motion control unit is used to determine the best measurement position from the viewing angle range covered by the laser acquisition system, and control the first movement mechanism to drive the turntable to move from the current Y-axis position along the Y-axis direction to the best position. Measurement position; specifically, the best measurement position is determined by the viewing angle range covered by the laser acquisition system, for example, as shown in Figure 4, since the viewing angle range corresponds to a 180-degree plane semicircle, and the diameter center origin A is selected as the best The measurement position is to move the center of the turntable from the current Y-axis position to the best measurement position A along the Y-axis direction.
Z轴补偿运动控制单元，用于由所述待测复杂曲面的尺寸信息确定检测高度限制值位置，并控制所述第二运动机构带动所述激光采集系统沿所述Z轴方向从所述水平基准面所对应的高度值位置运动至检测高度限制值位置；具体的，由于水平基准面的高度位置已经确定，根据所述待测复杂曲面的尺寸信息确定待测复杂曲面的最高位置，以作为检测高度限制值位置，则令所述所述第二运动机构带动所述激光采集系统沿所述Z轴方向从所述水平基准面所对应的高度值位置运动至检测高度限制值位置，进而实现采集Z方向待检测复杂曲面轮廓的采集。The Z-axis compensation motion control unit is used to determine the detection height limit value position according to the size information of the complex curved surface to be measured, and control the second motion mechanism to drive the laser acquisition system from the horizontal to the Z-axis direction. The height value position corresponding to the datum plane moves to the detection height limit value position; specifically, since the height position of the horizontal datum plane has been determined, the highest position of the complex curved surface to be measured is determined according to the size information of the complex curved surface to be measured, as Detecting the position of the height limit value, the second motion mechanism drives the laser acquisition system to move along the Z-axis direction from the position of the height value corresponding to the horizontal reference plane to the position of the detection height limit value, thereby realizing Collect the contour of the complex surface to be detected in the Z direction.
补偿转动控制单元，用于由所述视角范围确定未覆盖视角范围，并控制所述转台进行一或多次转动，以供所述激光采集系统覆盖所述未覆盖视角范围。由于所述视角范围对应一视角且该视角可以确定，则利用360度减去该视角就可以获得当前激光采集系统的未覆盖视角范围，进而控制转台转动以供所述激光采集系统覆盖所述未覆盖视角范围，采集待测复杂曲面整体轮廓的轮廓数据。举例来说，如图5所示，当前激光采集系统覆盖的视角范围所对应的视角为180度，则未覆盖视角范围所对应的视角为180度，则控制转台转动180度以供所述激光采集系统覆盖所述未覆盖视角范围。一般来说，三个激光传感器所覆盖的最大视角是有限制的并不能涉及到360度的范围，因此我们只需通过自动调整转台转动就可以实现仅通过三个激光传感器就能实现覆盖全视角范围，相比起需增加传感器来实现覆盖全视角范围的现有技术来说，可以减少成本且保证采集轮廓数据的效率。The compensating rotation control unit is configured to determine an uncovered viewing angle range based on the viewing angle range, and control the turntable to perform one or more rotations so that the laser collection system can cover the uncovered viewing angle range. Since the viewing angle range corresponds to a viewing angle and the viewing angle can be determined, the uncovered viewing angle range of the current laser collection system can be obtained by subtracting the viewing angle from 360 degrees, and then the rotation of the turntable is controlled so that the laser collection system can cover the uncovered viewing angle range. Cover the range of viewing angles and collect the profile data of the overall profile of the complex surface to be measured. For example, as shown in Figure 5, the viewing angle corresponding to the viewing angle range covered by the current laser acquisition system is 180 degrees, then the viewing angle corresponding to the uncovered viewing angle range is 180 degrees, then the control turntable rotates 180 degrees for the laser The acquisition system covers the uncovered viewing angle range. Generally speaking, the maximum viewing angle covered by the three laser sensors is limited and cannot cover a 360-degree range, so we only need to automatically adjust the rotation of the turntable to achieve full coverage with only three laser sensors Compared with the existing technology that needs to increase the sensor to cover the full viewing angle range, it can reduce the cost and ensure the efficiency of collecting contour data.
由于通过Z轴补偿运动控制单元控制所述第二运动机构带动所述激光采集系统沿所述Z轴方向运动可实现采集Z方向待检测复杂曲面轮廓的采集，且通过补偿转动控制单元自动调整转台转动就可以实现仅通过三个激光传感器就能实现覆盖全视角范围，因此可以实现待测复杂曲面整体轮廓的轮廓数据采集。Since the second motion mechanism is controlled by the Z-axis compensation motion control unit to drive the laser acquisition system to move along the Z-axis direction, the acquisition of the contour of the complex curved surface to be detected in the Z direction can be achieved, and the turntable is automatically adjusted by the compensation rotation control unit The rotation can realize the coverage of the full viewing angle range with only three laser sensors, so the contour data acquisition of the overall contour of the complex curved surface to be measured can be realized.
