A device for online calibration of dual-axis relative motion posture

Abstract

The invention discloses a device for online calibration of dual-axis relative motion posture, comprising a laser length measuring device and a photoelectric receiving device, which are respectively fixed on the dual-axis to be calibrated, the laser length measuring device comprising a laser displacement sensing unit, a front three-dimensional micro-displacement adjustment workbench, and a front clamping and fixing component, the photoelectric receiving device comprising a lens, a rear three-dimensional micro-displacement adjustment workbench, and a rear clamping and fixing component, the laser displacement sensing unit comprising a laser displacement sensor for measuring the displacement change amount in the X-axis direction; the lens comprising a two-dimensional position sensitive device for measuring the displacement change amount in the Y-axis and Z-axis directions; the front and rear three-dimensional micro-displacement adjustment workbenches respectively comprise differential heads and cross roller guides in three directions, and the laser displacement sensor and the two-dimensional position sensitive device can realize micro-movement in three directions through the cross roller guides. The invention can realize real-time measurement and online calibration of dual-axis relative motion posture parameters.

Description

Technical Field

[0001] The invention belongs to the field of geometric parameter measurement and calibration, and in particular relates to a device for online calibration of dual-axis relative motion posture. Background Art

[0002] As composite materials are increasingly used in aviation manufacturing, their quality requirements are also becoming higher and higher. The lightweight and high-strength characteristics of composite materials play an important role in the structural strength and weight control of aircraft, which is directly related to the safety and economy of flight. Therefore, composite materials require strict quality control during production and use to ensure that their performance meets aviation standards. Flight safety is the primary consideration in aircraft design and manufacturing, and defects inside composite materials can have a significant impact on the structural integrity and service life of the aircraft. In order to ensure the safe operation of aircraft, composite materials must be rigorously tested and evaluated to discover and repair potential defects. These defects are often invisible on the surface of the material, but can lead to catastrophic consequences under high stress. Therefore, the detection of internal defects in composite materials is crucial.

[0003] At present, ultrasonic C-scan testing is the main method for detecting internal defects of composite materials. Ultrasonic C-scan testing equipment uses high-frequency sound waves to detect the internal structure of materials, and can effectively detect defects such as cracks, pores and delamination inside the materials. This method has the advantages of non-destructive, high precision and high efficiency, and is suitable for the detection of large-area composite materials. It is well known that in order to ensure the detection accuracy and stability of ultrasonic C-scan testing equipment, metrological calibration is the most necessary and reliable means. Regular calibration can detect and correct deviations that may occur in the long-term use of the equipment, and ensure the accuracy and consistency of the test results. In addition, calibration can also help formulate and optimize the detection process and improve the overall detection quality.

[0004] At present, the calibration of ultrasonic C-scan detection equipment in China mainly refers to JJF 1731-2018 "Ultrasonic C-scan Equipment Calibration Specification". This specification has formulated detailed calibration requirements to ensure the accuracy and reliability of ultrasonic C-scan detection equipment. However, for the calibration of the mechanical part, the specification only stipulates the measurement requirements of "axis positioning accuracy" and "axis repeat positioning accuracy". This means that in actual operation, the dual-axis relative motion posture parameters of the equipment are not fully calibrated and controlled. In ultrasonic C-scan detection, the dual-axis relative motion posture parameters refer to the spatial position and angle of the two motion axes (usually the X-axis and the Y-axis) of the equipment relative to each other during the scanning process. Slight changes in these parameters will directly affect the accuracy of the ultrasonic propagation path inside the material, and then affect the accurate reception and analysis of the detection signal. If the dual-axis relative motion posture is inaccurate, it may cause distortion of the scanned image or error in defect positioning, thereby affecting the reliability of the detection result.

[0005] Since the dual-axis relative motion posture parameters have a direct impact on the accuracy of the received signal of the high-precision ultrasonic C-scan detection equipment, it is crucial to ensure the stability and accuracy of these parameters during the scanning process. Therefore, the deficiency of the existing calibration specifications is that they fail to cover the calibration of these key parameters, resulting in possible blind spots in accuracy control in practical applications. Summary of the invention

[0006] The purpose of the present invention is to provide a device for online calibration of dual-axis relative motion posture, which can obtain three-dimensional micro-displacement relative motion posture information in real time, thereby realizing real-time measurement and online calibration of dual-axis relative motion posture parameters.

