Three-dimensional axis motion trajectory measuring device and method based on laser ranging sensor

Abstract

The present application relates to a three-dimensional shaft center motion trajectory measuring device and method based on laser ranging sensors, the measuring device comprising an end face measuring mechanism for measuring an end face and a shaft diameter measuring mechanism for measuring a radial cross section profile, each measuring mechanism having a measuring device in the form of a laser sensor and being provided with a base slide, a linear guide rail and a back plate for mounting the laser sensor, the back plate being guided by the linear guide rail, the base slide being a base provided with a linear guide structure, the base end of the linear guide rail being guided by the base slide, and the base slides of the end face measuring mechanism and the shaft diameter measuring mechanism being perpendicular to each other. The measuring method is based on laser scanning of the end face and the radial cross section profile of a measured object such as a main shaft, according to the above measuring device, and the actual position or position deviation of the shaft center is calculated based on the measurement data of a plurality of characteristic points on the end face and the radial cross section profile. The present application is used for real-time measurement of the shaft center position and is not limited by the material of the measured object.

Description

TECHNICAL FIELD

[0001] The present application relates to a three-dimensional shaft center motion trajectory measuring device based on a laser ranging sensor and a three-dimensional shaft center motion trajectory measuring method using the same. BACKGROUND

[0002] At present, the mainstream three-dimensional shaft trajectory measurement method is to accurately measure the static and dynamic distance between the main shaft and the probe end face and its change, and then calculate the shaft trajectory. For example, Chinese patent document CN216811906U discloses a power output device, which comprises a shell, a power output shaft and a measuring assembly, the measuring assembly is arranged on the shell, the power output shaft is arranged in the shell, the measuring end of the measuring assembly is arranged at one end of the power output shaft, the power output shaft rotates relative to the measuring end, the measuring assembly is used to measure the distance change between the measuring end and the power output shaft, the distance change is used to determine the shaft center trajectory of the power output shaft, the measuring assembly comprises a first eddy current displacement sensor and a second eddy current displacement sensor, the first eddy current displacement sensor and the second eddy current displacement sensor are arranged on the shell, the included angle between the first measuring direction of the first eddy current displacement sensor and the second measuring direction of the second eddy current displacement sensor is a preset angle, the first measuring direction and the second measuring direction are in a non-parallel relationship, the power output shaft comprises a crankshaft, the crankshaft is arranged in the shell, the measuring end of the measuring assembly is arranged at one end of the crankshaft, the crankshaft rotates relative to the measuring end, the measuring assembly is used to measure the distance change between the measuring end and the crankshaft, and the distance change is used to determine the shaft center trajectory of the crankshaft. Chinese patent document CN114198222A discloses a liquid rocket engine turbine pump rotor low-temperature displacement measuring device, which comprises an axial displacement sensor, a radial displacement sensor and a sensor base assembly. The axial displacement sensor and the radial displacement sensor are installed inside the turbine pump, and the sensor base assembly is provided with multiple seals. The seals can lead out wires while ensuring the low-temperature sealing performance of the turbine pump. The axial displacement sensor and the radial displacement sensor both use an eddy current sensor as the sensor main body. This measuring device can monitor the axial and radial displacement of the hydrogen-oxygen turbine pump rotor assembly during operation in a low-temperature environment in real time, and obtain the axial displacement and shaft center trajectory of the rotor based on the monitoring results.

[0003] However, this measurement method has certain limitations. The measured body / main shaft must be made of metal material to enable effective measurement. SUMMARY

[0004] The application aims to provide a novel three-dimensional shaft center motion trajectory measuring device and a corresponding measuring method to solve the above-mentioned limitations, so that the measured member (measured object) and the main shaft are no longer limited to metal materials.

[0005] The technical solution of the application is: a three-dimensional shaft center motion trajectory measuring device based on a laser ranging sensor, which is provided with measuring mechanisms, the number of the measuring mechanisms is two, including an end face measuring mechanism for measuring an end face and a shaft diameter measuring mechanism for measuring a radial cross section profile, and the measuring devices of the measuring mechanisms are all laser sensors. The measuring device can measure the shaft center position of the measured member such as a main shaft by using any of the measuring methods disclosed in the application. When measuring, the laser sensor of the end face measuring mechanism is directed towards the end face direction (or the shaft center direction) of the measured member, and the laser measuring area covers the motion area of the end face. The laser sensor of the shaft diameter measuring mechanism is directed towards the shaft diameter direction of the measured member.

