CN114888733A - System and method for measuring, reversing, clamping and positioning whole surface of closed curved surface component - Google Patents
System and method for measuring, reversing, clamping and positioning whole surface of closed curved surface component Download PDFInfo
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- CN114888733A CN114888733A CN202210449688.6A CN202210449688A CN114888733A CN 114888733 A CN114888733 A CN 114888733A CN 202210449688 A CN202210449688 A CN 202210449688A CN 114888733 A CN114888733 A CN 114888733A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/20—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring contours or curvatures, e.g. determining profile
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/0002—Arrangements for supporting, fixing or guiding the measuring instrument or the object to be measured
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Abstract
The invention discloses a full-surface measurement reversing, clamping and positioning system for a closed curved surface component, which comprises: the first clamp and the second clamp are used for respectively fixing the closed curved surface members before and after reversing, and have the same structure and can move relatively; the pose detection unit is used for detecting the positions and the postures of the first clamp, the second clamp and the closed curved surface member; and the pose adjusting unit is used for adjusting the relative position and the pose of the first clamp and the second clamp, and adjusting the first clamp and the second clamp into reversing clamping poses through multi-axis linkage by means of clamp pose information acquired by the clamp pose detecting unit. The invention also discloses a reversing clamping positioning method based on the reversing clamping positioning system, which is used for reversing the closed curved surface component, has high reversing clamping precision and no measuring blind area, and can effectively improve the whole-surface measuring efficiency and measuring precision of the closed curved surface component.
Description
Technical Field
The invention belongs to the technical field of curved surface member measurement, and particularly relates to a system and a method for measuring, reversing, clamping and positioning a closed curved surface member on the whole surface.
Background
The surface of the closed curved surface component has complex surface shape and more degrees of freedom, and the precisely processed closed curved surface component has good optical performance and is widely applied to the fields of optical systems, aerospace, mechanical electronics, astronomical observation and the like. The ultra-precision machining of the closed curved surface component is a process of repeatedly performing machining, measurement and compensation machining, and a high-precision detection technology is the basis for realizing the precision machining. The measurement of the whole surface of the closed curved surface component has important significance for detecting processing defects and improving processing quality. At present, the detection methods for curved surface members are mainly divided into contact type and non-contact type, wherein the contact type measurement method adopts a point-by-point scanning mode for measurement, typically a scanning tunneling microscope and an atomic force microscope, and the detection purpose is realized by detecting the acting force and the current between a probe and the surface of the member respectively. The non-contact measurement method belongs to nondestructive detection, and is typically a white light interferometer, and the surface morphology is detected through interference fringes.
The reversing measurement process of equipment such as a white light interferometer, a scanning tunnel microscope or an atomic force microscope is realized by rotating an objective table, and the reversing measurement method has the following defects: (1) the detection range is limited, and the dead zone of clamping the equipment and the closed curved surface member cannot be detected by reversing the objective table, so that the method is not suitable for detecting the whole surface of the closed curved surface member; (2) the measurement precision is low, the curved surface members detected by equipment such as a white light interferometer, a scanning tunnel microscope and the like are realized by rotating an instrument objective table, and the detection precision for the side surface of the closed curved surface is low; (3) the reversing difficulty is high, the data volume is large, the measurement method for obtaining the surface appearance by splicing data through multiple measurements by the conventional instrument is limited by the splicing precision, and the data processing capacity is large and the precision is low for components with overlarge sizes; and for a component with a small size, the reversing clamping difficulty is high.
Disclosure of Invention
Aiming at the technical problems, the invention provides a displacement sensor scanning-based reversing clamping and positioning system for measuring the whole surface of a closed curved surface component, the measurement of a component surface blind area is completed by converting a component measurement angle through the system, a positioning method is optimized, the measurement flow and the data processing process are simplified, and the accurate measurement of the whole surface of the closed curved surface component is realized.
The invention aims to be realized by the following technical scheme:
the utility model provides a closed curved surface component full surface measures switching-over clamping positioning system which includes:
the first clamp and the second clamp are used for respectively fixing the closed curved surface members before and after direction change, have the same structure and can move relatively;
the pose detection unit is used for detecting the positions and the postures of the first clamp, the second clamp and the closed curved surface member;
and the pose adjusting unit is used for adjusting the relative position and the pose of the first clamp and the second clamp, and adjusting the first clamp and the second clamp into reversing clamping poses through multi-axis linkage by means of clamp pose information acquired by the clamp pose detecting unit.