[0007] One aspect of the present invention provides a device for online calibration of a dual-axis relative motion posture, comprising a laser length measuring device and a photoelectric receiving device, wherein the laser length measuring device comprises a laser displacement sensing unit, a front three-dimensional micro-displacement adjustment workbench, and a front clamping and fixing component, and the photoelectric receiving device comprises a lens, a rear three-dimensional micro-displacement adjustment workbench, and a rear clamping and fixing component, wherein the front clamping and fixing component and the rear clamping and fixing component are respectively used to clamp and fix the laser length measuring device and the photoelectric receiving device on the dual-axis to be calibrated;

[0008] The laser displacement sensing unit comprises a laser displacement sensor and an L-shaped fixing seat. The laser displacement sensing unit is fixed on the front three-dimensional micro-displacement adjustment workbench through the L-shaped fixing seat. The laser displacement sensor is used to measure the displacement change in the X-axis direction.

[0009] The lens comprises a lens barrel, a beam splitter, a two-dimensional position sensitive device and a sleeve. The lens is fixed to the rear three-dimensional micro-displacement adjustment workbench through the sleeve. The beam splitter is embedded in the lens barrel and fixed to the two-dimensional position sensitive device, and is used to split the laser emitted by the laser displacement sensor into two, one of which returns to the laser displacement sensor along the original path, and the other enters the two-dimensional position sensitive device. The two-dimensional position sensitive device is used to convert the optical signal into an electrical signal to achieve the measurement of the displacement change in the Y-axis and Z-axis directions;

[0010] The front-end three-dimensional micro-displacement adjustment workbench and the rear-end three-dimensional micro-displacement adjustment workbench have the same structure, and respectively include differential heads and cross roller guides in the three directions of X-axis, Y-axis and Z-axis. The laser displacement sensor fixed on the front-end three-dimensional micro-displacement adjustment workbench and the two-dimensional position sensitive device fixed on the rear-end three-dimensional micro-displacement adjustment workbench can both achieve micro-movement in the three directions of X-axis, Y-axis and Z-axis through the cross roller guides. The differential head is used to adjust the micro-movement in the three directions of X-axis, Y-axis and Z-axis through the cross roller guides.

[0011] Preferably, the front-end clamping and fixing assembly and the rear-end clamping and fixing assembly have the same structure, and respectively include a fixing seat, an elastic leaf spring and a fastening screw. The fixing seat can realize 90° rotation, and the fixing seat has a built-in elastic leaf spring, and the laser length measuring device and the photoelectric receiving device are clamped and fixed by the fastening screw.

[0012] Preferably, the front end three-dimensional micro-displacement adjustment workbench and the rear end three-dimensional micro-displacement adjustment workbench also include locking screws in the three directions of X-axis, Y-axis and Z-axis, which are used to lock the micro-movement of the front end three-dimensional micro-displacement adjustment workbench and the rear end three-dimensional micro-displacement adjustment workbench in three directions.

[0013] Preferably, the cross roller guide rail is a series of cross-arranged roller structures, which can ensure high positioning accuracy and repeatability of the front three-dimensional micro-displacement adjustment workbench and the rear three-dimensional micro-displacement adjustment workbench.

[0014] Preferably, the lens further comprises a photoelectric signal processing module, and the device pins on the two-dimensional position sensitive device are connected to the photoelectric signal processing module by welding.

[0015] Preferably, the beam splitter is a 1 / 2 circular plane beam splitter, and the two-dimensional position sensitive device is a two-dimensional PSD or CCD photosensitive device.

[0016] Preferably, the front three-dimensional micro-displacement adjustment workbench and the rear three-dimensional micro-displacement adjustment workbench further include a work surface, and the work surface is used to fix the laser displacement sensor unit or the lens.

