Automatic leveling method of four-axis precision measurement adjusting table

Abstract

The application discloses an automatic leveling method of a four-axis precision measuring adjusting table, and comprises the following steps: step 100, establishing a three-dimensional coordinate system; step 200, collecting data of a workpiece to be measured; step 300, determining a spatial fitting equation of a current central axis; step 400, determining an included angle alpha, an included angle beta and an included angle gamma; step 500, if gamma is less than theta, determining a feed amount L y and the feed amount L x ; step 600, controlling an X-direction leveling shaft to move L x , and controlling a Y-direction leveling shaft to move L y ; step 700, returning to execute steps 200-400, if theta is less than or equal to gamma and gamma is less than or equal to 90 degrees, ending the adjustment; if gamma is less than theta, executing step 500. The leveling method has high automation degree, simplifies the leveling process, reduces human operation in the adjustment process, avoids human errors, significantly improves the adjustment precision and the adjustment efficiency, and is suitable for large-scale batch pipeline detection.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of industrial measurement, and particularly relates to an automatic leveling method of an adjusting table for four-axis precision measurement. BACKGROUND

[0002] In the field of industrial measurement, the adjusting table for precision measurement is widely used in the measurement and assembly process of automobile engines, automobile parts, aerospace engines and the like, and is mainly responsible for positioning and clamping parts, ensuring the horizontal characteristics of the parts before measurement, so as to accurately analyze the topography of a vertical area of the part surface, or drive the part to rotate around a fixed axis to accurately analyze the topography of a horizontal area of the part. In order to eliminate the relative position error caused by the vertical angle between the measured area and the measurement direction during the clamping process of the part, improve the accurate positioning of the measurement area and the accuracy of the measurement result, the adjusting table must be adjusted, and leveling the adjusting table (adjusting the level / leveling) is a key step in the entire adjustment process. Through the horizontal adjustment of the adjusting table, the plane where the measured area is located is parallel to the measurement direction (the axis where the detector is located), which can effectively eliminate the vertical angle between the measurement area and the measurement direction, eliminate the relative position error in the clamping process, and thus improve the accuracy of the measurement result, so that the measurement result has more practical reference value.

[0003] The four-axis manual leveling method and the three-point support adjusting table manual leveling method are commonly used in the prior art, wherein the four-axis manual leveling method is to first position and clamp the workpiece, clamp a micrometer or other small displacement sensor on a selected reference surface, make the measurement direction (the axis where the detector is located) perpendicular to the plane where the reference surface is located, manually rotate the adjusting table to make the two leveling axes perpendicular to the position where the sensor (detector) is located in the same plane, observe the jump change of the micrometer or displacement sensor, and adjust the leveling axes in the same plane. Repeat the above process several times until the micrometer jump change is less than a certain rated value, the leveling work is completed, the micrometer or other small displacement sensor device is removed, and the subsequent measurement work is started.

[0004] The three-point support adjusting table leveling method is that the included angle between the three axes is 120 degrees, one of the axes is fixed in height, which is referred to as a fixed axis, and the other two axes can be adjusted in height, which are referred to as adjustable support axes. The leveling function is achieved by adjusting the height of the adjustable support axes. Since the axes of the two adjustable support axes intersect at the fixed axis support point, and the included angle between the adjustable support axes is 120 degrees, the adjustment process will affect each other.

[0005] The three-point support adjustment table manual leveling method places a micrometer on the reference end face (i.e. the workpiece top surface) during the leveling process to observe the radial surface runout, and selects two different height sections of the workpiece as the reference to observe the runout during the adjustment process. According to the type of leveling reference, the proportion relationship of the rotary table is determined through geometric solving or debugging; the type of leveling reference includes an end face reference and a double radial surface combined reference; the adjustment proportion relationship is the quantitative size relationship of the runout change of the reference surface when the height of the support point of the adjustable support shaft of the adjustment table changes. The rotary adjustment table is rotated, the runout data of the reference surface is measured and recorded, the least square method is used to fit the data, and the shape error of the reference surface is obtained. According to the quantitative size relationship of the runout of the two adjustable support shaft support points and the shape error of the reference surface, the adjustment amount of the reference surface to the runout of the two adjustable support shaft support points is calculated; the rotary adjustment table is rotated, the two adjustable support shafts are sequentially adjusted to be at the same angle with the sensor, and the adjustment amount is calculated to adjust each adjustment shaft; the runout data of the reference surface is measured again, and it is checked whether the runout data meets the leveling requirements; if the runout data meets the leveling requirements, the leveling is completed; if the leveling requirements are not met, the above steps are repeated until the measured runout data meets the leveling requirements.

