A measuring method for a rotating part measuring system

Abstract

The present invention relates to the technical field of measuring rotating body parts, and specifically to a measuring method of a rotating body part measuring system. The technical solution of the present invention is that when there is a vertical deviation between the radial ranging laser emitted by the measuring device along the radial direction of the rotating body part and the axis of the part, the measuring device is used to perform radial rotation ranging on the equal-diameter section of the rotating body part to obtain radial circumferential measurement data of the equal-diameter section; the rotating body part is calibrated according to the elliptical profile represented by the radial circumferential measurement data, so that the radial ranging laser is perpendicular to the axis of the part, so that the rotating body part is calibrated; the measuring device is also used to perform multi-point radial ranging on the variable diameter section of the calibrated rotating body part according to a preset axial step distance to obtain a variable diameter data set of the variable diameter section along the axial direction; and the measurement result of the variable diameter section is determined according to the axial variable diameter profile represented by the variable diameter data set. The technical solution takes into account the measurement efficiency and accuracy of the variable diameter section on the rotating body part.

Description

Technical Field

[0001] The invention relates to the technical field of rotating body part measurement, and in particular to a measuring method of a rotating body part measurement system. Background Art

[0002] With the continuous development of machining technology, parts of revolution have been widely used in various fields. Parts of revolution are usually symmetrical along the axis of the part, and their equal diameter sections (or straight sections) are cylindrical structures, which makes it easier to measure with conventional measuring tools during machining. However, when it comes to the variable diameter section structure of the parts of revolution (such as curved surfaces or inclined surfaces), it is more difficult to measure.

[0003] In the traditional measurement method, the three-coordinate measuring machine is mainly used to measure the variable diameter section of the rotating body parts. Although the three-coordinate measuring machine can provide relatively accurate measurement results, its measurement efficiency is low. On the one hand, the operation of the three-coordinate measuring machine is relatively complicated and requires professional technicians to operate, which increases the labor cost and time cost to a certain extent. On the other hand, the measurement speed of the three-coordinate measuring machine is slow, and it is difficult to meet the production efficiency requirements for the rotating body parts produced in large quantities. Therefore, finding an efficient and accurate method for measuring the variable diameter section of the rotating body parts is a technical problem that needs to be solved urgently in the current field of precision machining. Summary of the invention

[0004] In order to solve the technical problem of how to accurately measure the variable diameter section of a rotating body part, the purpose of the present invention is to provide a measurement method of a rotating body part measurement system, which takes into account the measurement efficiency and accuracy of the variable diameter section. The technical solution adopted is as follows:

[0005] In a first aspect, an embodiment of the present invention provides a rotating part measurement system, the system comprising:

[0006] A calibration device is used to clamp the rotating part, and when there is a vertical deviation between the radial ranging laser emitted along the radial direction of the rotating part and the axis of the part, the rotating part is calibrated according to the elliptical profile represented by the radial circumferential measurement data, so that the radial ranging laser is perpendicular to the axis of the part;

[0007] A measuring device is arranged at one side of the calibration device, a data output port of the measuring device is connected to a control port of the calibration device, and the measuring device is used to perform radial rotation distance measurement on the equal-diameter section of the rotating body part, so as to output the radial circumferential measurement data of the equal-diameter section to the calibration device;

[0008] The measuring device is also used to perform multi-point radial distance measurement on the variable diameter section of the calibrated rotating body part according to a preset axial step distance to obtain a variable diameter data set of the variable diameter section; and determine the measurement result of the variable diameter section according to the axial variable diameter profile represented by the variable diameter data set.

[0009] In an optional embodiment, the system further includes:

[0010] At least one mechanical arm is arranged on the side of the calibration device, and the mechanical arm is used to clamp the rotating part to be measured onto the calibration device, and / or disassemble the rotating part that has been measured on the calibration device;

[0011] The rotating platform is connected to the calibration device, and is used to drive the calibration device to rotate so that the rotating part is located at the first position where the measuring device implements measurement, the second position where the robotic arm clamps the rotating part to be measured, and / or the third position where the rotating part is disassembled and the measurement is completed.

[0012] In an optional embodiment, the measuring device comprises:

[0013] Column;

[0014] A first rangefinder, used for emitting radial range-measuring laser along the radial direction of the rotating part;

[0015] A first transmission mechanism is connected to the first distance meter, and the first transmission mechanism is used to adjust the radius of rotation of the first distance meter around the axis of the part;

[0016] A second transmission mechanism is arranged on the column, the second transmission mechanism is connected to the first transmission mechanism, and the second transmission mechanism is used to drive the first transmission mechanism to rotate around the center position of the second transmission mechanism;

[0017] A third transmission mechanism is connected to the column, and the third transmission mechanism is used to drive the first rangefinder to move along the radial direction and axial direction of the rotating body part;

[0018] The controller is electrically connected to the first rangefinder, the first transmission mechanism, the second transmission mechanism and the third transmission mechanism, and is used to drive and control the first transmission mechanism, the second transmission mechanism and the third transmission mechanism, and to measure and control the first rangefinder.

[0019] In an optional embodiment, the measuring device further includes:

[0020] A second rangefinder is electrically connected to the controller, and is used to emit an axial distance measurement laser along the axial direction of the rotating body part;

[0021] The fourth transmission mechanism is arranged on the column, the fourth transmission mechanism is connected to the second rangefinder, and the fourth transmission mechanism is used to drive the second rangefinder to move along the radial direction and / or axial direction of the rotating body part.

[0022] In a second aspect, an embodiment of the present invention further provides a measurement method of a rotating part measurement system, wherein the measurement system comprises a measurement device and a calibration device for clamping the rotating part, wherein a data output port of the measurement device is connected to a control port of the calibration device; the method comprises:

[0023] When there is a vertical deviation between the radial distance measuring laser emitted along the radial direction of the rotating part and the axis of the part, the measuring device is controlled to perform radial rotation distance measurement on the equal diameter section of the rotating part to obtain radial circumferential measurement data of the equal diameter section;

[0024] The elliptical profile represented by the radial circumferential measurement data is used to control the calibration device to calibrate the rotating body part so that the radial ranging laser is perpendicular to the axis of the part;

[0025] Perform multi-point radial distance measurement on the variable diameter section of the calibrated rotating body part according to a preset axial step control measuring device to obtain a variable diameter data set of the variable diameter section;

[0026] The measurement result of the variable diameter section is determined according to the axial variable diameter profile represented by the variable diameter data set.