[0017] According to the device for online calibration of two-axis relative motion posture according to the above aspects of the present invention, three-dimensional micro-displacement relative motion posture information is acquired in real time by using high-precision laser displacement sensors and two-dimensional position sensitive devices, thereby realizing real-time measurement and online calibration of the two-axis relative motion posture parameters of the ultrasonic C-scan detection equipment during the scanning process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings used in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work:

[0019] Figure 1 It is a front view of a device for online calibration of dual-axis relative motion posture according to an embodiment of the present invention;

[0020] Figure 2 is a side view of a device for online calibration of dual-axis relative motion posture according to an embodiment of the present invention;

[0021] Figure 3 It is an exploded diagram of the lens components of a device for online calibration of dual-axis relative motion posture according to an embodiment of the present invention;

[0022] Figure 4 This is a typical application scenario diagram of the device for online calibration of dual-axis relative motion posture in one embodiment of the present invention in online calibration of dual-axis relative motion posture in large-scale ultrasonic C-scan detection equipment;

[0023] Figure 5 This is a typical application scenario diagram of a device for online calibration of dual-axis relative motion posture in an embodiment of the present invention for real-time measurement and online calibration of the relative synchronous motion state of two industrial robots or mechanical arms in space. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] An embodiment of the present invention provides a device for online calibration of a dual-axis relative motion posture. The device for online calibration of a dual-axis relative motion posture in the embodiment of the present invention comprises a laser length measuring device and a photoelectric receiving device. In one embodiment, Figure 1-Figure 3 As shown, the laser length measuring device includes a laser displacement sensing unit 1, a front three-dimensional micro-displacement adjustment workbench 2, and a front clamping and fixing component 3; the photoelectric receiving device includes a lens 4, a rear three-dimensional micro-displacement adjustment workbench 5, and a rear clamping and fixing component 6; the laser displacement sensing unit 1 includes a laser displacement sensor 11 and an L-shaped fixing seat 12; the front three-dimensional micro-displacement adjustment workbench 2 and the rear three-dimensional micro-displacement adjustment workbench 5 have the same structure, and respectively include a work table 21, a differential head 22, a locking screw 23, and a cross roller guide; the front clamping and fixing component 3 and the rear clamping and fixing component 6 have the same structure, and respectively include a fixing seat 31, an elastic leaf spring, and a fastening screw 33; the lens 4 includes a lens barrel 41, a spectroscope 42, a two-dimensional position sensitive device 43, a photoelectric signal processing module 44, and a sleeve 45.

[0026] The laser displacement sensor unit 1 is fixed on the front three-dimensional micro-displacement adjustment workbench 3 through an L-shaped fixing seat 12. The L-shaped fixing seat 12 can be designed with fixed through holes, dimensions, structures, etc. according to the dimensions of different models and specifications of the laser displacement sensor 11. The laser displacement sensor 11 can use a laser displacement sensor based on triangulation, as well as other non-contact optical distance measurement sensors that meet the measurement accuracy requirements, mainly to achieve real-time measurement and online calibration of the displacement change in the X-axis direction.

[0027] The front three-dimensional micro-displacement adjustment workbench 2 and the rear three-dimensional micro-displacement adjustment workbench 5 adopt a platform combination design, so that the laser displacement sensor 11 on the front three-dimensional micro-displacement adjustment workbench 2 and the two-dimensional position sensitive device 43 on the rear three-dimensional micro-displacement adjustment workbench 5 can achieve high-precision micro-movement in the three directions of X-axis, Y-axis and Z-axis through the cross roller guide. The differential head 22 is used to adjust the micro-movement of each axis direction through the cross roller guide, including three differential heads in the three directions of X-axis, Y-axis and Z-axis; the locking screw 23 is used to lock each axis to prevent the relative position of each axis from changing during the measurement process, including three locking screws in the X, Y and Z directions.

[0028] The cross roller guide adopts a series of cross-arranged roller structure design, so as to ensure very smooth movement during the rolling of the guide rail. This design can effectively reduce friction and backlash, thereby ensuring high positioning accuracy and repeatability of the front three-dimensional micro-displacement adjustment workbench 2 and the rear three-dimensional micro-displacement adjustment workbench 5.

[0029] The front clamping and fixing assembly 3 and the rear clamping and fixing assembly 6 adopt an arc-shaped leaf spring flexible tooling design, which are respectively used to clamp and fix the laser length measuring device and the photoelectric receiving device as a whole on the calibrated double shaft, and by adopting an angle-adjustable design, the fixing seat 31 can be rotated 90 degrees to adapt to the spatial position of the measured shaft installation in different scenarios. The fixing seat 31 has a built-in elastic leaf spring, and the fixing screws 33 are used to clamp and fix the laser length measuring device and the photoelectric receiving device as a whole; the size of the fixing seat 31 can be designed and processed according to the size specifications of the shaft of the calibrated equipment.