[0006] The main body shape of the measured member can be cylindrical, and is provided with an end face that is perpendicular to the cylindrical axis, for example, the main shaft of a part of machining equipment (for the convenience of description, the main shaft is used to generally refer to such measured members below, unless otherwise explicitly indicated).

[0007] Optionally, the laser sensors of the measuring mechanisms are all three-dimensional laser scanners.

[0008] Optionally, the laser sensor of the end face measuring mechanism is a three-dimensional laser scanner or a single-point laser ranging instrument, the laser sensor of the shaft diameter measuring mechanism is a three-dimensional laser scanner or a two-dimensional laser scanner, and at least one of the laser sensors of the end face measuring mechanism and the shaft diameter measuring mechanism is not a three-dimensional laser scanner.

[0009] Further, the measuring mechanism can be provided with a base slide, a linear guide rail and a back plate for mounting the laser sensor, the back plate is guided in cooperation with the linear guide rail, the base slide is a base provided with a linear guide structure, and the base end of the linear guide rail is guided in cooperation with the base slide.

[0010] Preferably, the guide rail direction of the linear guide rail is perpendicular to the slide direction of the corresponding base slide.

[0011] Preferably, a linear bearing is arranged between the back plate and the corresponding linear guide rail.

[0012] Preferably, a linear bearing is arranged between the linear guide rail and the corresponding base slide.

[0013] Preferably, the base slides of the shaft diameter measuring mechanism and the end face measuring mechanism are perpendicular to each other.

[0014] The three-dimensional shaft center motion trajectory measurement method based on a laser ranging sensor adopts any one of the three-dimensional shaft center motion trajectory measurements based on a laser ranging sensor disclosed in the present application to measure an end surface of a measured piece and measure a radial cross section, to calculate and obtain measured position coordinates of each feature point, and to calculate and obtain measured position coordinates of a shaft center according to the measured position coordinates and initial position coordinates of each feature point by using the following formula:

[0015]

[0016]

[0017]

[0018] wherein, are measured position coordinates of the shaft center on the X, Y and Z axes respectively, are initial position coordinates of the shaft center on the X, Y and Z axes respectively, are measured position coordinates of the feature point A i on the X and Y axes respectively, are initial position coordinates of the feature point A i on the X and Y axes respectively, is a measured position coordinate of the feature point B j on the Z axis, is an initial position coordinate of the feature point B j on the Z axis, i is the i-th feature point on the radial cross section profile, i = 1, 2, 3, …, N, N is a positive integer not less than 3, j is the j-th feature point of the end surface measurement, j = 1, 2, 3, …, M, M is a positive integer.

[0019] The three-dimensional shaft center motion trajectory measurement method based on a laser ranging sensor adopts any one of the three-dimensional shaft center motion trajectory measurements based on a laser ranging sensor disclosed in the present application to measure an end surface of a measured piece and measure a radial cross section, to calculate and obtain measured position coordinates of each feature point, and to calculate and obtain position offset distances (or position deviations) of the shaft center in the X, Y and Z axis directions according to the measured position coordinates and initial position coordinates of each feature point, or according to the measured position coordinates and standard position coordinates (position coordinates in an ideal state) of the feature point by using the following formula:

[0020]

[0021]

[0022]

[0023] wherein is the position offset distance of the shaft center in the X-axis direction, is the position offset distance of the shaft center in the X-axis direction, is the position offset distance of the shaft center in the X-axis direction, is the measured position coordinate of the shaft center in the X, Y, Z-axis respectively, is the initial position coordinate or standard position coordinate of the shaft center in the X, Y, Z-axis respectively, is the feature point A i is the measured position coordinate in the X, Y-axis, is the feature point A i is the initial position coordinate or standard position coordinate in the X, Y-axis, is the feature point B j is the measured position coordinate in the Z-axis, is the feature point B j is the initial position coordinate or standard position coordinate in the Z-axis, feature point a i is the i-th feature point on the radial cross-sectional profile, i = 1, 2, 3,..., N, N is a positive integer not less than 3, feature point B j is the j-th feature point of the end face measurement, j = 1, 2, 3,..., M, M is a positive integer.