[0027] In an optional embodiment, controlling the measuring device to perform radial rotation distance measurement on the equal-diameter section of the rotating body part to obtain radial circumferential measurement data of the equal-diameter section includes:

[0028] Move the first distance meter of the measuring device to the radial side of the equal-diameter segment, and control the first distance meter to perform rotation distance measurement on the equal-diameter segment to obtain a rotation distance measurement result;

[0029] When the rotational ranging result indicates that the first rangefinder is not in the central area of ​​the equal-diameter segment, the center position of the rotational ranging of the first rangefinder is adjusted according to the rotational ranging result, so that the ranging density deviation of the first rangefinder during the rotational ranging is within a preset range;

[0030] According to the rotation step corresponding to the basic size of the equal diameter section, the first distance meter is controlled to perform circumferential distance measurement around the adjusted center position to obtain radial circumferential measurement data.

[0031] In an optional embodiment, controlling a calibration device to calibrate a rotating body part according to an elliptical profile represented by radial circumferential measurement data includes:

[0032] Determine the center coordinates of the elliptical profile represented by the radial circumferential measurement data, as well as the rotation angle of the elliptical profile in the radial section of the part;

[0033] The distance between the center coordinate and the ellipse outline is solved by the least square method to determine the major and minor semi-axis of the ellipse outline;

[0034] According to the major semi-axis, the minor semi-axis and the rotation angle, the vertical displacement and the horizontal displacement for calibrating the rotating body parts are obtained;

[0035] The pitch axis of the calibration device is controlled to rotate to a first angle according to the vertical displacement, and the yaw axis of the calibration device is controlled to rotate to a second angle according to the horizontal displacement, so that the radial ranging laser is perpendicular to the axis of the part.

[0036] In an optional embodiment, determining the center coordinates of the elliptical profile represented by the radial circumferential measurement data and the rotation angle of the elliptical profile in the radial section of the part includes:

[0037] A coordinate system is established at the center position of the rotation distance measurement performed on the equal diameter section according to the radial circumference measurement data, and each data in the radial circumference measurement data is determined as the corresponding contour coordinate of the elliptical contour;

[0038] Solve the quadratic curve equation of the ellipse contour according to all contour coordinates to obtain equation coefficients of the quadratic curve equation;

[0039] The equation coefficients are input into the coefficient analysis model to obtain the center coordinates and rotation angles.

[0040] In an optional embodiment, a multi-point radial distance measurement is performed on the variable diameter section of the calibrated rotating body part according to a preset axial step control measuring device to obtain a variable diameter data set of the variable diameter section, including:

[0041] Controlling the measuring device to perform multi-point radial distance measurement along the axis of the variable diameter section at a preset initial axial step to obtain a plurality of radial distances measured at the initial axial step;

[0042] Determine an axial step curve of the measuring variable diameter section according to the distance variation represented by the multiple radial distances, wherein the axial step curve is a curve showing the change of the axial step with the length of the variable diameter section;

[0043] According to the axial step curve, the measuring device is controlled to perform multi-point radial distance measurement again along the axis of the variable diameter section to obtain a variable diameter data set of the variable diameter section.

[0044] In an optional embodiment, before the measuring device is controlled to perform multi-point radial distance measurement on the variable diameter section of the calibrated rotating body part according to the preset axial step distance, the method further includes:

[0045] Controlling the second distance meter of the measuring device to emit axial distance measurement laser along the axial direction of the rotating body part to obtain the end surface position of the rotating body part close to the second distance meter;

[0046] According to the end face position and the area where the diameter-changing section is located in the rotating body part, the starting position of the first distance meter of the measuring device for performing multi-point radial distance measurement on the diameter-changing section is determined.

[0047] The present invention has the following beneficial effects:

[0048] The technical solution of the present invention clamps a rotating part in a calibration device. When there is a vertical deviation between the radial ranging laser emitted by the measuring device along the radial direction of the rotating part and the axis of the part, the measuring device performs radial rotation ranging on the equal-diameter section of the rotating part to obtain radial circumferential measurement data of the equal-diameter section; the rotating part is calibrated according to the elliptical profile represented by the radial circumferential measurement data to make the radial ranging laser perpendicular to the axis of the part, so that the rotating part is calibrated; the measuring device is also used to perform multi-point radial ranging on the variable diameter section of the calibrated rotating part according to a preset axial step distance to obtain a variable diameter data set of the variable diameter section along the axial direction; and the measurement result of the variable diameter section is determined according to the axial variable diameter profile represented by the variable diameter data set. This technical solution does not require the use of instruments and manual operation to perform axial calibration of rotating parts, eliminating calibration errors caused by instrument measurement and manual operation. It uses laser ranging to perform multi-point radial ranging based on the axial step size, and can quickly and accurately obtain the variable diameter data set of the variable diameter section, and then determine the measurement result of the variable diameter section, taking into account the measurement efficiency and accuracy of the variable diameter section on the rotating parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0050] Figure 1 A schematic diagram of the main structure of a rotating part measurement system provided by one embodiment of the present invention;

[0051] Figure 2 A schematic diagram of measuring a variable diameter section of a rotating body part measuring system provided by an embodiment of the present invention;

[0052] Figure 3 A top view of a calibration device and a mechanical arm provided in one embodiment of the present invention;

[0053] Figure 4 A flow chart of a measuring method of a rotating body part measuring system provided by one embodiment of the present invention;

[0054] Figure 5 A schematic diagram of the principle of rotating distance measurement for equal-diameter segments provided by an embodiment of the present invention;

[0055] Figure 6A schematic diagram of the principle of calibrating a rotating body part provided by an embodiment of the present invention;

[0056] Figure 7 A schematic diagram of the principle of multi-point radial distance measurement of a rotating part provided by an embodiment of the present invention.

[0057] Description of reference numerals: 1-measuring device, 2-calibrating device, 3-rotating body part, 4-base plate, 5-mechanical arm, 6-rotating platform, 7-radial ranging laser, 8-axial ranging laser;

[0058] 11-column, 12-first rangefinder, 13-first transmission mechanism, 14-second transmission mechanism, 15-third transmission mechanism, 16-second rangefinder, 17-fourth transmission mechanism;

[0059] 21-frame, 22-pitch axis, 23-yaw axis, 24-chuck;

[0060] 31-equal diameter section, 32-variable diameter section. DETAILED DESCRIPTION

[0061] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the technical solution proposed according to the present invention, its specific implementation, structure, features and effects are described in detail below in conjunction with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0062] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0063] A measuring method of a rotating part measuring system provided by an embodiment of the present invention is applied to a rotating part including a constant diameter section and a variable diameter section to implement axial variable diameter profile measurement of the variable diameter section, and the axial section of the part represented by the variable diameter section at least includes a curve or an oblique line. The variable diameter section can be an external curved surface structure composed of multiple arc surfaces, such as a roller-type forming mold; the variable diameter section can also be a tapered hole structure or a curved surface inner hole structure. For the external curved surface structure of the rotating part, the conventional method in the prior art is to measure or process the corresponding detection template by a three-coordinate measuring machine when implementing the measurement. When measuring by detecting the sample, the detection template is placed close to the external curved surface structure, and the processing accuracy is obtained through the gap between the two. The measurement accuracy of this method is poor, and the internal contour measurement cannot be implemented for the curved surface inner hole structure. The following embodiment of the present invention will specifically explain how to implement accurate measurement of the variable diameter section on the rotating part.