[0030] The spectroscope 42 is embedded in the lens barrel 41 and fixed to the two-dimensional position sensitive device 43 through internal threads. The device pins on the two-dimensional position sensitive device 43 are connected to the optoelectronic signal processing module 44 through welding, and finally installed on the rear three-dimensional micro-displacement adjustment workbench 5 through the sleeve 45.

[0031] The spectroscope 42 uses a 1 / 2 circular plane spectrometer to split the light into two, one path returns to the laser displacement sensor 11 along the original path, and the other path enters the two-dimensional position sensitive device 43; the two-dimensional position sensitive device 43 can use a two-dimensional PSD (Position Sensitive detector) or a CCD (Charge-coupled Device) photosensitive device to convert the optical signal into an electrical signal, thereby realizing real-time measurement and online calibration of the displacement changes in the Y and Z directions; the sleeve 45 is designed as a snap-on structure, which is used to fix the lens 4 on the work surface of the rear-end three-dimensional micro-displacement adjustment workbench 5.

[0032] After the laser displacement sensor 11 and the two-dimensional position sensitive device 43 are disassembled, their displacement can be calibrated by a dual-frequency laser interferometer or a displacement standard device, thereby realizing the traceability of the displacement of the calibration device of the embodiment of the present invention.

[0033] The installation method of the device for online calibration of dual-axis relative motion posture according to the embodiment of the present invention is as follows:

[0034] For the installation of coordinate axis structure: Figure 4 As shown, the laser displacement sensor 11 is fixed on the front three-dimensional micro-displacement adjustment workbench 2 through the L-shaped fixing seat 12, the laser length measuring device is installed on a mechanical axis of the monitored relative motion posture through the front clamping and fixing component 3, the lens 4 is installed on the rear three-dimensional micro-displacement adjustment workbench 5 through the sleeve 45, and the photoelectric receiving device is installed on another mechanical axis of the monitored relative motion posture through the rear clamping and fixing component 6.

[0035] For multi-degree-of-freedom structure installation of industrial robots or robotic arms: Figure 5 As shown, the laser displacement sensor 11 is fixed on the front three-dimensional micro-displacement adjustment workbench 2 through an L-shaped fixing seat 12, the laser length measuring device is installed on the claw plate or flange of an industrial robot or mechanical arm whose relative motion posture is monitored through the front clamping and fixing component 3, the lens 4 is installed on the rear three-dimensional micro-displacement adjustment workbench 3 through the sleeve 45, and the photoelectric receiving device is installed on the claw plate or flange of another industrial robot or mechanical arm whose relative motion posture is monitored through the rear clamping and fixing component 6.

[0036] The working process of the device for online calibration of dual-axis relative motion posture according to the embodiment of the present invention is as follows:

[0037] After installing the laser length measuring device and the photoelectric receiving device, adjust the direction of the L-shaped fixing seat 12 so that the visible laser beam emitted by the laser length measuring device is as vertical as possible to the center of the lens 4, adjust the micrometer head 22 to make each axis slightly move, so as to ensure that the signals in the three directions of the X, Y, and Z axes are within the measurement requirements, and finally tighten the screw 23. The laser displacement sensor 11 is used to achieve high-precision measurement of the displacement change in the X-axis direction, and the two-dimensional position sensitive device 43 is used to achieve high-precision measurement of the micro-displacement change in the Y-axis and Z-axis directions, thereby achieving real-time measurement and online calibration of the three-dimensional micro-displacement of the spatial relative motion posture of the two.

[0038] In summary, the device for online calibration of the dual-axis relative motion posture of the embodiment of the present invention adopts a laser displacement sensor to realize micro-displacement measurement in the X-axis direction, and adopts a two-dimensional position sensitive device to realize micro-displacement measurement in the Y-axis and Z-axis directions, thereby realizing real-time measurement and online calibration of three-dimensional micro-displacement of the dual-axis relative motion posture. The present invention has the following beneficial effects:

[0039] 1. The present invention can be used for real-time monitoring of the dual-axis relative motion posture of large-scale ultrasonic C-scan detection equipment during the scanning process, as well as real-time measurement and online calibration of the three-dimensional micro-displacement of the dual-axis relative motion posture, thereby ensuring that the equipment always maintains high precision and high stability during operation.