Preferably, the first clamp and the second clamp are both vacuum adsorption clamps, the end of the first clamp is provided with a first adsorption head, the end of the second clamp is provided with a second adsorption head, and the two adsorption heads are respectively communicated with different vacuum pipelines; when the first clamp and the second clamp are in the reversing clamping pose, the adsorption positions of the first adsorption head and the second adsorption head on the closed curved surface member are respectively a first adsorption position and a second adsorption position, and the two adsorption positions are in different areas and have no overlapping range. By the scheme, the measuring blind area can be effectively eliminated, and the full-surface measurement of the closed curved surface component is realized.
Preferably, the central connecting line of the first adsorption position and the second adsorption position passes through the mass center of the closed curved surface component; the second adsorption position is a starting position for measuring the surface shape of the closed curved surface member before reversing, and the first adsorption position is a starting position for measuring the surface shape of the closed curved surface member after reversing. Through optimizing the switching-over angle, set for the position of first absorption position and second absorption position, can improve measurement of efficiency when guaranteeing that the clamping is stable, twice measurement can realize the measurement of closed curved surface component full face, and make things convenient for follow-up data concatenation.
Preferably, the jig posture adjustment unit includes a first stage, a second stage, and a carrier, wherein the first jig is provided on the first stage, the second jig is provided on the second stage, and the first stage and the second stage are capable of relative movement to adjust the relative position and posture of the first jig and the second jig.
Preferably, the second stage comprises a Z-axis slide carriage and a Z-axis slider slidably disposed on the Z-axis slide carriage, and the Z-axis slider is capable of reciprocating sliding on the Z-axis slide carriage in the Z-axis direction; an X-axis sliding seat is fixedly arranged on the Z-axis sliding block, an X-axis sliding block is arranged on the X-axis sliding seat in a sliding manner, and the X-axis sliding block can slide on the X-axis sliding seat in a reciprocating manner along the X-axis direction; and a B-axis motion table is arranged on the X-axis sliding block, the B-axis motion table can rotate around the B axis, the B axis is perpendicular to the X axis and the Z axis, and the second clamp is arranged on the B-axis motion table.
Preferably, the first object stage comprises a Y-axis motion stage, the Y-axis motion stage can reciprocate along the Y-axis direction, a C-axis motion stage is arranged on the Y-axis motion stage, the C-axis motion stage can rotate around the C-axis, and the C-axis is parallel to the Z-axis; the first clamp is arranged on the C-axis moving table.
Preferably, the pose detection unit comprises a first CCD camera, a second CCD camera, a first leveling measuring head and a second leveling measuring head; the first CCD camera and the second CCD camera are both arranged on the object carrier and are respectively positioned in the horizontal direction and the vertical direction of the closed curved surface component; the first leveling measuring head is arranged on the B-axis motion table, is used for measuring the pose of the first clamp and is arranged at intervals with the second clamp; the second leveling measuring head is arranged on the carrier, and the measuring head of the second leveling measuring head points to the B-axis moving table so as to measure the pose of the second clamp.
Preferably, a surface shape measuring head is further arranged on the B-axis motion table, and the measuring head of the surface shape measuring head, the measuring head of the first leveling measuring head and the adsorption head of the second fixture point to the outer side along the radial direction of the B-axis motion table.
Preferably, the measuring head of the surface-shaped measuring head is arranged away from the adsorption head of the second clamp at an interval of 180 degrees; the measuring head of the first leveling measuring head, the measuring head of the surface-shaped measuring head and the adsorption head of the second fixture are spaced by 90 degrees. The surface shape measuring head, the first leveling measuring head and the second clamp are integrated on the B-axis motion table, and by adopting the position relation, surface shape measurement, first clamp pose measurement and second clamp pose adjustment can be realized through multi-axis linkage of an object stage, so that the structure is compact, and the operation is efficient.
A method for measuring, reversing, clamping and positioning the whole surface of a closed curved surface component comprises the following steps:
measuring the pose of a first clamp, recording pose data of the first clamp, wherein the pose data comprise position data and attitude data, and setting target pose data of a second clamp according to the pose data;
measuring and adjusting the pose of the second clamp, and acquiring actual pose data of the second chuck, wherein the actual pose data comprises position data and posture data; comparing the actual measurement pose data with the target pose data in the first step, and determining an adjustment scheme; according to the adjusting scheme, the pose of the second clamp is adjusted through multi-axis linkage of the second objective table; measuring and comparing after adjustment, stopping adjustment if the pose of the second clamp is adjusted to the target pose, and continuing adjustment, measurement and comparison until the pose of the second clamp is adjusted to the target pose if the pose of the second clamp is not adjusted to the target pose;
and step three, after the second clamp is adjusted to the target pose, the first clamp and the second clamp are matched to perform reversing clamping on the closed curved surface member.