[0024] The beneficial effects of the present application are: by using corresponding laser measurement means, the motion trajectory measurement of the measured object (for example, the main shaft) of any material is applicable, the shaft center trajectory in the X, Y-axis direction is calculated by high-frequency scanning of the radial cross-sectional profile of the main shaft, the shaft center trajectory in the Z-axis direction is calculated by scanning the feature point position change of the cross-sectional profile, and the shaft center position three-dimensional point system coordinates are formed, and the three-dimensional motion trajectory of the shaft center is obtained.

[0025] The present application can be mainly used for the three-dimensional motion trajectory measurement of the shaft center of the main shaft and other similar objects. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 is a schematic diagram of the detection device;

[0027] Figure 2 is a schematic diagram of the configuration of the detection device related to the radial cross-sectional profile measurement;

[0028] Figure 3 is a scanning profile diagram related to the radial cross-sectional profile measurement;

[0029] Figure 4 is a schematic diagram of the configuration of the detection device related to the end face measurement;

[0030] Figure 5 is a scanning profile diagram related to the end face measurement. DETAILED DESCRIPTION

[0031] Referring to Figure 1 , Figure 2 and Figure 4 , the measuring device includes two parts, one part is a measuring mechanism for measuring the end face / axial section (cross section through the axial center) of the main shaft (refers to various measured objects), which can be called an end face measuring mechanism, and the corresponding laser sensor can be called an end face laser sensor; the other part is a measuring mechanism for measuring the profile of the side surface / radial section of the main shaft, which can be called an axial diameter measuring mechanism, and the corresponding laser sensor can be called an axial diameter laser sensor. The two measuring mechanisms can use the same technology, and according to their different orientations relative to the main shaft, they can respectively realize the required end face measurement (or axial center direction measurement) and radial section profile measurement (or axial diameter direction measurement), and the laser sensor used can be selected according to actual measurement needs.

[0032] The measuring device of the measuring mechanism (axial diameter measuring mechanism and end face measuring mechanism) uses a laser ranging sensor (referred to as a laser sensor, or a laser range finder, for example, a three-dimensional laser scanner) with corresponding measurement capability. The laser sensor of the end face measuring mechanism faces the end face (front end face) of the main shaft, and the measurement area covers / contains all possible movement areas of the end face of the main shaft; the laser sensor of the axial diameter measuring mechanism faces the side surface of the main shaft, and the measurement area covers / contains all possible movement areas of the radial section profile.

[0033] The laser sensor (axial diameter laser sensor and end face laser sensor) can be a three-dimensional laser scanner to meet the corresponding measurement area requirements. For the laser sensor (axial diameter laser sensor) of the axial diameter measuring mechanism, a suitable two-dimensional laser scanner can also be used. In the case that the Z coordinate change of any point on the end face of the main shaft can be used to represent the Z coordinate change of the axial center, the end face laser sensor can also use a common laser sensor for single-point ranging.

[0034] In addition to the laser sensor, the measuring mechanism also includes a base slide, a linear guide rail, and a sensor mounting back plate (referred to as a back plate).

[0035] The laser sensor is fixedly installed on the corresponding sensor installation back plate (for example, fastened on the back plate by bolts), the back plate is guided in cooperation with the corresponding linear guide rail (a connection / cooperation mode allowing linear movement of the back plate relative to the guide rail in the direction defined by the guide rail), and a driving mechanism (which can be referred to as a back plate driving mechanism) for driving the back plate to move relative to the linear guide rail is arranged between the back plate and the corresponding linear guide rail. The back plate driving mechanism can adopt any suitable prior art, for example, an oil cylinder (and the required matching structure, if necessary), a linear motor (and the required matching structure, if necessary), or a motor (rotary motor) provided with a rotary-to-linear motion transmission mechanism. The rotary-to-linear motion transmission mechanism can adopt any suitable prior art, for example, a lead screw nut mechanism (or lead screw nut transmission mechanism), a gear rack mechanism (or gear rack transmission mechanism), or a belt transmission mechanism. The selection and arrangement of the back plate driving mechanism can be made according to actual needs.

