WO2007073650A1

WO2007073650A1 - A measuring system for inner diameter of axle hole

Info

Publication number: WO2007073650A1
Application number: PCT/CN2006/002418
Authority: WO
Inventors: Rentong Han; Li Chen; Fengguo Zhao; Zi Ma; Jin Huang; Ying Hu; Xu Zhang; Aiguo Li
Original assignee: Bohai Shipbuilding Industry Co., Ltd.
Priority date: 2005-12-27
Filing date: 2006-09-15
Publication date: 2007-07-05
Also published as: JP4658144B2; CN1789907A; DE112006003388B4; DE112006003388T5; JP2008517301A

Abstract

A measuring system for inner diameter of axle hole comprises a measuring apparatus, a laser measuring head, a laser ranger, an electric control system and an industrial control computer. The measuring apparatus comprises four stepmotors which drive a measuring car moving along the shaft of axle hole in axial direction, a measuring carriage translating, the measuring carriage lifting and the laser measuring head rotating respectively, the measuring car makes up of the measuring apparatus. The laser measuring head is used to measure and generate measuring data. The laser ranger is used to detect a forward distance of the measuring car in axial direction. The electric control system control the electrical interface and switch of the stepmotor, the laser measuring head and the industrial control computer. The industrial control computer is used to control data acquisition and processing and measuring process.

Description

Shaft hole inner diameter measuring system

The present invention relates to a method for measuring the size of an aperture, and more particularly to a shaft bore inner diameter measuring system. Background technique

In the shipbuilding process, the shaft hole needs to be machined, and the shaft hole size is wide, the inner diameter is Φ 500mm - Φ 1500mm, and the hole depth is 10m. Usually, manual contact measurement is used, which is time consuming and laborious. Summary of the invention

The technical problem to be solved by the present invention is to provide a shaft hole inner diameter measuring system capable of automatically detecting a comprehensive index of diameter, roundness, cylindricity and taper, and quickly measuring.

According to an aspect of the present invention, there is provided a shaft hole inner diameter measuring system comprising: a measuring device for measuring an inner diameter of a shaft hole, the measuring device comprising a laser probe, the laser probe Mounted on the measuring device substantially rotatably about the central axis of the shaft hole; a measuring frame movable axially along the shaft hole; and an adjusting device mounted on the measuring frame, wherein the laser measuring head is adjusted by adjusting the adjusting device The center of rotation coincides with the center of the hole being measured.

According to another aspect of the present invention, the present invention provides a shaft bore inner diameter measuring system including a measuring mechanism, a laser probe, a laser range finder, an electronic control system, and an industrial control computer. The measuring mechanism is an actuator of the measuring system, which is composed of a measuring vehicle and a measuring frame. The measuring mechanism is provided with four stepping motors, and the four stepping motors respectively drive the measuring vehicle to travel in the axial direction in the shaft hole, and the measuring frame shifts. The measuring frame is lifted and the laser probe is rotated. The bottom plate of the measuring vehicle is equipped with a rear driving wheel. The front part is equipped with a universal ball. The driving drive motor drives the driving wheel to walk. The suction plate type electromagnet is installed under the bottom plate of the measuring vehicle. A positioning card cutter is arranged on both sides thereof, and the suction cup type electromagnet is sucked into the wall of the hole to be tested before the measurement work is performed, and the positioning card knife clamps the positioning card knife and the inner wall of the hole to be measured by the compression spring, so as to make the measurement The car is positioned parallel to the shaft hole being measured. The measuring frame is composed of a translation stage, an axial screw rod, a lifting seat, a radial screw rod, a radial guide column and a transmission gear. The translation stage is laid on the axial guide provided on the bottom plate of the measuring vehicle, and the translation drive motor drives the axial screw to drive the translation stage connected thereto to translate axially. The translation stage is equipped with a transmission gear, and the lifting drive motor drives the transmission gear, and the transmission gear drives the radial screw of the assembly to rotate. The lifting seat on the radial screw rod is raised or lowered along the radial guide column by the nut and the screw drive.