[0064] See also Figure 1 , Figure 1 A schematic diagram of the main structure of a rotating part measurement system provided in an embodiment of the present invention, the measurement system includes a calibration device and a measuring device, both of which can be fixed on a base plate, for example, the calibration device and the measuring device are respectively installed on the base plate by locating pins and fasteners to fix the relative positions of the two, the data output port of the measuring device is connected to the control port of the calibration device to configure a closed-loop control system, and the control system can be overall controlled through the controller of the measuring device.

[0065] The calibration device can be configured as a multi-degree-of-freedom robot arm. The multi-degree-of-freedom robot arm is composed of a frame. It is an automated device with multiple joints and multi-directional degrees of freedom, and can move and rotate in the X-axis, Y-axis and Z-axis directions. The calibration device is used to clamp the rotating part. For example, a chuck is installed on the multi-degree-of-freedom robot arm, and the end of the rotating part is clamped and fixed by the chuck. The chuck can be a hydraulic or electric three-jaw chuck, or it can be other claw structures that can clamp the rotating part. When there is a vertical deviation between the radial ranging laser emitted along the radial direction of the rotating part and the axis of the part, it means that the variable diameter section measurement cannot be implemented along the axial direction of the rotating part. The rotating part is calibrated according to the elliptical contour represented by the radial circumferential measurement data so that the radial ranging laser is perpendicular to the axis of the part.

[0066] The measuring device is disposed on one side of the calibration device, and the measuring device is used to perform radial rotation distance measurement on the equal-diameter section of the rotating part, so as to output the radial circumferential measurement data of the equal-diameter section to the calibration device. The equal-diameter section can be the outer diameter area of ​​the rotating part, or the equal-diameter hole of the rotating part, and no specific limitation is made here. When the rotating part is a completely curved surface structure, a frustum can be reserved when processing the rotating part. For example, when turning the outer curved surface structure of the rotating part, a frustum can be processed on any end face of the rotating part, and it is used as the process position for the calibration device to clamp the rotating part, and the frustum is used as the equal-diameter section for the measuring device to perform radial rotation distance measurement. When radial rotation distance measurement is performed by the measuring device, the center position around which the distance measurement is rotated can be defined as the center position of the chuck on the calibration device.

[0067] It can be understood that the calibration device can clamp the rotating part, but it cannot guarantee that the part axis is parallel to the X-axis. The diameters of the parts in the area where the equal-diameter sections are located are equal. After rotational ranging, the radial circumferential measurement data obtained is characterized by an elliptical contour. After analyzing the radial circumferential measurement data, the rotation angles corresponding to the Y-axis and the Z-axis respectively when the rotating part is calibrated can be obtained. The calibration device is controlled to rotate based on the rotation angles corresponding to the Y-axis and the Z-axis respectively, so that the radial ranging laser can be perpendicular to the part axis.

[0068] After the rotary part is calibrated, the measuring device is also used to perform multi-point radial distance measurement on the variable diameter section of the calibrated rotary part according to the preset axial step distance to obtain a variable diameter data set of the variable diameter section; and determine the measurement result of the variable diameter section according to the axial variable diameter profile represented by the variable diameter data set. The axial step distance can be set based on the measurement accuracy required for the variable diameter section. The smaller the axial step distance, the higher the accuracy of the obtained axial variable diameter profile; conversely, when the axial step distance is larger, the lower the accuracy of the obtained axial variable diameter profile.

[0069] Exemplarily, the measuring device includes a first rangefinder, a rotating mechanism and a linear drive mechanism, wherein the first rangefinder is mounted on the rotating mechanism, and the rotating mechanism is mounted on the linear drive mechanism. The first rangefinder can be driven to rotate circumferentially by the rotating mechanism, and the first rangefinder can be driven to move axially on the rotating part by the linear drive mechanism. For a rotating part in which both the equal-diameter section and the variable-diameter section are in the inner hole, the first rangefinder can be driven to rotate by the rotating mechanism so that it can perform radial rotation distance measurement on the equal-diameter section on the inner hole to obtain radial circumferential measurement data; after the rotating part is calibrated based on the radial circumferential measurement data, the equal-diameter section can be measured again by the first rangefinder to determine the center position of the equal-diameter section, which is the position of the part axis, and the first rangefinder is moved to the part axis of the rotating part; the linear drive mechanism is controlled to perform radial distance measurement on the variable-diameter section once for each axial step until all radial distance measurements of the variable-diameter section are completed to obtain a variable-diameter data set that characterizes the axial variable-diameter profile; the measurement result of the variable-diameter section is determined based on the variable-diameter data set.

[0070] In practical applications, the structures of rotating parts vary. The equal diameter section may be located in the inner hole or outer periphery of the rotating part. Similarly, the variable diameter section may also be located in the inner hole or outer periphery of the rotating part. If the measuring device is set to rotate only with a fixed axis, it will be insufficient in applicability when facing rotating parts with various structures. The structure of the measuring device will be further explained below. Please continue to refer to Figure 1 In a specific implementation, the measuring device includes a column, a first rangefinder, a first transmission mechanism, a second transmission mechanism, a third transmission mechanism and a controller (not shown in the figure).

[0071] The first rangefinder is used to emit radial ranging laser along the radial direction of the rotating part. The first rangefinder can be configured as a long rod structure to facilitate the measurement of the inner hole of the rotating part. The first rangefinder includes a laser transmitter, a laser receiver, a mounting rod, a reflector and an optical fiber. The laser transmitter and the laser receiver are arranged at one end of the mounting rod, the reflector is arranged at the other end of the mounting rod, and the optical fiber is arranged inside the mounting rod. The laser transmitter emits the modulated radial ranging laser to the reflector, and the radial ranging laser is reflected by the reflector to the radial direction of the rotating part. The radial ranging laser reflected by the rotating part is transmitted to the laser receiver via the optical fiber. The ranging methods applicable to the first rangefinder include pulse ranging, phase ranging, etc., which can accurately measure the radial distance between the first rangefinder and the rotating part.