[0036] The base slide is a base provided with a slide (linear slide, for example, a sliding groove) or other linear guide structure (for example, a guide rail / slide rail), and the base end of the linear guide rail is guided in cooperation with the corresponding base slide (a connection / cooperation mode allowing linear movement of the linear guide rail relative to the base slide in the direction defined by the base slide), for example, a sliding block movably connected (guided in cooperation) with the slide or guide rail on the base slide is fixedly installed at the lower end of the linear guide rail.

[0037] A locking device (for example, a top screw / locking bolt and the required matching structure, if necessary) can be arranged between the linear guide rail and the corresponding base slide. According to actual needs, a driving mechanism (which can be referred to as a guide rail driving mechanism) for driving the linear guide rail to move linearly relative to the base slide can also be arranged between the linear guide rail and the corresponding base slide. The guide rail driving mechanism can adopt any suitable prior art, for example, an oil cylinder (and the required matching structure, if necessary), a linear motor (and the required matching structure, if necessary), or a motor (rotary motor) provided with a rotary-to-linear motion transmission mechanism. The rotary-to-linear motion transmission mechanism can adopt any suitable prior art, for example, a lead screw nut mechanism (or lead screw nut transmission mechanism), a gear rack mechanism (or gear rack transmission mechanism), or a belt transmission mechanism. The selection and arrangement of the guide rail driving mechanism can be made according to actual needs.

[0038] The guide rail direction of the linear guide rail (the direction allowing the back plate to move linearly relative to it, that is, the extension direction of the linear guide rail or the main body part of the linear guide rail) and the slide direction of the corresponding base slide (the direction allowing the linear guide rail to move linearly relative to it, that is, the extension direction of the base slide or the main body part of the base slide) are perpendicular to each other. Through this combination, displacement / position adjustment of the laser sensor in the guide rail direction of the linear guide rail and displacement / position adjustment of the laser sensor in the slide direction of the base slide can be achieved.

[0039] Linear bearings can be provided between the back plate and the corresponding linear guide rail, through which linear bearings the linear movable connection (guiding connection) between the two is achieved, so as to reduce the resistance (including dynamic and static friction resistance).

[0040] Linear bearings can be provided between the linear guide rail and the corresponding base slide, through which linear bearings the linear movable connection (guiding connection) between the two is achieved, so as to reduce the resistance (including dynamic and static friction resistance).

[0041] The linear bearings can be roller bearings or sliding bearings.

[0042] The shaft diameter measuring mechanism is located on one side of the main shaft (the specific orientation in the circumferential direction can be flexibly set according to actual conditions), and the base slide of the shaft diameter measuring mechanism can be fastened to the mounting base (for example, the corresponding part of the machine frame or the mounting plate fixedly connected with the machine frame, or the workbench surface below the main shaft) by corresponding bolts. The slide direction of the base slide is consistent with the extension direction of the main shaft, the linear guide rail is moved to a position where the measuring position of the laser sensor corresponds to the cross-sectional profile near the front end of the main shaft, and the linear guide rail is fixed on the base slide by locking bolts. When a corresponding guide rail driving mechanism is provided, the movement and positioning of the linear guide rail on the base slide can be achieved by the guide rail driving mechanism. Through the movement of the corresponding guide rail relative to the base slide and the movement of the back plate relative to the guide rail, the corresponding laser sensor can be moved to a suitable position.

[0043] The end face measuring mechanism is installed in front of the main shaft (the front end face is oriented in the forward direction), and the base slide of the end face measuring mechanism can be fastened to the mounting base (for example, the corresponding part of the machine frame or the mounting plate fixedly connected with the machine frame, or the workbench surface below the main shaft) of the shaft diameter measuring mechanism by corresponding bolts. The slide direction of the base slide is perpendicular to the extension direction of the main shaft, the linear guide rail is moved to a position where the laser sensor is directly opposite the center of the main shaft end face (front end face), and the linear guide rail is fixed on the base slide by locking bolts. When a corresponding guide rail driving mechanism is provided, the movement and positioning of the linear guide rail on the base slide can be achieved by the guide rail driving mechanism. Through the movement of the corresponding guide rail relative to the base slide and the movement of the back plate relative to the guide rail, the corresponding laser sensor can be moved to a suitable position.