The laser probe is a measuring component of the measuring system, and the laser probe is two. The two laser probes are respectively mounted on the two ends of the rotating shaft through the rotating arm, and the rotating driving motor and the rotary coding are respectively arranged on both sides of the rotating shaft. The rotating shaft is mounted on the lifting platform, and the lifting platform is fixed on the lifting seat. The rotating driving motor drives the rotating shaft to rotate the arm to drive the laser probe to perform circular motion.

The laser range finder is for detecting an axial advancement distance of the measuring vehicle. The laser axial position indexing plate is coupled to the lifting base or to the rotating arm, and the axial advancement distance of the measuring vehicle is detected by a laser axial position calibration disk and a laser range finder.

The electronic control system is used for electrical connection and switch control of a stepping motor, a laser probe, an industrial control computer, and the stepping motor and the laser probe of the measuring mechanism are connected by an electric signal line to an electronic control system, through the volume The line machine releases and recovers the power signal line as the vehicle is measured.

The industrial control computer is used for measuring the measurement process of the system. The process of collecting data is to control the laser probe to communicate data through the USB interface and the laser probe controller under the control of the industrial control computer. The axial travel of the measuring mechanism is completed by the host computer issuing a control signal to the stepping motor driver through the motor control card. In order to ensure the safe operation of the measuring mechanism, the lifting and lowering limit switches are set. A rotary encoder is used to determine the angular position corresponding to the data acquisition.

The above industrial control computer is a measurement system control software developed in the environment of VC.Net in C++ language. The modular system design allows users to interactively manipulate data in real time. Measurement system control software, including human-computer interaction control main control module, main control module sub-measurement mechanism motion control module, laser probe setting module, scanning control module, three-dimensional display basic module, measurement data processing module, measurement data reporting module, File I/O module, math operation module. . ' - ·

The above-mentioned industrial control computer measurement system control software, its software flow:

Start the control interface and input the basic parameters of the workpiece;

Select laser probe parameters;

Automatically adjust the height of the lifting platform of the measuring mechanism, so that the rotation center line of the measuring mechanism coincides with the axis of the measured axis'. Start the measurement program and start measuring;

Storing scan data of the laser probe;

Performing interactive display on the measurement data;

Feature extraction in the area that you want to measure; Displaying measurement results of each measurement point at a plurality of determined measurement points;

Display/print measurement report ends;

When the measurement is not completed, adjust the motion control of the measuring mechanism, debug the laser probe scan, point display, and finally adjust/display the coordinate system.

The positive effect obtained by the invention is that it can automatically detect the comprehensive parameter indexes such as the diameter, roundness, cylindricity and taper of the inner diameter of the shaft hole, and can end the time-consuming and laborious measurement of the artificial contact, the measurement is fast, the precision is high, and the measuring device is compact. Easy to repair, perfect function and easy to operate. DRAWINGS

1 is a schematic view showing the overall structure of a measuring system of the present invention.

2 is a schematic structural view of a measuring mechanism of the present invention.

Figure 3 is a side view of Figure 2.

Figure 4 is a block diagram of the measurement control system of the present invention.

Figure 5 is a general framework diagram of the software designed in the present invention.

Figure 6 is a flow chart of the software of the present invention.

Figure 7 is a diagram of the human machine interface.

Figure 8 is a diagram of the parameter setting dialog box.

Figure 9 is a three-dimensional display.