[0006] Both of the above two methods have the problems that the manual adjustment process is complex and tedious, the leveling efficiency is low, the manual adjustment cannot effectively guarantee the adjustment accuracy each time, the repeatability of the measurement result is poor, the accuracy of the measurement result is seriously affected, and the methods are not suitable for large-scale batch detection. SUMMARY

[0007] In order to solve the above problems in the prior art, the present application provides an automatic leveling method for a four-axis precision measurement adjustment table. The technical problems to be solved by the present application are solved by the following technical solutions:

[0008] An automatic leveling method for a four-axis precision measurement adjustment table, comprising the following steps:

[0009] Step 100: establishing a three-dimensional coordinate system with any leveling adjustment axis as the positive axis of the X axis and the placement surface of the bearing platform of the adjustment table as the base plane XOY;

[0010] Step 200: collecting data of a workpiece to be measured and obtaining cross section data on at least two cross sections corresponding to at least two height positions of the workpiece to be measured; the workpiece to be measured is a workpiece with a circular cross section;

[0011] Step 300: determining a spatial fitting equation of a current center axis of the workpiece to be measured according to the cross section data; wherein the current center axis is an axis determined by the fitting coordinates of the two circle centers after the cross section data is circularly fitted ; the axis The intersection point of the axis and the base plane XOY is ;

[0012] The step 400, according to the axis determines the axis The included angle of the rotation around the Y axis , the axis The included angle of the rotation around the X axis and the axis The included angle of the axis and the base plane XOY ;

[0013] The step 500, if , according to the included angle , the included angle , the projection of the bearing platform and the Y leveling axis in the YOZ coordinate plane and the projection of the bearing platform and the X leveling axis in the XOZ coordinate plane, determines the feeding amount of the Y leveling axis and the feeding amount of the X leveling axis , wherein represents the threshold included angle of the axis and the base plane XOY;

[0014] The step 600 controls the movement of the X leveling axis , the Y leveling axis ;

[0015] The step 700 returns to execute the step 200-step 400, if , the adjustment is ended;

[0016] If , the step 500 is executed.

[0017] In an embodiment of the present application, the specific steps of the step 300 include:

[0018] The step 310, the cross-section data is fitted with a circle to determine at least two fitting coordinates of the corresponding fitting center of the at least two cross-sections;

[0019] The step 320, according to the spatial fitting equation of the current central axis determined by the at least two fitting coordinates.

[0020] In an embodiment of the present application, in the step 500, according to the included angle , the included angle , the projection of the bearing platform and the X leveling axis in the XOZ coordinate plane, the feeding amount of the X leveling axis includes: according to the included angle ​​, projection of the bearing platform and the X-direction leveling shaft in XOZ coordinate plane and formula six determines the feeding amount of the X-direction leveling shaft ;

[0021] (Formula six)

[0022] wherein the axis OH is the projection in XOZ coordinate plane, the projection of the bearing platform in XOZ coordinate plane is quadrilateral ABCD, the projection of the front end ball head of the X-direction leveling shaft in XOZ coordinate plane is semicircle with as the center and as the radius; OH represents the projection of the central axis of the X-direction leveling shaft in XOZ coordinate plane, the quadrilateral ABCD is driven to make circular arc motion with OH as the center and R as the radius by moving in the direction ; OH represents the projection of the central axis of the X-direction leveling shaft in XOZ coordinate plane, the quadrilateral ABCD is driven to make circular arc motion with OH as the center and R as the radius by moving in the direction ; OH represents the projection of the central axis of the X-direction leveling shaft in XOZ coordinate plane, the quadrilateral ABCD is driven to make circular arc motion with OH as the center and R as the radius by moving in the direction ;

