A Workpiece Pose Adjustment Method Based on Iterative Registration of Geometric Features of Measurement Points

Abstract

The invention discloses a workpiece pose adjustment method based on iterative registration of geometric features of measurement points, comprising the following steps: unifying the measurement coordinate system and the workpiece coordinate system, detecting the workpiece to obtain contact measurement data; calculating the processing of the measurement points according to the contact measurement data Deviation and out-of-tolerance OT; if the OT of the measurement point is not zero, go to step 4, otherwise end; select out-of-tolerance surface, obtain the surface rotation registration matrix and surface translation registration matrix, and couple them to the workpiece respectively In the rotation registration matrix and the workpiece translation registration matrix; calculate the adjustment amount of the workpiece coordinate system according to the topology structure of the specified machine tool and the workpiece rotation registration matrix; re-adjust the workpiece positioning according to the workpiece coordinate system of the specified machine tool; adjust the workpiece coordinates according to the adjustment amount The system detects the workpiece to obtain the contact measurement data, and continues to adjust to meet the requirements; the invention is simple and easy to implement, and can meet the rapid adjustment of the processing pose under the multi-feature and multi-constraint conditions of the process parts.

Description

technical field [0001] The invention relates to the technical field of numerical control machining, in particular to a workpiece pose adjustment method based on iterative registration of geometric features of measurement points. Background technique [0002] The precision machining of complex parts usually involves a series of processes. Due to the existence of workpiece positioning errors, deformation errors, machine tool geometric errors and other error factors, the allowance distribution of each process may be uneven, or even out-of-tolerance (OT). Therefore, it is very It is necessary to use precision detection technologies and instruments such as on-machine detection system, contact scanning system, non-contact 3D scanning system, coordinate measuring machine (CMM) and coordinate measuring arm (CMR) to detect the geometric contour of the workpiece between processes; In multi-process processing, the equalization of margin distribution or error compensation in subsequent ...

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Problems solved by technology

[0006] In addition, due to the influence of probe size, pre-defined probing direction and surface curvature, there is no very precise spatial relationship between the actual measurement point and the theoretical measurement point, so the registration cannot be directly determined by the actual initial measurement point and the corresponding theoretical measurement point. At present, there are few related studies on adaptive iterative registration and positioning adjustment methods based on contact measurement under multi-tolerance conditions

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