Figure 10 is a measurement report diagram. detailed description

The shaft hole inner diameter measuring system comprises a measuring mechanism 1, a laser probe 2, a laser range finder 3, an electronic control system 4 and an industrial control computer 5. The measuring mechanism 1 is an actuator of the measuring system, and is composed of a measuring vehicle 8 and a measuring frame 14. The measuring mechanism is provided with four stepping motors, and the four stepping motors respectively drive the measuring cart 8 in the axial hole 7 along the axial direction. The walking, measuring frame 14 translation, lifting seat 17 lifting and laser probe 2 rotation, the bottom plate of the measuring vehicle 8 is equipped with a rear driving wheel 9, and the front portion is equipped with a universal ball 10, and the traveling drive motor 11 is driven by a flexible shaft drive. The driving wheel 9 is driven, and a suction cup type electromagnet 12 is disposed under the bottom plate of the measuring vehicle 8, and a positioning card cutter 13 is disposed on both sides thereof, and the suction cup type electromagnet 12 is sucked into the wall of the measured hole before the measurement work is performed. The positioning card cutter 13 clamps the positioning card cutter 13 to the inner wall of the hole to be measured by a compression spring to position the measuring vehicle in parallel with the shaft hole to be measured. The measuring frame 14 is composed of a translation stage 15, an axial screw 16, a lifting base 17, a radial screw 18, a radial guide 19 and a transmission gear 20 to make. The translation stage 15 is laid on the axial guide 21 provided on the bottom plate of the measuring vehicle 8. The translation drive motor 22 drives the axial screw 16 to drive the translation stage 15 connected thereto to translate axially. The translating table 15 is provided with a transmission gear 20, and the lifting and driving motor 23 drives the transmission gear 20 to rotate the radial screw 18 assembled therewith, and the lifting seat 17 mounted on the radial screw 18 is guided radially through the nut and the screw. The column 19 is raised or lowered.

The laser probe is a measuring component of the measuring system, and measures and generates measurement data. The laser probes 2 are two, and the two laser probes 2 are respectively mounted on the two ends of the rotating shaft 25 through the rotating arm 24, and the rotating shaft 25 The two sides are respectively provided with a hollow type rotary drive motor 26 and a hollow type rotary encoder 27, and the rotary shaft 25 is mounted on the lifting platform 28, and the lifting platform 28 is fixed on the lifting base 17, and the lifting base 17 is further A laser axial position indexing plate 29 is connected, and the rotary drive motor 26 drives the rotating shaft 25 to cause the rotating arm 24 to drive the laser probe 2 to perform a circular motion.

The laser range finder 3 is for detecting an axial advancement distance of the measuring vehicle 8. Provides closed loop detection for axial motion control of measuring mechanism 1. The electronic control system 4 is used for electrical connection and switch control of the stepping motor, the laser probe 2, the industrial control computer 5, and the stepping motor and the laser probe 2 of the measuring mechanism are connected by the power signal line 30. The control system 4 releases and recovers the power signal line 30 by the winding machine 31 along with the progress of the measuring vehicle 8.

The industrial control computer 5 is used to measure the measurement process of the system, as shown in FIG. The process of collecting data is to control the laser probe 2 to perform data collection by communicating with the laser probe controller 32 through the USB interface I under the control of the industrial control computer 5. The axial walking process of the measuring mechanism 1 is detected by the laser range finder 3, and the distance information is fed back through the USB interface II to participate in the control. The motion control process of the measuring mechanism 1 is performed by the upper computer through the stepping motor control card 33 via the interface card 38 to the stepping motor drivers 34, 35, 36, 37 to complete the travel drive motor 11, the lift drive motor 23 , 'translation of the drive motor 22, the rotary drive motor 26. In order to ensure the safe operation of the measuring mechanism, a lifting limit switch 39 and an axial translation limit switch 40 are provided. Rotary encoder 27 is used to determine the angular position corresponding to the data acquisition. The industrial control computer is a measurement system control software developed in the environment of VC.Net in C++ language. It adopts object-oriented design, which makes the software part extremely scalable. Give full play to the efficient features of the C++ language and ensure the real-time performance of the measurement system. Modular system design for easy updating and maintenance. The 3D data display part adopts OpenGL technology, and the user can perform real-time data interactive operation on the touch screen 6. The control software of the control measurement system (see Figure 5), including the human-computer interaction control main control module, the main control module, the sub-measurement mechanism motion control module, the laser probe setting module, the scanning control module, the three-dimensional display basic module, and the measurement data processing Module, measurement data reporting module, file I/O module, math operation module. Industrial control meter The measurement system control software of the computer, the software flow is shown in Figure 6. The human-machine interface is started (see Figure 7). The human-machine interface is designed in Windows XP style and is divided into main menu, parameter setting area, measurement control area, 3D display area and measurement result area. Input the basic parameters of the workpiece through the parameter setting dialog box (see Figure 8); select the laser probe parameters; automatically adjust the height of the lifting platform of the measuring mechanism, so that the rotation center line of the measuring mechanism coincides with the core line of the measured axis; The measurement program starts measuring; the scanning data of the laser probe is stored; the measurement data is operated to realize interactive display (see Fig. 9); the feature extraction is performed in the area to be measured; and the measurement points are displayed at a plurality of determined measuring points. Measurement results; display/print measurement report (see Figure 10) ends.