[0072] The first transmission mechanism is connected to the first rangefinder, and the first transmission mechanism is used to adjust the radius of the first rangefinder rotating around the axis of the part. The second transmission mechanism is arranged on the column, and the second transmission mechanism is connected to the first transmission mechanism, and the second transmission mechanism is used to drive the first transmission mechanism to rotate around the center position of the second transmission mechanism. The third transmission mechanism is connected to the column, and the third transmission mechanism is used to drive the first rangefinder to move along the radial and axial directions of the rotating body part. The controller can be a PLC (Programmable Logic Controller) or other control terminal capable of implementing control and data processing. The controller is electrically connected to the first rangefinder, the first transmission mechanism, the second transmission mechanism and the third transmission mechanism, and the controller is used to drive and control the first transmission mechanism, the second transmission mechanism and the third transmission mechanism, and to measure and control the first rangefinder. The first transmission mechanism can be a linear drive mechanism composed of a ball screw and a servo motor; the second transmission mechanism can be a rotary drive mechanism composed of a stepper motor, and the first rangefinder is driven to rotate around the X-axis through the second transmission mechanism; the third transmission mechanism is a transmission mechanism composed of two groups of linear drive mechanisms, one group of linear drive mechanisms drives the first rangefinder to move along the X-axis, and the other group of linear drive mechanisms drives the first rangefinder to move along the Y-axis.

[0073] Through the cooperation of the first transmission mechanism, the second transmission mechanism and the third transmission mechanism, the first distance meter can be driven to perform circumferential distance measurement at any position around the axis of the rotating body part. Figure 1 , Figure 1 The inner hole of the rotating part has a constant diameter section. The third transmission mechanism can be controlled to move the first distance meter to the inner hole of the rotating part, and radial rotation distance measurement can be performed on the constant diameter section. The rotating part can be calibrated based on the radial circumference measurement data obtained by radial rotation distance measurement, so that the radial distance measurement laser is perpendicular to the axis of the part. Figure 2 , Figure 2This is a schematic diagram of a rotating part measuring system measuring a variable diameter section. The variable diameter section of the rotating part is located on its outer surface. The first distance meter can be moved by the first transmission mechanism to implement the variable diameter section measurement of the outer surface of the rotating part. Please continue to read Figure 1 , arrow W in the figure 1 The first transmission mechanism drives the first rangefinder to move in the direction shown in FIG. 1 . The first transmission mechanism drives the first rangefinder to be located outside the rotating part, and the emitted radial ranging laser is perpendicular to the axis of the part. The third transmission mechanism is controlled to move in an axial step. The arrow W in the figure indicates that 2 The third transmission mechanism drives the first rangefinder to move axially in the direction shown in the figure. After the first rangefinder moves axially by the axial step, the first rangefinder performs a radial distance measurement. After completing all the distance measurements of the variable diameter section, the variable diameter data set of the variable diameter section can be obtained, and then the measurement result of the variable diameter section can be obtained. The outer surface of the rotating body part shown in the figure also has a constant diameter section, so the first transmission mechanism can be controlled to move the first rangefinder to the outside of the rotating body part, and the second transmission mechanism can be controlled to drive the first transmission mechanism and the first rangefinder to rotate, so as to perform radial rotation distance measurement on the constant diameter section of the outer surface, and the calibration of the rotating body part can be implemented in the same way.

[0074] Based on the measuring device proposed in the embodiment of the present invention, the first distance meter can perform radial rotation distance measurement on the equal-diameter sections of the inner hole or the equal-diameter sections of the outer surface on the rotating part; along the axial direction of the rotating part, multi-point radial distance measurement is performed on the variable-diameter sections of the inner hole or the variable-diameter sections of the outer surface. The measuring system has good applicability to rotating parts with different structures.

[0075] Furthermore, the measuring device also includes a second rangefinder and a fourth transmission mechanism. The second rangefinder is electrically connected to the controller so as to implement axial measurement control through the controller. The second rangefinder is used to emit axial ranging laser along the axial direction of the rotating body part and output the measured data to the controller; the fourth transmission mechanism is arranged on the column, the second rangefinder is installed on the fourth transmission mechanism, and the fourth transmission mechanism is used to drive the second rangefinder to move radially and / or axially along the rotating body part. The position of the second rangefinder can be adjusted by the fourth transmission mechanism so that it can measure the end face of the rotating body part. After the end face position of the rotating body part is obtained by the second rangefinder, the position of the equal diameter section and the variable diameter section can be obtained more accurately, so that the third transmission mechanism can obtain more accurate movement control. At the same time, the axial dimension on the rotating body part can be accurately measured by the second rangefinder to obtain the overall contour of the rotating body part.

[0076] In practical applications, the measuring device and the calibration device are arranged opposite to each other. When loading and unloading the rotating parts on the calibration device, the measuring device is easily damaged if the operation is improper, and the batch measurement efficiency of the rotating parts is low. Based on this, in a specific embodiment, the measuring system also includes a rotating platform and at least one mechanical arm. Figure 3 , Figure 3 This is a top view of the structure of the calibration device and the mechanical arm. The mechanical arm is set on the side of the calibration device. The mechanical arm is used to clamp the rotating part to be measured on the calibration device, and / or disassemble the rotating part on the calibration device after measurement. The rotating platform is connected to the calibration device, and the rotating platform is used to drive the calibration device to rotate so that the clamped rotating part is located at the first position where the measuring device implements measurement, and the second position where the mechanical arm clamps the rotating part to be measured, and / or the third position where the rotating part after measurement is disassembled. The calibration device can be rotated to the side close to the mechanical arm by the rotating platform to implement the clamping or disassembly of the rotating part, which can effectively improve the measurement efficiency of the rotating part, and the distance from the measuring device during the disassembly process is far, reducing the risk of collision with the measuring device.

[0077] Based on the same technical concept as the measurement system, the embodiment of the present invention also provides a measurement method for a rotating part measurement system, see Figure 4 , Figure 4 The flowchart of the measuring method is shown in FIG. The measuring system includes a measuring device and a calibration device for clamping a rotating body part, and the data output port of the measuring device is connected to the control port of the calibration device. The measuring method can be applied to the controller operation of the measuring device to implement the measurement of the variable diameter section of the rotating body part. The measuring method includes:

[0078] S11. When there is a vertical deviation between the radial ranging laser emitted along the radial direction of the rotating part and the axis of the part, the measuring device is controlled to perform radial rotation ranging on the equal-diameter section of the rotating part to obtain radial circumferential measurement data of the equal-diameter section.