可选的，所述系统还包括：数据处理装置，连接所述激光采集系统，用于将所述激光采集系统采集到的轮廓数据进行拼合以及预处理，获得所述待测复杂曲面的整体轮廓。具体的，由于个激光传感器激光面处于同一平面，因此可以直接将其采集的对应同一沿Z轴高度值得轮廓数据进行拼合并进行预处理就可以获得所述待测复杂曲面的整体轮廓，使得轮廓还原效率大大的提高，并且保证了精准的准确度。Optionally, the system further includes: a data processing device, connected to the laser acquisition system, for merging and preprocessing the profile data collected by the laser acquisition system, to obtain the overall profile of the complex curved surface to be measured . Specifically, since the laser surfaces of the two laser sensors are on the same plane, the collected profile data corresponding to the same height along the Z axis can be directly merged and preprocessed to obtain the overall profile of the complex curved surface to be measured, so that the profile The reduction efficiency is greatly improved, and precise accuracy is guaranteed.
可选的，所述第一运动机构设置有用于确定所述转台当前的Y轴位置的光栅尺16；和/或，所述第二运动机构设置有用于确定水平基准面所对应的基准高度位置以及所述激光采集系统的当前的高度值位置的光栅尺17。Optionally, the first movement mechanism is provided with a grating scale 16 for determining the current Y-axis position of the turntable; and/or, the second movement mechanism is provided with a reference height position corresponding to the horizontal reference plane And the grating ruler 17 of the current height value position of the laser acquisition system.
为了更好的描述所述复杂曲面轮廓测量系统，提供具体实施例；In order to better describe the complex surface profile measurement system, specific embodiments are provided;
实施例1：一种基于多激光传感器的叶片轮廓测量系统。图6为叶片轮廓测量系统的结构示意图。Embodiment 1: A blade profile measurement system based on multiple laser sensors. Fig. 6 is a schematic structural diagram of the blade profile measurement system.
所述系统包括：The system includes:
大理石平台2，其上设有Y轴运动机构3、轮廓传感器4、轮廓传感器5、设于大理石立柱6上的Z轴运动机构7、Z轴光栅尺8、轮廓传感器9、轮廓传感器10、被测叶片11、快速装夹机构12、精密转台13以及Y轴光栅尺14；设于控制柜1的控制器。The marble platform 2 is provided with a Y-axis motion mechanism 3, a contour sensor 4, a contour sensor 5, a Z-axis motion mechanism 7 on a marble column 6, a Z-axis grating ruler 8, a contour sensor 9, a contour sensor 10, and a Measuring blade 11, quick clamping mechanism 12, precision turntable 13 and Y-axis grating ruler 14;
轮廓测量传感器4、5、9以及10按一定角度分布在同一平面内用来同时采集截面轮廓数据；一个精密转台13和带光栅尺(14,8)的Y轴运动机构3和Z轴运动机构7用来产生被测叶片与多激光传感器之间的三轴相对运动；系统软件用以控制运动机构和传感器数据的采集。被测叶片可以随转台13转动。转台13在Y轴运动机构3上运动。四个轮廓测量传感器4，5，9，10安装在Z轴运动机构7上，可以在Z方向运动。用一系列标准量具实现对运动机构和转台运动过程的几何误差补偿以及对运动机构和转台坐标系到多轮廓测量传感器坐标系的标定和统一。其中，轮廓测量传感器4，5，9，10均为线激光测量仪，可以一次采集大量数据点。Profile measuring sensors 4, 5, 9 and 10 are distributed in the same plane at a certain angle to simultaneously collect cross-sectional profile data; a precision turntable 13 and a Y-axis motion mechanism 3 and a Z-axis motion mechanism with grating rulers (14, 8) 7 is used to generate the three-axis relative motion between the measured blade and the multi-laser sensor; the system software is used to control the motion mechanism and the acquisition of sensor data. The blade to be tested can rotate with the turntable 13 . The turntable 13 moves on the Y-axis motion mechanism 3 . Four profile measurement sensors 4, 5, 9, 10 are mounted on the Z-axis motion mechanism 7 and can move in the Z direction. A series of standard measuring tools are used to realize the geometric error compensation of the kinematic mechanism and the turntable movement process, as well as the calibration and unification of the kinematic mechanism and turntable coordinate system to the multi-contour measurement sensor coordinate system. Among them, the profile measurement sensors 4, 5, 9, and 10 are all line laser measuring instruments, which can collect a large number of data points at one time.
