針對直紋面表面結(jié)構(gòu)檢測的探頭六自由度定位方法研究
發(fā)布時間：2018-07-16 12:10
【摘要】：隨著先進制造領(lǐng)域的不斷發(fā)展,對零件的加工質(zhì)量也相應(yīng)的提出了更高的要求,表面結(jié)構(gòu)作為表征零件加工質(zhì)量的重要指標,對其進行準確有效的檢測已經(jīng)成為發(fā)展先進制造裝備的重要前提。現(xiàn)有的表面結(jié)構(gòu)測量技術(shù)雖可滿足大多數(shù)零件的檢測需求,但對于復(fù)雜直紋面類零件,如葉片、機翼、葉輪等制造領(lǐng)域中的重要零部件,在測量其表面結(jié)構(gòu)時仍存在測量區(qū)域有限、無法定點測量、運動誤差影響測量精度等局限性。針對上述問題,本文提出一種可定點檢測直紋面表面結(jié)構(gòu)的六自由度定位系統(tǒng),并圍繞其測量過程中探頭的六自由度定位問題開展了一系列研究,本文主要內(nèi)容包括:1.根據(jù)表面結(jié)構(gòu)標準檢測方法,結(jié)合直紋曲面的型面特征及側(cè)銑加工機理,明確直紋曲面的表面結(jié)構(gòu)檢測方式;分析常用檢測設(shè)備在測量直紋曲面過程中存在的探頭空間干涉與定位問題,提出一種采用橫向掃描探頭檢測直紋面表面結(jié)構(gòu)的六自由度定位系統(tǒng);針對探頭實際定位姿態(tài)在繞X、Y、Z方向上存在角度偏差問題,采用數(shù)值求解方法分析各角度偏差對測量結(jié)果準確性的影響。2.根據(jù)探頭六自由度定位需求,依據(jù)由直紋曲面參數(shù)方程定位待測點的處理方式,通過采用OpenGL三維建模技術(shù)并建立參數(shù)方程(u,v)坐標與UV紋理坐標的對應(yīng)關(guān)系,提出一種基于模型交互的屏幕光標定位待測點方式,實現(xiàn)直紋面上待測點的直觀定位及六項位姿信息的獲取;針對其無法定點測量問題,進一步提出一種基于模型交互的數(shù)值輸入定位待測點方式,通過采用人工輸入待測點坐標的形式解決該問題。根據(jù)兩種待測點定位方法的實現(xiàn)原理,分別對其中的模型文件讀取、模型交互顯示、三角面片拾取以及射線求交拾取點等算法做出設(shè)計。3.針對探頭定點測量的實現(xiàn)問題,根據(jù)系統(tǒng)的運動控制模式,設(shè)計探頭定位的運行流程;采用多體系統(tǒng)理論構(gòu)建系統(tǒng)運動學(xué)模型,完成系統(tǒng)逆運動學(xué)分析,明確探頭定位至待測點所需位移量;分別采用標尺和3D尋邊器,完成系統(tǒng)機床坐標系原點與工件原點的設(shè)定,構(gòu)建探頭定位基準。4.基于VS2010、OpenGL接口及運動控制卡動態(tài)鏈接庫,對控制軟件進行開發(fā),實現(xiàn)直紋曲面待測點定位及探頭自動定位測量功能;并采用黑盒測試方法,完成軟件各項功能的正確性測試。借助控制軟件,分別開展定位系統(tǒng)的定點重復(fù)測量試驗和回原點定點重復(fù)測量實驗,以檢驗系統(tǒng)的定點測量精度。
[Abstract]:With the continuous development of the advanced manufacturing field, the machining quality of the parts is also put forward higher requirements, surface structure as an important indicator of the quality of parts processing, Accurate and effective detection has become an important prerequisite for the development of advanced manufacturing equipment. Although the existing surface structure measurement technology can meet the inspection requirements of most parts, but for complex straight surface parts, such as blades, wings, impellers and other important parts in the manufacturing field, There are still some limitations in measuring its surface structure, such as the limited measuring area, the impossibility of fixed-point measurement and the effect of motion error on measuring accuracy. In order to solve the above problems, this paper presents a six-degree-of-freedom positioning system which can be used to detect the surface structure of a straight surface. A series of researches have been carried out around the six degrees of freedom positioning of the probe in the measurement process. The main contents of this paper include: 1. According to the standard inspection method of surface structure, combined with the profile characteristics of straight surface and the machining mechanism of side milling, the inspection method of surface structure of straight grain surface is determined. This paper analyzes the spatial interference and positioning problem of the probe in the process of measuring the straight surface of the common detecting equipment, and puts forward a six degree of freedom positioning system which uses the transverse scanning probe to detect the surface structure of the straight surface. Aiming at the problem of angle deviation in the direction of the probe's actual positioning attitude, the influence of each angle deviation on the accuracy of measurement results is analyzed by numerical method. According to the requirement of probe positioning with six degrees of freedom, according to the processing method of locating the points to be measured by the parameter equation of straight line surface, the corresponding relationship between the parameter equation (UV) coordinate and UV texture coordinate is established by using OpenGL 3D modeling technology. In this paper, a method of screen cursor positioning to be measured based on model interaction is proposed, which can directly locate the points to be measured on the straight grain surface and obtain the information of six positions and postures, aiming at the problem that it can not be measured at a fixed point. Furthermore, a new method of numerical input location based on model interaction is proposed, which can solve the problem by manually inputting the coordinates of the points to be measured. According to the realization principle of the two methods, the algorithms of model file reading, model interactive display, triangulation and ray-intersection pick-up are designed respectively. According to the motion control mode of the system, the running flow of the probe positioning is designed, the kinematics model of the system is constructed by using the theory of multi-body system, and the inverse kinematics analysis of the system is completed. The displacement required for the probe to locate to the point to be measured is determined, and the system machine coordinate system origin and workpiece origin are set up by using the ruler and 3D edge-finder respectively, and the probe positioning datum .4is constructed. Based on the OpenGL interface of VS2010 and the dynamic link library of motion control card, the control software is developed to realize the function of locating the point to be measured on the straight surface and the automatic position measurement of the probe, and the correctness test of each function of the software is completed by using the black box test method. With the help of the control software, the fixed point repeated measurement experiment and the return point repeated measurement experiment of the positioning system were carried out to verify the accuracy of the system.