According to some embodiments of the present invention, the three-dimensional data display portion adopts OpenGL technology and multi-threading technology, and the user can perform interactive operations on the data in real time. The software module includes: human-computer interaction module, main control module, mechanism motion control module, laser probe setting module, scanning control module, measurement data processing module, three-dimensional display module, measurement data analysis and reporting module, file 1\0 module and Mathematical operation module. The human-computer interaction module is responsible for handling the processing of user input information and the response of interactive operations. The main control module is responsible for scheduling and data transfer between modules. The mechanism motion control module implements motion control of the measuring mechanism. The laser probe setting module is responsible for setting the measurement parameters of the laser sensor. The scan control module is responsible for the control of the measurement process, including scheduling the motion mechanism, controlling the probe measurement, and generating measurement data. The measurement data processing module is responsible for distortion correction and error compensation of the measured data. The 3D display module is responsible for realizing the 3D display of the data. The measurement data analysis and reporting module is responsible for implementing data analysis and generating measurement reports. The file ι\ο module is responsible for saving the measurement data in a variety of formats for further analysis and processing, as well as importing measurement data files for off-line analysis and printing of measurement reports. The math operation module contains the math operation support functions required by the system.

According to some embodiments of the invention, the basic workflow of the system is as follows: The measuring mechanism is placed in the hole to be tested. The system is powered on. Turn on the master computer and run the measurement program. The basic parameters are measured by human-computer interaction input, and the measurement parameters of the probe are set by the laser probe setting module to start measurement. The main control module of the software system schedules the measurement control module to start measurement. The measurement control module controls the measurement mechanism to reach the first measurement point through the electronic control system, and the control electromagnet adsorbs the measurement mechanism on the inner wall of the hole to be tested; then the measurement control module automatically adjusts the measurement arm to the measurement through the electronic control system control measurement mechanism. The initial position and adjust the rotation center of the measuring arm to the axis of the hole to be tested; next, the measurement control module controls the measuring arm to start rotating through the electronic control system, and controls the laser at a certain angle per rotation (determined by a user-set sampling rate) The probe measures one data, and after one revolution of the equivalent arm, a section measurement is completed, and the original measurement data of the section is generated. The measurement data processing module processes the data, compensates and corrects the errors generated in the measurement, and generates final measurement data. Finally, the main control module schedules the three-dimensional display module to update the display data. The measurement of such a measurement position is completed. Measurement control module passed The electronic control system controls the measuring mechanism to reach the next measuring point and repeats the above steps. Until all measurement points of the measurement point are completed. Through human-computer interaction, the user invokes the measurement data analysis and reporting module to analyze the measurement data and generate a measurement report. The user can also save the data file of this measurement through the file 1\0 module.

In other embodiments of the invention, the measurement accuracy of the system is primarily determined by the measurement accuracy of the laser probe, the accuracy of the mechanism, and the algorithm. The laser probe used in this system has a resolution of 0.5μιη. By measuring the length of the measuring arm, the measuring range of the measuring head is controlled near the zero point of the measuring head, and the highest measurement accuracy can be obtained with a maximum error of less than 5μm. The measuring system consists of two measuring heads. The compensation of the data center offset by the front and rear probes and the elliptical deformation correction of the measuring data of each measuring head can control the error of the measuring mechanism within 5μπι, so the measurement resolution can reach 10μιη.

The following is a detailed description of the actual measurement process using the measurement method according to the invention:

Step 1: Preparation before measurement '

(1) Clean the hole to be tested.

(2) Take out the measuring mechanism from the protective box and complete the installation and wiring of the laser probe.

(3) Place the measuring car in the hole to be tested, power on the system, and start the control computer. At this point, the laser head starts to work and emits a red visible laser with a wavelength of 650 nm. The laser intensity has an adaptive adjustment capability. The CCD sensor on the probe automatically adjusts the intensity of the laser based on the size of the captured spot image, and the best measurement results have been obtained.