具体测量步骤如下：The specific measurement steps are as follows:
(1)叶片的固定和基准面确定(1) Fixing of the blade and determination of the reference plane
测量前将其用特制的快速装夹机构12固定在转台13上，并用轮廓测量传感器标定其基准面。快速装夹机构能够与叶片的榫头咬合紧密，保证叶片测量过程中的稳定。基准面的确定借助轮廓测量传感器实现，当轮廓测量传感器I-IV随着Z轴运动刚采集到快速装夹机构12的轮廓时，以此时Z轴光栅尺8的示数为基准。Before the measurement, it is fixed on the turntable 13 with a special fast clamping mechanism 12, and its reference plane is calibrated with a profile measurement sensor. The quick clamping mechanism can be tightly engaged with the tenon of the blade to ensure the stability of the blade during measurement. The determination of the reference plane is realized by means of the profile measurement sensor. When the profile measurement sensors I-IV have just collected the profile of the quick clamping mechanism 12 along with the Z-axis movement, the indication of the Z-axis grating ruler 8 at this time is taken as a reference.
(2)叶片的自适应测量(2) Adaptive measurement of blades
在软件中选取不同Z值即可对叶片基于基准面不同高度处的截面进行测量。对截面测量时，控制器根据轮廓测量传感器I-IV上采集到的数据点在传感器坐标系上的分布，调整精密转台13的转动角度和Y轴运动机构3以改变叶片的位置和朝向角度，最终在每个传感器坐标系中，叶片轮廓数据均在图7所示的轮廓测量传感器协作测量区域中的最佳位置。By selecting different Z values in the software, the section of the blade at different heights based on the reference plane can be measured. When measuring the section, the controller adjusts the rotation angle of the precision turntable 13 and the Y-axis motion mechanism 3 to change the position and orientation angle of the blade according to the distribution of the data points collected by the profile measurement sensors I-IV on the sensor coordinate system. Finally, in each sensor coordinate system, the blade profile data is in the best position in the collaborative measurement area of the profile measurement sensors shown in FIG. 7 .
该测量系统可用在车间现场，进而在恒温、恒湿等严格的环境下进行测量。The measurement system can be used on the workshop site to perform measurements in strict environments such as constant temperature and humidity.
综上所述，本发明的复杂曲面轮廓测量系统，通本发明通过覆盖一视角范围的激光采集系统、可旋转的转台、可供转台沿Y轴运动的运动机构以及可供激光采集系统可沿Z轴运动的运动机构，实现激光采集系统坐标系和待测复杂曲面坐标系统一，并通过控制器控制所述转台、第一运动机构以及第二运动机构中的一种或多种进行相应的补偿运动，实现了自动对复杂曲面整体的三维轮廓测量，并保证了测量效率以及测量精度。所以，本发明有效克服了现有技术中的种种缺点而具高度产业利用价值。In summary, the complex curved surface profile measurement system of the present invention, through the present invention, covers a range of viewing angles through the laser acquisition system, the rotatable turntable, the movement mechanism that allows the turntable to move along the Y axis, and the laser acquisition system that can be used along the The motion mechanism of the Z-axis motion realizes the coordinate system of the laser acquisition system and the coordinate system of the complex curved surface to be measured, and controls one or more of the turntable, the first motion mechanism and the second motion mechanism through the controller to perform corresponding Compensation motion realizes the automatic three-dimensional contour measurement of complex curved surfaces, and ensures measurement efficiency and measurement accuracy. Therefore, the present invention effectively overcomes various shortcomings in the prior art and has high industrial application value.
上述实施例仅示例性说明本发明的原理及其功效，而非用于限制本发明。任何熟悉此技术的人士皆可在不违背本发明的精神及范畴下，对上述实施例进行修饰或改变。因此，但凡所属技术领域中具有通常知识者在未脱离本发明所揭示的精神与技术思想下所完成的一切等效修饰或改变，仍应由本发明的权利要求所涵盖。The above-mentioned embodiments only illustrate the principles and effects of the present invention, but are not intended to limit the present invention. Anyone skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical ideas disclosed in the present invention shall still be covered by the claims of the present invention.
| Application Number | Priority Date | Filing Date | Title |
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| CN202111307797.6ACN114018174B (en) | 2021-11-05 | 2021-11-05 | Complex curved surface contour measuring system |
| Application Number | Priority Date | Filing Date | Title |
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| CN202111307797.6ACN114018174B (en) | 2021-11-05 | 2021-11-05 | Complex curved surface contour measuring system |
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| CN202111307797.6AActiveCN114018174B (en) | 2021-11-05 | 2021-11-05 | Complex curved surface contour measuring system |
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