[0023] φ OH represents the projection of the central axis of the X-direction leveling shaft in XOZ coordinate plane, the quadrilateral ABCD is driven to make circular arc motion with OH as the center and R as the radius by moving in the direction ; OH represents the projection of the central axis of the X-direction leveling shaft in XOZ coordinate plane, the quadrilateral ABCD is driven to make circular arc motion with OH as the center and R as the radius by moving in the direction ; OH represents the projection of the central axis of the X-direction leveling shaft in XOZ coordinate plane, the quadrilateral ABCD is driven to make circular arc motion with OH as the center and R as the radius by moving in the direction ; OH represents the projection of the central axis of the X-direction leveling shaft in XOZ coordinate plane, the quadrilateral ABCD is driven to make circular arc motion with OH as the center and R as the radius by moving in the direction ;

[0024] OH represents the projection of the central axis of the X-direction leveling shaft in XOZ coordinate plane, the quadrilateral ABCD is driven to make circular arc motion with OH as the center and R as the radius by moving in the direction ; OH represents the projection of the central axis of the X-direction leveling shaft in XOZ coordinate plane, the quadrilateral ABCD is driven to make circular arc motion with OH as the center and R as the radius by moving in the direction ; OH represents the projection of the central axis of the X-direction leveling shaft in XOZ coordinate plane, the quadrilateral ABCD is driven to make circular arc motion with OH as the center and R as the radius by moving in the direction ;

[0025] In one embodiment of the present application, in the step 500, the feeding amount of the Y-direction leveling shaft is determined according to the included angle , the included angle , the projection of the bearing platform and the Y-direction leveling shaft in YOZ coordinate plane and formula seven , and the feeding amount of the Y-direction leveling shaft is determined according to the included angle , the projection of the bearing platform and the Y-direction leveling shaft in YOZ coordinate plane and formula seven ;

[0026] (Formula seven)

[0027] Wherein, the axis The projection onto the YOZ coordinate plane is The projection of the platform onto the YOZ coordinate plane is a quadrilateral. The projection of the ball head at the front end of the Y-axis leveling axis onto the YOZ coordinate plane is as follows: The center radius is a semicircle; This represents the projection of the central axis of the Y-axis leveling axis onto the YOZ coordinate plane, through along... The movement of the line causes the quadrilateral to move. Around by The quadrilateral moves in a circular arc with radius R. During the movement, the quadrilateral... of The edge is always the same circle Tangent; express and The intersection of the side medians; express and The intersection of the edges;

[0028] Indicates the center of the circle The line connecting the tangent point to the carrier platform and The angle between the extensions; The center of the projection of the ball joint at the front end of the Y-axis leveling shaft onto the YOZ coordinate plane when the leveling platform is horizontal. The coordinates; Indicates the center of the circle The x-coordinate;

[0029] like As positive, along The direction of the linear motion is negative and backward; if For negative values, along The direction of linear motion is positive feed.

[0030] The beneficial effects of this invention are:

[0031] This invention automatically calculates the leveling adjustment amount by establishing a digital model, and then uses a motor to drive the X-axis and Y-axis leveling axes to move according to the adjustment amount, thereby achieving automatic leveling. The leveling method of this invention has a high degree of automation, simplifies the leveling process, eliminates the need for manual operation during adjustment, avoids human error, and significantly improves adjustment accuracy and efficiency. It is suitable for large-scale batch production line testing.

[0032] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0033] Figure 1 A schematic diagram of the spatial relationship between the workpiece axis and the rotation center axis of the adjustment table after the workpiece to be measured is clamped in an adjustment table for four-axis precision measurement, provided in an embodiment of the present invention.