[0044] The base slides of the shaft diameter measuring mechanism and the end face measuring mechanism are perpendicular to each other (including skew perpendicular), so as to ensure the measurement in three directions of XYZ axes.

[0045] Referring to Figure 3 and Figure 5, a rectangular coordinate system is established based on the frame or ground foundation of the device where the spindle is located, and a rectangular coordinate system (machine tool coordinate system) used for processing control of the corresponding machine tool can be adopted, with the spindle direction as the Z direction (Z-axis direction), the horizontal direction perpendicular to the spindle direction as the X direction (X-axis direction), and the vertical direction as the Y direction (Y-axis direction). In this coordinate system, when the linear guideways of the shaft diameter measurement mechanism and the end face measurement mechanism are both vertically arranged, the radial cross-section profile laser sensor scans in the Y-axis direction, and the XY coordinates of the detection points (points on the radial cross-section profile) are obtained according to the scanning angle and the measured distance (the Z coordinates of the points on the same radial cross-section profile are the same). The end face laser sensor scans the end face of the spindle, and the distances of several detection points on the end face are obtained, and the XYZ coordinates of the detection points (points on the end face of the spindle) are obtained according to the scanning angle and the measured distance. In the case where the difference between the Z coordinates of different points on the end face can be ignored, the Z coordinate of the end face of the spindle can be determined by the distance measured when the end face laser sensor is perpendicular to the end face of the spindle.

[0046] The coordinates obtained based on the measured data can be referred to as measured position coordinates. The measured coordinates at the initial position or the coordinates determined in other ways can be referred to as initial coordinates or initial position coordinates.

[0047] For the convenience of calculation, a plurality of feature points for end face measurement and shaft diameter measurement are respectively set or selected. The distribution of these feature points on the measured spindle end face or radial cross-section profile is unchanged and does not change with the rotation of the spindle. According to the measured position coordinates and the initial position coordinates of each feature point, the measured position coordinates of the shaft center on the X, Y and Z axes are respectively calculated and obtained.

[0048] The specific calculation method is as follows:

[0049]

[0050]

[0051]

[0052] wherein, are the measured position coordinates of the shaft center on the X, Y and Z axes respectively, are the initial position coordinates of the shaft center on the X, Y and Z axes respectively, are the feature points A i are the measured position coordinates of the shaft center on the X and Y axes respectively, are the feature points A i are the initial position coordinates of the shaft center on the X and Y axes respectively, is the feature point B j is the measured position coordinate of the shaft center on the Z axis, is the feature point B jInitial position coordinate of the shaft center in Z axis, feature point A i Feature point B on the radial cross-sectional profile, i = 1, 2, 3,..., N, N is a positive integer, and should generally be no less than 3 j Feature point B on the radial cross-sectional profile, i = 1, 2, 3,..., N, N is a positive integer, and should generally be no less than 3

[0053] The offset distance of the shaft center in the X, Y, Z axis direction (offset distance relative to the initial position) can be calculated according to the following formula:

[0054]

[0055]

[0056]

[0057] is the position offset or fluctuation of the shaft center in the X axis direction, is the position offset or fluctuation of the shaft center in the X axis direction, is the position offset or fluctuation of the shaft center in the X axis direction.

[0058] The initial position coordinate of the shaft center and the initial position coordinate of each feature point can be determined by actual measurement. The measurement of the initial position coordinate of the shaft center can use the measurement device of the present application, measure and calculate the XYZ coordinates of a plurality of points on the end face in the initial state through the end face measurement mechanism, measure the XYZ coordinates of a plurality of points on the corresponding radial cross-sectional profile in the initial state through the shaft diameter measurement mechanism, and calculate the initial position coordinate of the shaft center according to the relative position relationship of these detection points and the shaft center on the main shaft.

[0059] The initial position coordinate of the shaft center can also be obtained according to the relevant parameters of the main shaft / machine tool or by other means.