Preferably, the method for measuring the pose of the second clamp in the second step comprises the following steps: driving a Z-axis sliding block, an X-axis sliding block and a B-axis moving table, roughly adjusting the pose of a second clamp by virtue of a first CCD camera and a second CCD camera, enabling a second adsorption head of the second clamp and a first adsorption head of a first clamp to be located on the same plane, and enabling the second adsorption head to point to a closed curved surface member; adjusting the position of a second leveling measuring head along the X-axis direction to enable a second clamp to be located in the measuring range of the second leveling measuring head; and driving the Z-axis sliding block, measuring the pose of the second clamp by using a second leveling measuring head, and recording the actually measured pose data.
Preferably, the method for reversing and clamping the closed curved surface member in the third step comprises the following steps: under the monitoring of the first CCD camera and the second CCD camera, the Z-axis slide block is driven to enable the second clamp to gradually approach the closed curved surface component, a vacuum pipeline of the second clamp is communicated, a vacuum pipeline of the first clamp is disconnected, the second clamp adsorbs the closed curved surface component, and the first clamp unloads the closed curved surface component; the whole reversing clamping process is completed under the monitoring of the first CCD camera and the second CCD camera, so that the second clamp is prevented from colliding with the closed curved surface member while the distance between the second clamp and the closed curved surface member meets the adsorption requirement; and after the second clamp adsorbs the closed curved surface member, taking down the first clamp and the second clamp, and installing the second clamp on the C-axis moving table to finish reversing clamping.
Compared with the prior art, the invention has the following beneficial effects:
1. the measurement range is expanded, and the reversing clamping positioning system eliminates the measurement blind area of the surface of the closed curved surface member, thereby realizing the measurement of the whole surface.
2. The reversing clamping precision is improved, and the position and the posture of the clamp are detected by the leveling measuring head, so that the clamp is accurately positioned; the reversing process is monitored in real time through the CCD camera, and the reliability of the reversing clamping process is improved.
3. The measuring efficiency is improved, compared with the prior art, the reversing clamping process is simple, the component is reversed once, and the full-surface measurement can be completed by twice scanning, so that the data processing amount is reduced, and the measuring efficiency is improved.
Drawings
FIG. 1 is a schematic structural view of a full-surface measurement reversing clamping and positioning system for a closed curved surface component;
FIG. 2 is a flow chart of a method for measuring, reversing, clamping and positioning the whole surface of a closed curved surface component;
FIG. 3 is a schematic diagram of a first fixture pose measurement method;
FIG. 4 is a schematic view of a second jig pose measurement method;
FIG. 5 is a schematic diagram showing the pose of the second clamp after reversing clamping
The labels in the figure are: 1Y-axis motion stage; 2, a carrier; 3 a first CCD camera; 4 a closed curve member; 5 a Z-axis slide carriage; a 6X-axis slide block; a 7X-axis slide; an 8Z-axis slider; 9B axis motion table; 10 a first leveling probe; 11 a second clamp; 12 surface-shaped measuring heads; 13 a second leveling probe; 14 a second CCD camera; 15C shaft connecting pieces; 16 a first clamp; 17C axis motion stage.
Detailed Description
The invention will be further described with reference to examples of embodiments shown in the drawings to which:
example 1
As shown in fig. 1, the present embodiment discloses a system for measuring, reversing, clamping and positioning a full surface of a closed curved surface member 4, which includes: a first clamp 16, a second clamp 11, a pose detection unit, a pose adjustment unit and a control unit.
The first clamp 16 and the second clamp 11 are used for fixing the closed curved surface member 4 before and after the direction change respectively, and have the same structure and can perform relative motion; the first clamp 16 and the second clamp 11 are both vacuum adsorption clamps, a first adsorption head is arranged at the end part of the first clamp 16, a second adsorption head is arranged at the end part of the second clamp 11, and the two adsorption heads are respectively communicated with different vacuum pipelines; in this embodiment, during pose adjustment, the first fixture 16 is kept still, only the pose of the second fixture 11 is adjusted, when the second fixture 11 is adjusted to the target pose, the adsorption positions of the first adsorption head and the second adsorption head on the closed curved surface member 4 are respectively the first adsorption position and the second adsorption position, and the two adsorption positions are in different areas and have no overlapping range, so that the measurement blind area is effectively eliminated, and the full-surface-shape measurement of the closed curved surface member 4 is realized.