[0034] Figure 2 A schematic diagram of a mathematical model for an automatic leveling method of an adjustment table for four-axis precision measurement provided in an embodiment of the present invention;

[0035] Figure 3 A schematic diagram of a mathematical model for the adjustment platform when it is in an ideal horizontal state, as provided in an embodiment of the present invention;

[0036] Figure 4 This is a schematic diagram of a mathematical model of an adjustment platform that is not leveled under actual working conditions, as provided in an embodiment of the present invention. Detailed Implementation

[0037] The present invention will be further described in detail below with reference to specific embodiments, but the implementation of the present invention is not limited thereto.

[0038] An automatic leveling method for a four-axis precision measurement adjustment stage includes the following steps:

[0039] Step 100: Establish a three-dimensional coordinate system using any adjustment axis as the positive X-axis and the surface of the adjustment table's support platform as the base plane XOY, as follows: Figure 2 As shown. The adjustment table includes a support platform, an X-axis leveling axis, and a Y-axis leveling axis; the front end of the X-axis leveling axis is provided with a front ball joint, the front end of the Y-axis leveling axis is provided with a front ball joint, the rear end of the X-axis leveling axis is fixedly connected to a linear drive motor, and the rear end of the Y-axis leveling axis is fixedly connected to a linear drive motor. The front ball joint can drive the support platform to rotate around the origin of the three-dimensional coordinate system.

[0040] like Figure 1 As shown, the adjustment table has an X-axis leveling axis and a Y-axis leveling axis. The two adjustment axes are orthogonal to form a four-axis adjustment mechanism. After the workpiece to be measured is leveled, the workpiece axis... It is parallel to the rotation center axis (the rotation axis of the adjustment table). At least one sensor is also installed on one side of the adjustment table. The Z-axis is the rotation center axis.

[0041] Step 200: Taking two height positions as an example, collect data of the workpiece to be measured and obtain the first height of the workpiece to be measured. Second height Corresponding cross-section data on the first cross-section and the second cross-section; the workpiece to be measured is a workpiece with a circular cross-section. The workpiece to be measured can generally be a shaft workpiece. The sensor can collect data on the surface of the workpiece to be measured. The cross-section data is expressed in polar coordinates. Two sensors have different heights. A radius value under the polar coordinates is preset. The change amount (i.e. the angle value under the polar coordinates) of the sensor under the two heights is obtained respectively.

[0042] Step 300, determining a spatial fitting equation of a current central axis of the workpiece to be measured according to the cross-section data; wherein the current central axis is an axis determined by fitting coordinates of two circle centers after the cross-section data is circularly fitted ; the intersection of the axis and the base plane XOY is ; the cross-section data includes first data on the first cross-section and second data on the second cross-section, and specifically,

[0043] Step 310, circularly fitting the first data and the second data according to the least square method, and calculating first fitting coordinates and second fitting coordinates of corresponding fitting circle centers of the first cross-section and the second cross-section.

[0044] Step 320, determining a spatial fitting equation of the current central axis according to the first fitting coordinates and the second fitting coordinates .

[0045] Step 400, determining an included angle between the axis and the Y-axis, an included angle between the axis and the X-axis, and an included angle between the axis and the base plane XOY according to the axis .

[0046] Specifically, z 1 z 2 is parallel to the Z-axis, and the included angle is determined according to the axis and formula one:

[0047] (formula one).

[0048] The included angle is determined according to the axis and formula two:

[0049] (formula two).

[0050] determining the axis according to the formula three determining the axis according to the formula three the angle between the axis and the base plane XOY :

[0051] (formula three).