[0060] When appropriate, the position coordinates of the shaft center and each feature point in the ideal state / standard state can be calculated / obtained using the relevant information / parameters of the main shaft, which can be referred to as standard position coordinates. The standard position coordinates of the shaft center and each feature point are used as / replaced by the initial position coordinate of the shaft center in the above calculation, and the offset distance of the shaft center in the X, Y, Z axis direction obtained by calculation is the offset distance of the shaft center relative to its standard position.

[0061] ​Corresponding feature points can be selected / set based on the measurement range of each laser sensor on the spindle. The laser scanner scans within the measurement area to obtain measurement data for several detection points. Under the accuracy requirements of this invention, these densely packed detection points can be considered continuous; in other words, for any unmeasured point, the error caused by using the measurement data of neighboring detection points as the measurement data for that point can be ignored. Therefore, the existence of unmeasured points can be ignored when setting or determining feature points. Even under higher accuracy requirements, the spindle end face and corresponding radial cross-sectional profile can be fitted using the measured position coordinates of the detection points, thereby obtaining the coordinates of any point, including the feature points.

[0062] Based on the measurement data, the endpoints (top and bottom) of the radial cross-sectional profile and the edge of the spindle end face can be determined. Feature points A on the radial cross-sectional profile can be set / determined based on the endpoints of the radial cross-sectional profile. i For example, the upper and lower endpoints (or adjacent points of the upper and lower endpoints) of the contour can be used as feature point A1 and feature point A2, respectively. N The remaining feature points A i (feature point A, where 1 < i < N) i At feature point A1 and feature point A N They are distributed sequentially, and the specific distribution method can be any existing method that is convenient to calculate and can obtain satisfactory results. For example, feature point A i Distributed at equal intervals along the Y-axis, based on the Y-coordinate of feature point A1 ( or ) and feature point A N Y coordinate ( or The remaining feature points A are determined by the distance between adjacent feature points along the Y-axis. i Y coordinate ( or ), and then determine feature point A. i X coordinate ( or To ensure the accuracy or precision of the data, feature point A1 and feature point A... N At least one feature point A can be set between them. i Under the current technological background, feature point A1 and feature point A N Feature point A between i There are usually several.

[0063] Feature point B j Alternatively, it can be set / determined in a similar manner. For example, the two points with the largest and smallest Y-coordinate values ​​can be used as the upper and lower endpoints of the vertical diameter line of the main axis end face, and these two endpoints can be designated as B1 and B2. MThe X coordinates of these two points should be equal. If they are not equal, the average of the actual / measured X coordinates of these two points can be used as the X coordinates of these two feature points. This substitution is permissible / acceptable under normal operating conditions without operational malfunctions or other abnormalities. Other feature points B can be set on this diameter line. j (feature point B of 1 < j < M) j Alternatively, no other feature points may be set. Feature point B is set on this diameter line. j At feature points B1 and B M They are distributed sequentially, and the specific distribution method can be any existing method that is convenient to calculate and can obtain satisfactory results. For example, feature point B j In the Y-axis direction (that is, B1 and B) M The feature points are evenly distributed along the diameter line, based on the Y coordinate of feature point B1. or ) and feature point B M Y coordinate ( or The remaining feature points B are determined by the distance between adjacent feature points along the Y-axis. j Y coordinate ( or ), each feature point B j The X coordinates are the same, so take B1 and B. M The X coordinate value is used to determine the feature point B. j Z coordinate ( or ).

[0064] Similarly, the two points with the largest and smallest X coordinate values ​​can be used as the left and right endpoints of the horizontal diameter line of the main axis end face, and these two endpoints can be used as feature points. Several other feature points can be set between these two feature points.

[0065] If there is no measurement data at a certain feature point, the relevant coordinate value of the feature point can be obtained by using the corresponding data of the detection point closest to the feature point.

[0066] The radial cross-sectional profile can be measured using a 3D or 2D laser scanner. End face measurements can be performed using a 3D laser scanner. When the Z-coordinate of a single point on the end face can represent the Z-coordinates of all points on the end face, a standard laser rangefinder (not equipped with scanning capabilities) can be used (also called a single-point laser rangefinder or single-point laser sensor). The Z-coordinate of the end face is calculated based on the actual measured distance, and this Z-coordinate is used as the coordinates of the feature points (in this case, the number of feature points can be considered as one or infinite). Initially, the laser sensor is aligned with the center of the spindle end face; no position adjustment is required during the measurement process.