[0079] Specifically, since the rotary part is not calibrated after being clamped to the calibration device, it can be assumed that there is a vertical deviation between the radial ranging laser and the axis of the part. Of course, it is also possible to use the radial ranging laser to perform multi-point radial ranging along the axial direction of the equal-diameter segment. If the measured distances are the same, it means that the radial ranging laser is perpendicular to the axis of the part; otherwise, it is determined that there is a vertical deviation between the radial ranging laser and the axis of the part. The radial rotation ranging of the equal-diameter segment can be implemented by the first rangefinder of the measuring device. Taking the equal-diameter segment located in the inner hole of the rotary part as an example, the first rangefinder is moved into the inner hole, and the first rangefinder is controlled to emit a radial ranging laser to the inner wall of the equal-diameter segment. The distance between the first rangefinder and the equal-diameter segment is determined based on the time from the emission of the radial ranging laser to the reception. After completing one ranging, the first rangefinder is rotated to perform ranging again until the radial rotation ranging of the equal-diameter segment is completed, and the radial circumferential measurement data of the equal-diameter segment is obtained based on all the measured distances.

[0080] It should be noted that when the equal-diameter segment is located on the outer surface of the rotating part, the first distance meter can be moved to the outside of the rotating part, and radial rotation distance measurement can be performed on the equal-diameter segment on the outside, and radial circumferential measurement data of the equal-diameter segment can be obtained based on all measured distances.

[0081] Exemplarily, step S11 includes sub-steps S11-1 to S11-3, which are specifically described as follows:

[0082] S11-1, move the first rangefinder of the measuring device to the radial side of the equal-diameter segment, and control the first rangefinder to perform rotational ranging on the equal-diameter segment to obtain a rotational ranging result. Multiple transmission mechanisms can be set to control the movement of the first rangefinder, so that the first rangefinder can be moved to the radial side of the equal-diameter segment to perform rotational ranging. The number of rotational ranging can be set based on actual needs, such as 3-6 times. The deviation between the first rangefinder and the central area of ​​the equal-diameter segment can be determined by the obtained rotational ranging result. The rotational ranging can be performed on a partial area of ​​the radial cross-section of the equal-diameter segment, such as a semicircular area of ​​180°. When measuring three times, the first rangefinder is controlled to perform a ranging every 60° rotation.

[0083] S11-2. When the rotational ranging result indicates that the first rangefinder is not in the center area of ​​the equal diameter segment, it means that on the radial section of the rotating body part, the first rangefinder deviates far from the actual center of the equal diameter segment. Then, the center position of the first rangefinder for rotational ranging is adjusted according to the rotational ranging result, so that the ranging density deviation of the first rangefinder during rotational ranging is within the preset range. The ranging density represents the ratio of the number of measured distances in the preset angle interval to the interval angle value during the rotational ranging process. For example, if the interval angle value of the preset angle interval is set to 90° and the number of measured distances is 5, the ranging density is 5 / 90; the ranging density deviation is the deviation of the ranging density between multiple preset angle intervals during the rotational ranging of the first rangefinder.

[0084] See also Figure 5 , Figure 5 This is a schematic diagram of the principle of rotating distance measurement for equal diameter segments. The curve in the figure l 1 It is the projection contour of the equal diameter section due to the clamping deflection of the rotating body part. The projection contour in the deflected state is an elliptical contour; the curve l 2 The projection contour of the equal diameter section when the rotating body part is not deflected, and the projection contour is a circular contour when it is not deflected. The projection contour is divided into lines d based on the contour center line. 1 d 2 , line d 2 d 3 , line d 3 d 4 and line d 4 d 1 , the interval angle value corresponding to each line is 90°. It can be seen from the figure that 2 When the point is rotated, the line d 1 d 2 The number of measured distances of the first line is 4, and the number of measured distances of the other lines is 2, which means that when the first distance meter deviates far from the actual center of the equal diameter segment, the line d 1 d 2 The distance measurement density deviation between the first distance meter and other lines is large. According to the rotation distance measurement result, the center position of the first distance meter for rotation distance measurement is adjusted to make the first distance meter as close to the actual center of the equal diameter segment as possible. The adjustment of the first distance meter can be implemented based on the rotation distance measurement result. For example, when the rotation distance measurement result is three distance measurement values, based on O 2 The coordinate system is constructed by using the three-point method to determine the center position of the equal-diameter segment, and the transmission mechanism is controlled to move the first rangefinder to the center position. It should be noted that since the center position can roughly represent the cross-sectional center of the equal-diameter segment, the center position determined by the three-point method is not the actual center of the equal-diameter segment, which can make the distance measurement density of the first rangefinder roughly the same during the rotation distance measurement.

[0085] S11-3. According to the rotation step corresponding to the basic size of the equal-diameter segment, control the first distance meter to perform circumferential distance measurement around the adjusted center position to obtain radial circumferential measurement data. The basic size can be determined based on the average of multiple distance measurement values ​​in the rotation distance measurement result, or it can be set based on the design size of the equal-diameter segment. In order to ensure the accuracy of the radial circumferential measurement data, the basic size and the rotation step can be set to have an inverse proportional relationship. When the basic size is larger, the rotation step is set to be smaller, and the radial circumferential measurement data contains more distance measurement values; conversely, when the basic size is smaller, the rotation step is larger, and the number of distance measurement values ​​contained in the radial circumferential measurement data is relatively small.

[0086] So far, the radial rotation distance measurement of the equal-diameter sections of the rotating parts has been completed, and the radial circumferential measurement data of the equal-diameter sections has been obtained.

[0087] S12. Control the calibration device to calibrate the rotating part according to the elliptical profile represented by the radial circumferential measurement data, so that the radial ranging laser is perpendicular to the axis of the part.

[0088] Specifically, the elliptical profile represented can be analyzed through the radial circumference measurement data, and the major semi-axis, minor semi-axis and rotation angle of the elliptical profile can be calculated based on the curve equation of the elliptical profile. Figure 5 , the rotation angle in the figure is denoted as θ, and the rotation angle is the major semi-axis of the ellipse contour and the coordinate system YO 1 The angle between the Y axis in Z can be calculated by the difference between the major semiaxis and the minor semiaxis. The vertical and horizontal displacements of the first rangefinder for calibration can be obtained by performing trigonometric function analysis on the semiaxis difference and the rotation angle. The calibration of the rotating part is implemented based on the vertical and horizontal displacements.