[0052] Step 500, if < 0 , the feed amount of the Y-direction leveling shaft and the feed amount of the X-direction leveling shaft are determined according to the angle , the angle , the projection of the bearing platform and the Y-direction leveling shaft in the YOZ coordinate plane, and the projection of the bearing platform and the X-direction leveling shaft in the XOZ coordinate plane. , wherein represents the threshold angle between the axis and the base plane XOY. The threshold angle represents the adjustment accuracy (threshold value / coaxiality). Ideally, when , the workpiece to be measured is completely horizontal, and the axis should be perpendicular to the base plane, that is, the rotation center axis. In practical applications, close to and less than , it can be considered that the workpiece to be measured is in a leveling state. Therefore, the threshold angle can be pre-set to an angle close to and less than . The bearing platform is a component that carries the workpiece to be measured. Specifically, the feed amount of the X-direction leveling shaft is determined according to the angle , the angle

[0053] , and the projection of the bearing platform and the X-direction leveling shaft in the XOZ coordinate plane, including: determining the feed amount of the X-direction leveling shaft according to the angle , the projection of the bearing platform and the X-direction leveling shaft in the XOZ coordinate plane, and formula six. (formula six)

[0054] (formula six)

[0055] wherein the projection of the axis in the XOZ coordinate plane is OH, the projection of the bearing platform in the XOZ coordinate plane is quadrilateral ABCD, and the projection of the front end ball head of the X-direction leveling shaft in the XOZ coordinate plane is a circle with as the center and a radius of ​​​​The semicircle; the rear end of the X-axis leveling shaft is fixedly connected to the linear drive motor. The projection of the central axis of the X-axis leveling axis onto the XOZ coordinate plane is represented by the projection along... The movement of the line causes quadrilateral ABCD to rotate around by The quadrilateral ABCD moves in a circular arc with radius R, and its DC side remains within the circle throughout the movement. Tangent.

[0056] Figure 3 This is a two-dimensional mathematical model showing the adjustment platform projected onto the XOZ coordinate plane in an ideally horizontal state when viewed from the positive Y-axis. EO is the Z-axis, and GO is the X-axis. At this point, the projection of the ball head at the front end of the X-axis leveling axis onto the YOZ coordinate plane is... The center radius is a semicircle; This represents the projection of the central axis of the X-axis leveling axis onto the XOZ coordinate plane. Let F represent the intersection of OH and the median of DC; let F represent the intersection of OH and the median of AD. =R, OM This is the rotation radius of the platform. denoted by , represents the intersection of OH and the median of DC; F represents the intersection of OH and AD. Since the various parameters of the adjustment table's mechanical structure are known, FD, r, and R are also known quantities.

[0057] like Figure 4 To ensure the actual working condition of the workpiece under test, as observed from the positive Y-axis, is an unleveled mathematical model, this step, for ease of calculation, sets the axis... Projection on the XOZ coordinate plane mn Perform a translation so that m Point and the origin of the XOZ coordinate plane Coincident, OH is the translated OH mn Quadrilateral ABCD and circle This simulates the mechanical structure for leveling the bottom of the rotary shaft of the adjustment table. for .

[0058] like Figure 2 As shown, yes Projection onto the XOY plane, mn yes Projection onto the XOZ plane c 2 Q Perpendicular to , c 2 Q and Parallel. During the adjustment process, the axis is made parallel. Adjust to z 1z 2 position, i.e. axis Rotating around Y axis to eliminate , rotating around X axis to eliminate , and then the same as Z axis, so as to realize the leveling work of the workpiece. In Figure 4 , since translation is performed, OH coincides with OE after adjustment is completed.

[0059] For convenience of description, the coordinates of the point are denoted as , and the horizontal coordinates of the point are denoted as :

[0060] When the adjustment table is in the ideal horizontal state , , according to the geometric relationship, the horizontal coordinates of the point are obtained:

[0061] When the adjustment table is in the actual inclined working condition:

[0062] , , as shown in FIG. 4, according to the geometric relationship, the horizontal coordinates of the point Figure 4 are obtained.

[0063] The quadrilateral ABCD simulates the angle deviation of the adjustment table in the X axis leveling direction after clamping the workpiece to be measured. The circle and the circle simulate the horizontal displacement of the adjustment table in the X axis leveling direction after clamping the workpiece to be measured. In order to realize automatic adjustment, the quantitative relationship between the feed amount in the PU direction and needs to be obtained.