[0067] In the prior art, the acquisition of laser ranging sensor / scanner and frame data (each detection point data obtained by one scan) can be considered as simultaneous.

[0068] The application adopts laser sensor ranging to overcome the limitation on the material of the measured main shaft, and considering the reduction of the number of sensors, the shaft center motion trajectory can be more accurately fitted, and the precise measurement of three-dimensional shaft center trajectory is realized.

Claims

1. A three-dimensional shaft center motion trajectory measurement method based on a laser rangefinder sensor, comprising a three-dimensional shaft center motion trajectory measurement device based on a laser rangefinder sensor for measuring the end face and radial cross-section of the workpiece. The device includes two measuring mechanisms: an end face measuring mechanism for measuring the end face and a shaft diameter measuring mechanism for measuring the radial cross-sectional profile. Both measuring mechanisms utilize laser sensors. The measured position coordinates of each feature point are calculated. Based on the measured position coordinates and initial position coordinates of each feature point, the measured position coordinates of the shaft center are calculated using the following formulas: in, These are the measured coordinates of the axis center on the X, Y, and Z axes, respectively. These are the initial position coordinates of the axis center on the X, Y, and Z axes, respectively. Feature point A i Measured position coordinates on the X and Y axes Feature point A i Initial position coordinates on the X and Y axes For feature point B j Measured position coordinates on the Z-axis For feature point B j Initial position coordinates on the Z-axis, feature point A i Let B be the i-th feature point on the radial cross-sectional profile, where i = 1, 2, 3, ..., N, and N is a positive integer not less than 3. j Let j be the j-th feature point measured on the end face, where j = 1, 2, 3, ..., M, and M is a positive integer. Endpoint setting / determination of feature points A on the radial section profile based on the radial section profile. i The upper and lower endpoints of the contour, or the points adjacent to the upper and lower endpoints, are respectively designated as feature point A1 and feature point A2. N The remaining feature points A i At feature point A1 and feature point A N They are distributed sequentially; taking the two points with the largest and smallest Y-coordinate values ​​as the upper and lower endpoints of the vertical diameter line of the main axis end face, these two endpoints are designated as B1 and B2. M Set other feature points B along this vertical diameter line. j Or, no other feature point B is set. j .

2. The method for measuring three-dimensional axisymmetric motion trajectory based on a laser rangefinder as described in claim 1, characterized in that... The laser sensors in each measuring unit are 3D laser scanners.

3. The method for measuring three-dimensional axisymmetric motion trajectory based on a laser rangefinder as described in claim 1, characterized in that... The laser sensor of the end face measuring mechanism is a three-dimensional laser scanner or a single-point laser rangefinder, and the laser sensor of the shaft diameter measuring mechanism is a three-dimensional laser scanner or a two-dimensional laser scanner. At least one of the laser sensors of the end face measuring mechanism and the shaft diameter measuring mechanism is not a three-dimensional laser scanner.

4. The method for measuring three-dimensional axisymmetric motion trajectory based on a laser rangefinder sensor as described in any one of claims 1-3, characterized in that... The measuring mechanism is equipped with a base slide, a linear guide rail, and a back plate for mounting a laser sensor. The back plate is guided and matched with the linear guide rail. The base slide is a base with a linear guide structure, and the base end of the linear guide rail is guided and matched with the base slide.

5. The method for measuring three-dimensional axisymmetric motion trajectory based on a laser rangefinder as described in claim 4, characterized in that... The direction of the linear guide rail is perpendicular to the direction of the corresponding base slide rail.

6. The method for measuring three-dimensional axisymmetric motion trajectory based on a laser rangefinder sensor as described in any one of claims 1-3, characterized in that... A linear bearing is provided between the back plate and the corresponding linear guide rail.

7. The method for measuring three-dimensional axisymmetric motion trajectory based on a laser rangefinder sensor as described in any one of claims 1-3, characterized in that... A linear bearing is provided between the linear guide rail and the corresponding base slide.