【學(xué)位授予單位】：電子科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TG80
本文編號：2126350
[Abstract]:With the continuous development of the advanced manufacturing field, the machining quality of the parts is also put forward higher requirements, surface structure as an important indicator of the quality of parts processing, Accurate and effective detection has become an important prerequisite for the development of advanced manufacturing equipment. Although the existing surface structure measurement technology can meet the inspection requirements of most parts, but for complex straight surface parts, such as blades, wings, impellers and other important parts in the manufacturing field, There are still some limitations in measuring its surface structure, such as the limited measuring area, the impossibility of fixed-point measurement and the effect of motion error on measuring accuracy. In order to solve the above problems, this paper presents a six-degree-of-freedom positioning system which can be used to detect the surface structure of a straight surface. A series of researches have been carried out around the six degrees of freedom positioning of the probe in the measurement process. The main contents of this paper include: 1. According to the standard inspection method of surface structure, combined with the profile characteristics of straight surface and the machining mechanism of side milling, the inspection method of surface structure of straight grain surface is determined. This paper analyzes the spatial interference and positioning problem of the probe in the process of measuring the straight surface of the common detecting equipment, and puts forward a six degree of freedom positioning system which uses the transverse scanning probe to detect the surface structure of the straight surface. Aiming at the problem of angle deviation in the direction of the probe's actual positioning attitude, the influence of each angle deviation on the accuracy of measurement results is analyzed by numerical method. According to the requirement of probe positioning with six degrees of freedom, according to the processing method of locating the points to be measured by the parameter equation of straight line surface, the corresponding relationship between the parameter equation (UV) coordinate and UV texture coordinate is established by using OpenGL 3D modeling technology. In this paper, a method of screen cursor positioning to be measured based on model interaction is proposed, which can directly locate the points to be measured on the straight grain surface and obtain the information of six positions and postures, aiming at the problem that it can not be measured at a fixed point. Furthermore, a new method of numerical input location based on model interaction is proposed, which can solve the problem by manually inputting the coordinates of the points to be measured. According to the realization principle of the two methods, the algorithms of model file reading, model interactive display, triangulation and ray-intersection pick-up are designed respectively. According to the motion control mode of the system, the running flow of the probe positioning is designed, the kinematics model of the system is constructed by using the theory of multi-body system, and the inverse kinematics analysis of the system is completed. The displacement required for the probe to locate to the point to be measured is determined, and the system machine coordinate system origin and workpiece origin are set up by using the ruler and 3D edge-finder respectively, and the probe positioning datum .4is constructed. Based on the OpenGL interface of VS2010 and the dynamic link library of motion control card, the control software is developed to realize the function of locating the point to be measured on the straight surface and the automatic position measurement of the probe, and the correctness test of each function of the software is completed by using the black box test method. With the help of the control software, the fixed point repeated measurement experiment and the return point repeated measurement experiment of the positioning system were carried out to verify the accuracy of the system.
【學(xué)位授予單位】：電子科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TG80
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