[0064] φ represents the included angle between the line connecting the center of the circle and the tangent point of the bearing platform and the extension line of the X axis; represents the coordinates of the center of the projection of the front end ball head of the X direction leveling shaft of the adjustment table in the XOZ coordinate plane when the adjustment table is in the horizontal state; represents the horizontal coordinates of the center of the circle .

[0065] Figure 4 Simulates the two-dimensional schematic diagram of the workpiece axis projection onto the XOZ plane from the positive direction of the Y axis after clamping is completed once, the front end center of the leveling shaft moves from to , and the ideal working condition center​​​​​ and the center of the actual working condition Since the points are all on the same straight line, the feed rate calculation can be transformed into the calculation under ideal working conditions based on the geometric relationships in the diagram. x-coordinate of point and actual working conditions The absolute value of the difference in the x-coordinates of the points.

[0066] like As positive, along The direction of the linear motion is negative and backward; if For negative values, along The direction of linear motion is positive feed.

[0067] Accordingly, calculate the feed rate. The geometric model at that time is completely consistent with the geometric model mentioned above, based on the included angle. Angle The feed amount of the Y-axis is determined by the projection of the bearing platform and the Y-axis leveling axis onto the YOZ coordinate plane. Including: based on the included angle The projection of the bearing platform and the Y-axis leveling axis onto the YOZ coordinate plane, and the feed amount of the Y-axis leveling axis determined by Formula 7. ;

[0068] (Formula 7)

[0069] Step 600: Control the X-axis leveling axis movement via the linear drive electrode. Y-axis leveling motion ;

[0070] Step 700, return to execute steps 200-400, if The adjustment is complete. After each adjustment, data collection continues to calculate the included angle. ,like < Continue executing step 500 until... The adjustment is now complete. Figure 4 Because of the translation, after the adjustment is completed... It overlaps with OE.

[0071] In one feasible implementation, the above method only considers the intersection of the workpiece axis and the XOY plane. With respect to the axis of rotation O When the points do not coincide, it is considered an unaligned working condition. If the intersection of the workpiece axis and the XOY plane... With respect to the axis of rotation O In the case of overlapping points, that is, after centering, the above method will be... ex = 0, e y = 0,

[0072] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0073] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features referred to. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0074] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0075] In the present application, unless otherwise explicitly specified and limited, the first feature "above" or "below" the second feature can include the first and second features directly contacting, or the first and second features not directly contacting but contacting through another feature between them. Moreover, the first feature "above", "above" and "above" the second feature includes the first feature directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature includes the first feature directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0076] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate different embodiments or examples described in the specification.

[0077] The above is a further detailed description of the present application in combination with specific preferred embodiments, and cannot be considered as limiting the specific implementation of the present application to these descriptions. For those skilled in the art, without departing from the concept of the present application, a number of simple deductions or substitutions can be made, which should be considered as falling within the protection scope of the present application.