[0089] For example, through the formula , calculate the vertical displacement h; through the formula , calculate the horizontal displacement k, m is the semi-axis difference. Figure 6 , Figure 6 The schematic diagram of the calibration of the rotating body part is shown in the figure. Point S is the location of the coordinates of the center of the ellipse contour, that is, the geometric center of the ellipse contour. The first distance between this location and the center of the pitch axis of the calibration device in the horizontal direction (that is, the X axis) is p. 1 , based on the formula , calculate the first angle of the rotating part for pitch calibration Similarly, the second distance in the horizontal direction (ie, the Y axis) between the position of the center coordinate of the elliptical contour and the center of the yaw axis of the calibration device is p 2 , based on the formula , calculate the second angle of the rotating part for yaw calibration . Control the pitch axis to rotate to the first angle , the calibration of the rotating parts in the X-axis direction can be completed. Figure 6 Middle Arrow W 3 The pitch axis is calibrated to control the rotation direction of the yaw axis. , the calibration of the rotating part in the Y-axis direction can be completed.

[0090] It should be noted that the rotation directions of the pitch axis and the yaw axis can be determined based on the center position of the first rangefinder and the center coordinates of the ellipse profile. Figure 5 , O 1The geometric center of the ellipse contour determined by the radial circumference measurement data is O 1 Point is the origin of coordinate system YO 1 Z, if the center position of the first rangefinder is in the first quadrant of the coordinate system, it means that the rotating part needs to be adjusted upward, that is, based on the first angle Control the pitch axis to rotate in the positive direction of the Z axis, such as Figure 6 Middle Arrow W 3 The rotation direction indicated; similarly, based on the second angle Control the yaw axis to rotate in the positive direction of the Y axis. When the center position is in the second quadrant of the coordinate system, based on the first angle Control the pitch axis rotation in the positive direction of the Z axis based on the second angle Control the yaw axis to rotate in the negative direction of the Y axis. When the center position is in the third quadrant of the coordinate system, based on the first angle Control the pitch axis rotation in the negative direction of the Z axis, based on the second angle Control the yaw axis to rotate in the negative direction of the Y axis. When the center position is in the fourth quadrant of the coordinate system, based on the first angle Control the pitch axis rotation in the negative direction of the Z axis, based on the second angle Control the yaw axis to rotate in the positive direction of the Y axis.

[0091] Exemplarily, step S12 includes sub-steps S12-1 to S12-4, which are specifically described as follows:

[0092] S12-1. Determine the center coordinates of the elliptical contour represented by the radial circumferential measurement data, as well as the rotation angle of the elliptical contour in the radial section of the part. The radial circumferential measurement data is a series of data points obtained after radial rotation distance measurement of equal diameter segments, including the rotation angle of the rotation distance measurement and the corresponding distance value of the distance measurement. These data points constitute an elliptical contour on the plane. By processing these data points, such as using the least squares method to fit the elliptical equation, the center coordinates of the elliptical contour can be determined. Since the rotating body part is deflected along the Y-axis and the Z-axis after clamping, the elliptical contour has a rotation angle θ on the radial section of the part. By determining the rotation angle, it is helpful to fully understand the clamping deflection of the rotating body part and provide accurate parameters for subsequent correction work. The following will further elaborate on the analysis process of the center coordinates and the rotation angle.

[0093] The first step is to establish a coordinate system based on the center position of the rotational distance measurement of the equal-diameter segment according to the radial circumferential measurement data, and determine each data in the radial circumferential measurement data as the corresponding contour coordinate of the elliptical contour. When measuring equal-diameter segments with clamping deviation, the coordinate system is constructed with the center position of the radial rotational distance measurement as the origin. This center position is the reference point of the radial rotational distance measurement. Each data of the radial circumferential measurement data obtained by laser ranging represents the distance from the measuring point to the center position in the circumferential direction. Due to the clamping deviation, the shape formed by these data is an elliptical contour. The position of the measuring point corresponding to the radial circumferential measurement data in the newly established coordinate system is determined, and these position coordinates can be regarded as the coordinates of the points on the elliptical contour.

[0094] The second step is to solve the quadratic curve equation of the ellipse contour according to all contour coordinates to obtain the equation coefficients of the quadratic curve equation. The quadratic curve equation is , A, B, C, D, E and F are equation coefficients, x and y are contour coordinates on the elliptical contour, and all equation coefficients can be solved based on the contour coordinates obtained based on the radial circumference measurement data.

[0095] The third step is to input the equation coefficients into the coefficient analysis model to obtain the center coordinates and rotation angle. The center coordinates are the coordinates of the geometric center of the ellipse outline, denoted as (H, K). The equation coefficients of the ellipse equation and the center coordinates have the following relationship:

[0096] , , so the center coordinates (H, K) can be obtained based on the above formula.

[0097] , the rotation angle θ is obtained based on the above formula.

[0098] S12-2. The distance between the center coordinates and the ellipse contour is solved by the least square method to determine the major and minor axes of the ellipse contour. The ellipse contour is a contour characterized by radial circumferential measurement data. The maximum distance between the center coordinates and the ellipse contour is the major and minor axes, and the shortest distance is the minor and minor axes. However, due to the density during radial distance measurement, the radial circumferential measurement data cannot accurately characterize the accurate ellipse curve. The error function can be defined by the least square method, and the error function can be minimized by the least square method. The major and minor axes are iteratively updated by an optimization algorithm (such as gradient descent).

[0099] S12-3, according to the major semi-axis, the minor semi-axis and the rotation angle, obtain the vertical displacement and horizontal displacement for calibrating the rotating body part. Calculate the semi-axis difference based on the difference between the major semi-axis and the minor semi-axis, perform trigonometric analysis based on the semi-axis difference and the rotation angle, and then obtain the vertical displacement h and the horizontal displacement k.

[0100] S12-4, controlling the pitch axis of the calibration device to rotate to a first angle according to the vertical displacement, and controlling the yaw axis of the calibration device to rotate to a second angle according to the horizontal displacement, so that the radial ranging laser is perpendicular to the axis of the part. Figure 1 The pitch axis is used to control the pitch angle of the rotating part, and the yaw axis is used to control the yaw angle of the rotating part. When the measurement system is configured as a closed-loop control system, the first distance p between the radial ranging laser and the center of the pitch axis is 1 , and the second distance p between the radial ranging laser and the center of the yaw axis 2 , can be read out by the closed-loop control system, which will not be described in detail here. Based on the vertical displacement and the first distance, the first angle can be obtained by performing trigonometric analysis; similarly, based on the horizontal displacement and the second distance, the second angle can be obtained by performing trigonometric analysis. By controlling the pitch axis to rotate by the first angle and the yaw axis to rotate by the second angle, the calibration of the rotating body parts can be achieved.