[0040] 2. The present invention can be extended to real-time measurement and online calibration of the spatial relative synchronous motion state of two industrial robots or robotic arms.

[0041] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A device for online calibration of dual-axis relative motion posture, characterized in that: It comprises a laser length measuring device and a photoelectric receiving device, wherein the laser length measuring device comprises a laser displacement sensing unit, a front three-dimensional micro-displacement adjustment workbench, and a front clamping and fixing component, and the photoelectric receiving device comprises a lens, a rear three-dimensional micro-displacement adjustment workbench, and a rear clamping and fixing component, wherein the front clamping and fixing component and the rear clamping and fixing component are respectively used to clamp and fix the laser length measuring device and the photoelectric receiving device on the calibrated double axis; The laser displacement sensing unit comprises a laser displacement sensor and an L-shaped fixing seat. The laser displacement sensing unit is fixed on the front three-dimensional micro-displacement adjustment workbench through the L-shaped fixing seat. The laser displacement sensor is used to measure the displacement change in the X-axis direction. The lens comprises a lens barrel, a beam splitter, a two-dimensional position sensitive device and a sleeve. The lens is fixed to the rear three-dimensional micro-displacement adjustment workbench through the sleeve. The beam splitter is embedded in the lens barrel and fixed to the two-dimensional position sensitive device, and is used to split the laser emitted by the laser displacement sensor into two, one of which returns to the laser displacement sensor along the original path, and the other enters the two-dimensional position sensitive device. The two-dimensional position sensitive device is used to convert the optical signal into an electrical signal to achieve the measurement of the displacement change in the Y-axis and Z-axis directions; The front-end three-dimensional micro-displacement adjustment workbench and the rear-end three-dimensional micro-displacement adjustment workbench have the same structure, and respectively include differential heads and cross roller guides in the three directions of X-axis, Y-axis and Z-axis. The laser displacement sensor fixed on the front-end three-dimensional micro-displacement adjustment workbench and the two-dimensional position sensitive device fixed on the rear-end three-dimensional micro-displacement adjustment workbench can both achieve micro-movement in the three directions of X-axis, Y-axis and Z-axis through the cross roller guides. The differential head is used to adjust the micro-movement in the three directions of X-axis, Y-axis and Z-axis through the cross roller guides.

2. The device according to claim 1, characterized in that The front-end clamping and fixing assembly and the rear-end clamping and fixing assembly have the same structure, and respectively include a fixing seat, an elastic leaf spring and a fastening screw. The fixing seat can realize 90° rotation, and the fixing seat has a built-in elastic leaf spring, and the laser length measuring device and the photoelectric receiving device are clamped and fixed by the fastening screw.

3. The device according to claim 1 or 2, characterized in that The front three-dimensional micro-displacement adjustment workbench and the rear three-dimensional micro-displacement adjustment workbench also include locking screws in the three directions of X-axis, Y-axis and Z-axis, which are used to lock the micro-movement of the front three-dimensional micro-displacement adjustment workbench and the rear three-dimensional micro-displacement adjustment workbench in three directions.

4. The device according to claim 1 or 2, characterized in that The cross roller guide rail is a series of cross-arranged roller structures, which can ensure high positioning accuracy and repeated positioning accuracy of the front three-dimensional micro-displacement adjustment workbench and the rear three-dimensional micro-displacement adjustment workbench.

5. The device according to claim 1 or 2, characterized in that The lens also includes a photoelectric signal processing module, and the device pins on the two-dimensional position sensitive device are connected to the photoelectric signal processing module by welding.

6. The device according to claim 1 or 2, characterized in that: The beam splitter is a 1 / 2 circular plane beam splitter, and the two-dimensional position sensitive device is a two-dimensional PSD or CCD photosensitive device.

7. The device according to claim 1 or 2, characterized in that The front three-dimensional micro-displacement adjustment workbench and the rear three-dimensional micro-displacement adjustment workbench also include a work surface, and the work surface is used to fix the laser displacement sensor unit or the lens.

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