Claims

1. An automatic leveling method of a four-axis precision measurement adjustment table, characterized by, The method comprises the following steps: Step 100: establishing a three-dimensional coordinate system with any leveling adjustment shaft as a positive X-axis and a placement surface of a bearing platform of an adjustment table as a base plane XOY; Step 200: collecting data of a workpiece to be measured and obtaining cross-section data of the workpiece to be measured at least in two height positions corresponding to at least two cross sections; the workpiece to be measured is a workpiece with a circular cross section; Step 300, determining a spatial fitting equation of a current central axis of the workpiece to be measured according to the cross-section data; wherein the current central axis is an axis determined by fitting coordinates of two circle centers after the cross-section data is circularly fitted ; the intersection of the axis with the base plane XOY is ; Step 400, determining said axis determining said axis angle of rotation about the Y axis , said axis angle of rotation about the X axis and said axis angle with the base plane XOY ; Step 500, if < , according to the included angle , the included angle , the projection of the bearing platform of the adjusting table and the Y-direction leveling shaft in the YOZ coordinate plane, and the projection of the bearing platform and the X-direction leveling shaft in the XOZ coordinate plane, the feed amount of the Y-direction leveling shaft and the feed amount of the X-direction leveling shaft are determined, wherein represents the threshold included angle of the axis and the base plane XOY; Step 600, control X leveling axis movement , Y leveling axis movement ; Step 700, return to execute steps 200-400, if , end adjustment; If < , step 500 is performed; In step 500, the feed amount of the X-direction leveling shaft is determined according to the included angle , the projection of the bearing platform and the X-direction leveling shaft in the XOZ coordinate plane, and formula six . In step 500, the feed amount of the X-direction leveling shaft is determined according to the included angle , the projection of the bearing platform and the X-direction leveling shaft in the XOZ coordinate plane, and formula six . (Equation Six) Wherein, the axis The projection of the platform onto the XOZ coordinate plane is OH, the projection of the bearing platform onto the XOZ coordinate plane is quadrilateral ABCD, and the projection of the ball joint at the front end of the X-axis leveling axis onto the XOZ coordinate plane is... The center radius is a semicircle; The projection of the central axis of the X-axis leveling axis onto the XOZ coordinate plane is represented by the projection along... The movement in direction causes quadrilateral ABCD to rotate around by The quadrilateral ABCD moves in a circular arc with radius R, and its DC side remains within the circle throughout the motion. Tangent; F represents the intersection of OH and the median of DC; F represents the intersection of OH and AD. The specific steps of the step 300 comprise: center of the circle representing the projection of the ball head of the X-axis leveling shaft in the XOZ coordinate plane when the adjusting table is leveled the angle between the line connecting the tangent point of the bearing platform and the extension line; the coordinates of the center of the circle representing the projection of the ball head of the X-axis leveling shaft in the XOZ coordinate plane when the adjusting table is leveled center of the circle representing the projection of the ball head of the X-axis leveling shaft in the XOZ coordinate plane when the adjusting table is leveled the abscissa of the center of the circle​ If is positive, the direction of linear motion along is negative back-off; if is negative, the direction of linear motion along is positive feed; In step 500, based on the included angle Angle The feed amount of the Y-axis leveling axis is determined by the projection of the platform of the adjustment table and the Y-axis leveling axis onto the YOZ coordinate plane. Including: based on the included angle The projection of the bearing platform and the Y-axis leveling axis onto the YOZ coordinate plane, and the feed amount of the Y-axis leveling axis determined by Formula 7. ; (Equation Seven) Wherein, the axis The projection onto the YOZ coordinate plane is The projection of the platform onto the YOZ coordinate plane is a quadrilateral. The projection of the ball head at the front end of the Y-axis leveling axis onto the YOZ coordinate plane is as follows: The center radius is a semicircle; This represents the projection of the central axis of the Y-axis leveling axis onto the YOZ coordinate plane, through along... The movement of the line causes the quadrilateral to move. Around by The quadrilateral moves in a circular arc with radius R. During the movement, the quadrilateral... of The edge is always the same circle Tangent; express and The intersection of the side medians; express and The intersection of the edges, center of the circle representing the projection of the ball head of the Y leveling axis in the YOZ coordinate plane when the adjustment table is leveled the angle between the line connecting the point of intersection of the bearing platform and the extension line; the x-coordinate of the center of the circle representing the projection of the ball head of the Y leveling axis in the YOZ coordinate plane when the adjustment table is leveled ; and center of the circle representing the projection of the ball head of the Y leveling axis in the YOZ coordinate plane when the adjustment table is leveled the x-coordinate of the center of the circle representing the projection of the ball head of the Y leveling axis in the YOZ coordinate plane when the adjustment table is leveled If is positive, the direction of linear motion along is negative back-off; if is negative, the direction of linear motion along is positive feed.

2. The automatic leveling method of the four-axis precision measurement adjustment table according to claim 1, characterized in that, Step 310: performing circular fitting on the cross-section data to determine at least two fitting coordinates of corresponding fitting circle centers of the at least two cross sections; Step 320: determining a spatial fitting equation of the current central axis according to the at least two fitting coordinates. ​

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