Step 2: Enter the measurement parameters

(1) Measuring ship type: 17.4 million tons

(2) Measurement temperature: 20 ° C

(3) Sampling rate: Γ / step

(4) Step size: 30CM

Step 3: Measure

(1) Adjust the attitude of the measuring machine 通过 by the mechanism adjustment function of the control system so that the direction of the laser beam is substantially parallel to the position of the lifting rail.

(2) Sending a measurement command to the probe controller. The laser source in the probe emits a red visible laser with a wavelength of 650 nm. The laser line is incident on the inner surface of the tube wall to be tested, and a red bright spot is formed at the intersection. The CCD sensor in the probe captures the image containing the bright spot, and according to the principle of laser triangulation, the distance D1 between the reference surface of the current probe and the point of the wall to be tested is measured. Then, the measuring arm is rotated by 180 degrees, and a measurement command is issued again to measure the distance D2 from the second measuring point in the direction of symmetry of the first measuring point. According to the values of D1 and D2, give the shaft bracket Adjustment value in the vertical direction

A h = (Dl - D2) / 2

The system automatically adjusts the height of the hinge bracket so that the center of rotation of the measuring mechanism coincides with the center of the hole to be measured. The system automatically repeats the above operation to check if A h is less than 5 μ ηι after adjustment. If the condition is met, it is automatically centered and proceeds to the next measurement step.

(3) The measuring car reaches the first measuring point according to the set step. Starting from zero, the laser controller controls the CCD of the laser probe to capture the laser spot image at this time, and calculates the distance from the current measurement point to the reference plane of the probe. According to the error model of the system, the data is error corrected to obtain the final measured value.

(4) The swivel arm rotates by an angle according to the set sampling rate and reaches the next sample point for measurement. Until the measurement task of a section is completed. The radius of each measured section is the average of the measured values of all sampling points on that section. The diameter is twice the radius.

(5) Output measurement data and update the 3D display image.

(6) Repeat steps 3-5 until all measurement tasks are completed.

Step 4: Data Analysis and Measurement Report

(1) Click the Show Data menu to pop up the pipe diameter data analysis interface.

The pipe diameter data analysis interface is divided into a graphic display area, a measurement section list, a data display list, and a pipe diameter parameter display area. The list of measurement points lists all the measurement sections under the current measurement task. If any of the measurement sections is selected, the section information will be given in the graphic display area, the data display list, and the pipe diameter parameter display area. The graphical display area uses the error amplification method to amplify the information between the maximum and minimum values of the data between the inner and outer circles of the area of the graphic for the user to evaluate the processing quality.

(2) Click the print preview menu to preview the measurement report. You can directly click the print button to print the measurement report in the preview state.

(3) Click the Print menu to print the measurement report.

Claims

Rights request

1. A shaft hole inner diameter measuring system, comprising: - a measuring device for measuring an inner diameter of a shaft hole, the measuring device comprising a laser probe (2), the laser probe (2) being rotatable substantially around a central axis of the shaft hole Mounted on the measuring device;

a measuring frame (14) that can move axially along the shaft hole;

An adjustment device mounted on the measuring frame (14), wherein the center of rotation of the laser measuring head is largely coincident with the center of the hole to be measured by adjustment of the adjusting device.

2. A shaft bore inner diameter measuring system according to claim 1, said measuring device further comprising a swivel arm rotatable about a central axis of the shaft bore, said laser probe (2) being mounted on the swivel arm.

3. The shaft bore inner diameter measuring system according to claim 2, wherein the adjusting device comprises: an adjusting device driving device;

a radial screw (18) connected to the actuator drive;

a lifting seat (17) connected to the radial screw (18) by a nut member;

Guide the lifting seat (17) to slide radially around the shaft hole (19),

The rotating arm is connected to the lifting base (17), and is lifted and lowered along the radial guiding column by the lifting base (17), so that the center of rotation of the laser measuring head and the center of the shaft hole are on substantially the same horizontal line.

4. The shaft bore inner diameter measuring system according to claim 1, further comprising:

A measuring vehicle (8) that can travel axially within the shaft hole, the measuring frame (14) is mounted on the measuring vehicle (8); the bottom of the measuring vehicle (8) is equipped with a rear driving wheel (9), the front portion of which is mounted There is a universal ball (10), and the driving drive motor (11) drives the driving wheel (9) to travel.