[0101] In practical applications, due to the skewness of the rotating body parts during clamping, it is rather cumbersome to determine the position of the variable diameter section based on the radial ranging laser. Based on this, in a specific implementation, the measurement method further includes:

[0102] The second distance meter of the measuring device is controlled to emit an axial distance measurement laser along the axial direction of the rotating part to obtain the end surface position of the rotating part close to the second distance meter. Figure 1 , the end face of the rotating part close to the first rangefinder can be measured by the second rangefinder to determine the position of the end face, that is, the end face position. According to the end face position and the area where the variable diameter section is located in the rotating part, the starting position of the first rangefinder of the measuring device for multi-point radial distance measurement of the variable diameter section is determined. The variable diameter section and the end face position of the rotating part are known and can be obtained through the design dimensions of the rotating part. Based on the end face position and the area where the variable diameter section is located, the starting position of the first rangefinder for measuring the variable diameter section is obtained.

[0103] S13, controlling the measuring device to perform multi-point radial distance measurement on the variable diameter section of the calibrated rotating body part according to a preset axial step distance, so as to obtain a variable diameter data set of the variable diameter section.

[0104] Specifically, the axial step is the distance between adjacent measuring points when the first distance meter performs multi-point radial distance measurement on the variable diameter section. The axial step can be set based on the actual measurement accuracy of the variable diameter section, or it can be set based on the structure of the variable diameter section. For example, when the variable diameter section is a conical structure, a larger axial step can be set; when the variable diameter section is a curved structure, a smaller axial step can be set to ensure the measurement accuracy of the variable diameter section. When implementing multi-point radial distance measurement, the radial distance measurement laser is perpendicular to the axis of the part. After performing multi-point radial distance measurement along the axial direction of the variable diameter section, the variable diameter data set of the variable diameter section can be obtained.

[0105] In practical applications, the structure of the variable diameter section is diverse, which may be a curved surface structure or a conical structure, or may be a curved surface structure and a conical structure at the same time. If multi-point radial distance measurement is implemented based on the same axial step, the applicability of the axial step will be insufficient. Based on this, in a specific implementation, step S13 includes sub-steps S13-1 to S13-3, which are specifically described as follows:

[0106] S13-1. Control the measuring device to perform multi-point radial distance measurement along the axis of the variable diameter section at a preset initial axial step to obtain multiple radial distances measured at the initial axial step. Figure 7 , Figure 7 The schematic diagram of the principle of multi-point radial distance measurement for the variable diameter section is shown in the figure. The AB section of the rotating body part is the equal diameter section, the BC section is the variable diameter section, and point B is the starting position for multi-point radial distance measurement of the variable diameter point. The initial axial step can be set to a larger value. 1 -f 7 For radial distances of multi-point radial distance measurement, an initial axial step distance of adjacent radial distances may be set to 50 mm, and a plurality of radial distances are obtained based on the measured results.

[0107] S13-2. Determine the axial step curve of the measuring variable diameter section according to the distance variation represented by the multiple radial distances, wherein the axial step curve is a curve showing the axial step variation with the length of the variable diameter section. Figure 7 , it can be seen from the figure that the radial distance f 1 Radial distance f 2 The distance change is small, so a larger axial step can be set for this variable diameter section; the radial distance f 2 Radial distance f 3 The distance variation is large. In order to capture more details of the variable diameter section, a smaller axial step can be set for the variable diameter section. Based on the above method, the axial step curve of the measured variable diameter section can be obtained.

[0108] S13-3, according to the axial step curve, the measuring device is controlled to perform multi-point radial distance measurement again along the axis of the variable diameter section to obtain a variable diameter data set of the variable diameter section. The axial step curve can be used to set the corresponding axial step of the equal diameter sections of different structures. When the multi-point radial distance measurement is performed again on the axis of the variable diameter section, the obtained variable diameter data set takes into account the efficiency and accuracy of the variable diameter section measurement.

[0109] So far, multi-point radial ranging has been completed along the axial direction of the variable diameter section, and the variable diameter data set of the variable diameter section has been obtained.

[0110] S14. Determine the measurement result of the variable diameter section according to the axial variable diameter profile represented by the variable diameter data set.

[0111] Specifically, the axial variable diameter profile represented by the variable diameter data set is the actual profile of the variable diameter section. By comparing the actual profile with the designed profile of the variable diameter section, the deviation between the two can be obtained, and the obtained deviation can be determined as the measurement result. Of course, the measurement result of the variable diameter section can also be directly characterized by the axial variable diameter profile, and no specific limitation is made here. In order to further obtain accurate measurement results of the variable diameter section, after the first rangefinder performs multi-point radial distance measurement on the variable diameter section with an axial step, the second transmission mechanism can be controlled to drive the first rangefinder to rotate 180°, and the multi-point radial distance measurement of the variable diameter section can be performed again with an axial step. Based on the variable diameter data sets measured twice, the axial variable diameter profile of the variable diameter section is determined, so that the obtained measurement result can more accurately represent the actual profile of the variable diameter section.

[0112] The technical solution provided in the embodiments of the present invention has at least the following technical effects or advantages:

[0113] The rotating part is fixed on the calibration device. When there is a vertical deviation between the radial distance measurement laser emitted by the measuring device along the radial direction of the rotating part and the axis of the part, the measuring device is used to perform radial rotation distance measurement on the equal diameter section of the rotating part to obtain the radial circumferential measurement data of the equal diameter section; the rotating part is calibrated according to the elliptical profile represented by the radial circumferential measurement data, so that the radial distance measurement laser is perpendicular to the axis of the part, so that the rotating part is calibrated; the measuring device is also used to perform multi-point radial distance measurement on the variable diameter section of the calibrated rotating part according to the preset axial step distance to obtain the variable diameter data set of the variable diameter section along the axial direction; and the measurement result of the variable diameter section is determined according to the axial variable diameter profile represented by the variable diameter data set. This technical solution does not need to axially calibrate the rotating part with the help of instruments and manual operation, eliminates the calibration error caused by instrument measurement and manual operation, and uses laser distance measurement to perform multi-point radial distance measurement based on the axial step distance, so as to quickly and accurately obtain the variable diameter data set of the variable diameter section, and then determine the measurement result of the variable diameter section, taking into account the measurement efficiency and accuracy of the variable diameter section on the rotating part.