8. The method for measuring three-dimensional axisymmetric motion trajectory based on a laser rangefinder sensor as described in any one of claims 1-3, characterized in that... The base slides of the shaft diameter measuring mechanism and the end face measuring mechanism are perpendicular to each other.

9. A three-dimensional axis motion trajectory measurement method based on a laser rangefinder sensor, comprising a three-dimensional axis motion trajectory measurement device based on a laser rangefinder sensor for measuring the end face and radial cross-section of the workpiece. The device includes two measuring mechanisms: an end face measuring mechanism for measuring the end face and a shaft diameter measuring mechanism for measuring the radial cross-sectional profile. Both measuring mechanisms utilize laser sensors. The measured position coordinates of each feature point are calculated. Based on the measured position coordinates and initial position coordinates of each feature point, or based on the measured position coordinates and standard position coordinates of each feature point, the following formulas are used to calculate the position offset distance of the axis in the X, Y, and Z axes respectively: in This represents the offset distance of the axis center in the X-axis direction. This represents the offset distance of the axis center in the Y-axis direction. This represents the offset distance of the axis center in the Z-axis direction. These are the measured coordinates of the axis center on the X, Y, and Z axes, respectively. These are the initial or standard position coordinates of the axis center on the X, Y, and Z axes, respectively. Feature point A i Measured position coordinates on the X and Y axes Feature point A i Initial or standard position coordinates on the X and Y axes For feature point B j Measured position coordinates on the Z-axis For feature point B j Initial or standard position coordinates on the Z-axis, feature point A i Let B be the i-th feature point on the radial cross-sectional profile, where i = 1, 2, 3, ..., N, and N is a positive integer not less than 3. j Let j be the j-th feature point measured on the end face, where j = 1, 2, 3, ..., M, and M is a positive integer. Endpoint setting / determination of feature points A on the radial section profile based on the radial section profile. i The upper and lower endpoints of the contour, or the points adjacent to the upper and lower endpoints, are respectively designated as feature point A1 and feature point A2. N The remaining feature points A i At feature point A1 and feature point A N They are distributed sequentially; taking the two points with the largest and smallest Y-coordinate values ​​as the upper and lower endpoints of the vertical diameter line of the main axis end face, these two endpoints are designated as B1 and B2. M Set other feature points B along this vertical diameter line. j Or, no other feature point B is set. j .

10. The method for measuring three-dimensional axisymmetric motion trajectory based on a laser rangefinder as described in claim 9, characterized in that... The laser sensors in each measuring unit are 3D laser scanners.

11. The method for measuring three-dimensional axisymmetric motion trajectory based on a laser rangefinder as described in claim 9, characterized in that... The laser sensor of the end face measuring mechanism is a three-dimensional laser scanner or a single-point laser rangefinder, and the laser sensor of the shaft diameter measuring mechanism is a three-dimensional laser scanner or a two-dimensional laser scanner. At least one of the laser sensors of the end face measuring mechanism and the shaft diameter measuring mechanism is not a three-dimensional laser scanner.

12. The method for measuring three-dimensional axisymmetric motion trajectory based on a laser rangefinder sensor as described in any one of claims 9-11, characterized in that... The measuring mechanism is equipped with a base slide, a linear guide rail, and a back plate for mounting a laser sensor. The back plate is guided and matched with the linear guide rail. The base slide is a base with a linear guide structure, and the base end of the linear guide rail is guided and matched with the base slide.

13. The method for measuring three-dimensional axisymmetric motion trajectory based on a laser rangefinder as described in claim 12, characterized in that... The direction of the linear guide rail is perpendicular to the direction of the corresponding base slide rail.

14. The method for measuring three-dimensional axisymmetric motion trajectory based on a laser rangefinder sensor as described in any one of claims 9-11, characterized in that... A linear bearing is provided between the back plate and the corresponding linear guide rail.

15. The method for measuring three-dimensional axisymmetric motion trajectory based on a laser rangefinder sensor as described in any one of claims 9-11, characterized in that... A linear bearing is provided between the linear guide rail and the corresponding base slide.

16. The method for measuring three-dimensional axisymmetric motion trajectory based on a laser rangefinder sensor as described in any one of claims 9-11, characterized in that... The base slides of the shaft diameter measuring mechanism and the end face measuring mechanism are perpendicular to each other.

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