The shaft hole inner diameter measuring system according to claim 4, wherein the bottom of the measuring vehicle (8) is provided with a suction cup type electromagnet (12), and the suction cup type electromagnet and the shaft hole wall are sucked before the measurement work is performed. .

6. The shaft hole inner diameter measuring system according to claim 5, further comprising: being disposed in the measuring vehicle

(8) positioning devices on both sides of the shaft hole, the positioning device is clamped to the inner wall of the shaft hole to position the measuring vehicle parallel to the shaft hole to be measured, so that the center of rotation of the laser probe and the center of the shaft hole are substantially On the same vertical line.

7. The shaft bore inner diameter measuring system according to claim 6, wherein the positioning device comprises a positioning card cutter (13), and the positioning card cutter is clamped to the inner wall of the shaft hole by a compression spring to make the measuring car and the shaft hole Parallel positioning.

8. The shaft bore inner diameter measuring system according to claim 4, wherein the measuring frame (14) comprises: An axial guide (21) disposed on the measuring vehicle (8);

a translation stage (15) slidably mounted on the axial rail, the adjustment device being mounted on the translation stage (15);

Translation drive motor (22);

An axial screw (16), the axial screw (16) is engaged with a translation nut device coupled to the translation stage (15) to drive the axial screw through the translation drive motor such that the translation stage is along the axis of the shaft hole Pan to the direction.

9. The shaft bore inner diameter measuring system according to claim 2, wherein the measuring device further comprises a rotating shaft (25), the rotating shaft (25) is mounted on the adjusting device, and the rotating shaft (25) is respectively equipped with a rotation A drive motor (26) and a rotary encoder (27) are mounted at the end of the rotary shaft (25) on the outside of the rotary drive motor (26) or the rotary encoder (27).

10. The shaft hole inner diameter measuring system according to claim 9, further comprising a lifting frame (28) fixed to the lifting base (17), the rotating shaft 25 being mounted on the lifting frame (28).

11. The shaft bore inner diameter measuring system according to claim 1, wherein the laser probe (2) emits a red visible laser beam, the laser beam is incident on the inner surface of the shaft hole wall, and a red bright spot is formed at the intersection, the probe The CCD sensor in the middle captures the image containing the bright spot, and according to the principle of laser triangulation, the first distance (D1) at the point of the reference surface of the current probe and the wall of the shaft hole is measured.

12. The shaft bore inner diameter measuring system according to claim 11, wherein after the laser probe (2) measures the distance (D1), the rotation is 180 degrees, and the first direction of the first measurement point is measured again. The second distance (D2) of the two measuring points, according to the first distance (D1) and the second distance (D2), the adjustment value of the adjusting device in the vertical direction is given:

' A = (Dl - D2) / 2

Thereby, the system automatically adjusts the height of the adjusting device such that the center of rotation of the laser probe (2) coincides with the center of the shaft hole.

13. The shaft hole inner diameter measuring system according to claim 4, further comprising: an adjusting mechanism, wherein the posture of the measuring vehicle is adjusted by the adjusting mechanism, so that the direction of the laser beam emitted by the laser measuring head (2) is substantially the same as the axis The radius lines of the inner diameter of the holes coincide.

The shaft hole inner diameter measuring system according to any one of claims 6 to 7, wherein the suction cup type electromagnet (12) is disposed substantially in a direction perpendicular to an axial direction of the shaft hole. Measuring the middle portion of the vehicle (8), the positioning device is disposed substantially on both sides of the suction cup type electromagnet (12) in a direction perpendicular to the axial direction of the shaft hole, through the disc electromagnet and the shaft hole wall Pulling in, while the positioning device pushes the measuring vehicle (8) Adjust the attitude of the measuring car.

15. The shaft bore inner diameter measuring system according to claim 2, further comprising:

a laser axial position calibration plate (29), the laser axial position calibration plate (29) being coupled to the rotating arm;

The laser range finder (3) detects the axial advancement distance of the measuring vehicle (8) by means of a laser axial position calibration plate (29) and a laser range finder (3).