[0114] It should be noted that the sequence of the above embodiments of the present invention is only for description and does not represent the advantages and disadvantages of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0115] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

Claims

1. A measuring method for a rotating part measuring system, characterized in that: The measuring system comprises a measuring device and a calibration device for clamping a rotating body part, wherein a data output port of the measuring device is connected to a control port of the calibration device; the method comprises: When there is a vertical deviation between the radial distance measurement laser emitted along the radial direction of the rotating part and the axis of the part, the measuring device is controlled to perform radial rotation distance measurement on the equal-diameter section of the rotating part to obtain radial circumferential measurement data of the equal-diameter section; Controlling the calibration device to calibrate the rotating part according to the elliptical profile represented by the radial circumferential measurement data, so that the radial ranging laser is perpendicular to the axis of the part; Controlling the measuring device to perform multi-point radial distance measurement on the variable diameter section of the calibrated rotating body part according to a preset axial step distance, so as to obtain a variable diameter data set of the variable diameter section; Determining a measurement result of the variable diameter section according to the axial variable diameter profile represented by the variable diameter data set; The method of controlling the measuring device to perform multi-point radial distance measurement on the variable diameter section of the calibrated rotating body part according to the preset axial step distance to obtain a variable diameter data set of the variable diameter section includes: Controlling the measuring device to perform multi-point radial distance measurement along the axis of the variable diameter section at a preset initial axial step to obtain a plurality of radial distances measured at the initial axial step; Determine an axial step curve for measuring the variable diameter section according to the distance variation represented by the multiple radial distances, wherein the axial step curve is a curve showing the axial step variation with the length of the variable diameter section; The measuring device is controlled according to the axial step curve to perform multi-point radial distance measurement again along the axis of the variable diameter section to obtain a variable diameter data set of the variable diameter section.

2. The measuring method of the rotating body part measuring system according to claim 1, characterized in that: The controlling the measuring device to perform radial rotation distance measurement on the equal-diameter section of the rotating body part to obtain radial circumferential measurement data of the equal-diameter section includes: Moving the first distance meter of the measuring device to the radial side of the equal-diameter segment, and controlling the first distance meter to perform rotation distance measurement on the equal-diameter segment to obtain a rotation distance measurement result; When the rotational ranging result indicates that the first rangefinder is not in the central area of ​​the equal-diameter segment, adjusting the central position of the first rangefinder for rotational ranging according to the rotational ranging result, so that the ranging density deviation of the first rangefinder during rotational ranging is within a preset range, wherein the ranging density deviation is the deviation of the ranging density between multiple preset angle intervals during rotational ranging of the first rangefinder; According to the rotation step corresponding to the basic size of the equal-diameter section, the first distance meter is controlled to perform circumferential distance measurement around the adjusted center position to obtain the radial circumferential measurement data.

3. The measuring method of the rotating body part measuring system according to claim 1, characterized in that: The step of controlling the calibration device to calibrate the rotating part according to the elliptical profile represented by the radial circumferential measurement data comprises: Determine the center coordinates of the elliptical profile represented by the radial circumferential measurement data, and the rotation angle of the elliptical profile in the radial section of the part; The distance between the center coordinate and the ellipse contour is solved by using the least square method to determine the major semi-axis and the minor semi-axis of the ellipse contour; According to the major semi-axis, the minor semi-axis and the rotation angle, a vertical displacement and a horizontal displacement for calibrating the rotating body part are obtained; The pitch axis of the calibration device is controlled to rotate to a first angle according to the vertical displacement, and the yaw axis of the calibration device is controlled to rotate to a second angle according to the horizontal displacement, so that the radial ranging laser is perpendicular to the part axis.

4. The measuring method of the rotating body part measuring system according to claim 3, characterized in that: Determining the center coordinates of the elliptical profile represented by the radial circumferential measurement data and the rotation angle of the elliptical profile in the radial section of the part includes: Establishing a coordinate system at the center position of the rotation distance measurement of the equal diameter section according to the radial circumference measurement data, and determining each data in the radial circumference measurement data as the corresponding contour coordinate of the elliptical contour; Analyze the quadratic curve equation of the ellipse contour according to all contour coordinates to obtain equation coefficients of the quadratic curve equation; The equation coefficients are input into a coefficient analysis model to obtain the center coordinates and the rotation angle.

5. The measuring method of the rotating body part measuring system according to claim 1, characterized in that: Before controlling the measuring device to perform multi-point radial distance measurement on the variable diameter section of the calibrated rotating body part according to the preset axial step, the method further includes: Controlling the second distance meter of the measuring device to emit axial distance measurement laser along the axial direction of the rotating body part to obtain the end surface position of the rotating body part close to the second distance meter; According to the end surface position and the area where the diameter-changing section is located in the rotating body part, the starting position of the first distance meter of the measuring device for performing multi-point radial distance measurement on the diameter-changing section is determined.

6. The measuring method of the rotating body part measuring system according to claim 1, characterized in that: The system further comprises: At least one mechanical arm is arranged on a side of the calibration device, and the mechanical arm is used to clamp the rotating part to be measured onto the calibration device, and / or disassemble the rotating part measured on the calibration device; A rotating platform is connected to the calibration device, and the rotating platform is used to drive the calibration device to rotate so that the rotating part is located at a first position where the measuring device implements measurement, a second position where the robotic arm clamps the rotating part to be measured, and / or a third position where the rotating part is disassembled after measurement.

7. The measuring method of the rotating body part measuring system according to claim 1, characterized in that: The measuring device comprises: Column; A first rangefinder, used for emitting the radial ranging laser along the radial direction of the rotating body part; a first transmission mechanism connected to the first distance meter, the first transmission mechanism being used to adjust the radius of rotation of the first distance meter around the axis of the part; A second transmission mechanism, disposed on the column, the second transmission mechanism is connected to the first transmission mechanism, and the second transmission mechanism is used to drive the first transmission mechanism to rotate around the center position of the second transmission mechanism; A third transmission mechanism connected to the column, the third transmission mechanism is used to drive the first rangefinder to move along the radial and axial directions of the rotating body part; A controller is electrically connected to the first rangefinder, the first transmission mechanism, the second transmission mechanism and the third transmission mechanism, and is used to drive and control the first transmission mechanism, the second transmission mechanism and the third transmission mechanism, and to measure and control the first rangefinder.

8. The measuring method of the rotating body part measuring system according to claim 7, characterized in that: The measuring device also includes: A second rangefinder, electrically connected to the controller, and configured to emit an axial distance measurement laser along the axial direction of the rotating body part; A fourth transmission mechanism is disposed on the column, the fourth transmission mechanism is connected to the second rangefinder, and the fourth transmission mechanism is used to drive the second rangefinder to move along the radial and / or axial direction of the rotating body part.

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