The central connecting line of the first adsorption position and the second adsorption position passes through the centroid of the closed curved surface member 4, in the embodiment, the closed curved surface member 4 is a spherical member, and the central connecting line of the first adsorption position and the second adsorption position passes through the sphere center; the second adsorption position is a starting position for measuring the surface shape of the closed curved surface member 4 before reversing, and the first adsorption position is a starting position for measuring the surface shape of the closed curved surface member 4 after reversing. Through optimizing the switching-over angle, set for the position of first absorption position and second absorption position, can improve measurement of efficiency when guaranteeing that the clamping is stable, the measurement of 4 full faces of closed curved surface component can be realized to twice measurement, and make things convenient for follow-up data concatenation.
The pose adjusting unit is used for adjusting the positions and the poses of the first clamp 16 and the second clamp 11, and the first clamp 16 and the second clamp 11 are adjusted to reversing clamping poses through multi-axis linkage by means of clamp pose information acquired by the clamp pose detecting unit. The pose adjusting unit comprises a first object stage, a second object stage and an object carrier 2, wherein a first clamp 16 is arranged on the first object stage, a second clamp 11 is arranged on the second object stage, and the first object stage and the second object stage can move relatively to adjust the relative position and posture of the first clamp 16 and the second clamp 11; the first objective table comprises a Y-axis motion table 1, the Y-axis motion table 1 can reciprocate along the Y-axis direction, a C-axis motion table 17 is fixedly arranged on the Y-axis motion table 1, the C-axis motion table 17 can rotate around a C axis, the C axis is parallel to a Z axis, a C-axis connecting piece 15 is arranged on the C-axis motion table 17, a first clamp 16 is arranged on the C-axis motion table 17, and an adsorption port of the first clamp 16 points to the outer side along the C-axis direction.
The second objective table comprises a Z-axis sliding base 5 and a Z-axis sliding block 8 arranged on the Z-axis sliding base 5 in a sliding mode, and the Z-axis sliding block 8 can slide on the Z-axis sliding base 5 in a reciprocating mode along the Z-axis direction; an X-axis sliding seat 7 is fixedly arranged on the Z-axis sliding block 8, an X-axis sliding block 6 is arranged on the X-axis sliding seat 7 in a sliding mode, and the X-axis sliding block 6 can slide on the X-axis sliding seat 7 in a reciprocating mode along the X-axis direction; the X-axis sliding block 6 is provided with a B-axis moving table 9, the B-axis moving table 9 can rotate around the B axis, the B axis is perpendicular to the X axis and the Z axis, and the second clamp 11 is arranged on the B-axis moving table 9.
A pose detection unit for detecting the positions and postures of the first jig 16, the second jig 11, and the closed curved surface member 4; the pose detection unit comprises a first CCD camera 3, a second CCD camera 14, a first leveling measuring head 10 and a second leveling measuring head 13, and the two leveling measuring heads in the embodiment adopt displacement sensors and can detect the relative displacement of the first clamp 16 and the second clamp 11 so as to obtain the space postures of the first clamp 16 and the second clamp 11; the first CCD camera 3 and the second CCD camera 14 are both arranged on the object carrier 2 and are respectively positioned in the horizontal direction and the vertical direction of the closed curved surface component 4; the first leveling measuring head 10 is arranged on the B-axis motion table 9, is used for measuring the pose of the first clamp 16, and is arranged at an interval with the second clamp 11; the second leveling probe 13 is disposed on the carrier 2, and its probe points to the B-axis moving table 9 to measure the pose of the second clamp 11.
The B-axis motion table 9 is also provided with a surface shape measuring head 12, and a measuring head of the surface shape measuring head 12, a measuring head of the first leveling measuring head 10 and an adsorption head of the second clamp 11 all point to the outer side along the radial direction of the B-axis motion table 9; the measuring head of the surface-shaped measuring head 12 is arranged away from the adsorption head of the second clamp 11 at an interval of 180 degrees; the measuring head of the first leveling measuring head 10, the measuring head of the surface-shaped measuring head 12 and the adsorption head of the second clamp 11 are spaced by 90 degrees. The surface shape measuring head 12, the first leveling measuring head 10 and the second clamp 11 are integrated on the B-axis motion table 9, and by adopting the position relation, surface shape measurement, first clamp 16 pose measurement and second clamp 11 pose adjustment can be realized through multi-axis linkage of one objective table, so that the structure is compact, and the operation is efficient.
During surface shape measurement, the measuring head of the surface shape measuring head 12 tracks the surface contour of the closed curved surface member 4 by the three-axis linkage through the translation of the Z-axis slide block 8 and the X-axis slide block 6 and the rotation of the B-axis motion table 9, and the measuring head of the surface shape measuring head 12 is ensured to always point to the normal direction of the surface of the closed curved surface member 4; when the X-axis sliding block 6, the Z-axis sliding block 8 and the B-axis moving table 9 drive the surface-shaped measuring head 12 to move in a three-axis linkage manner, the C-axis moving table 17 drives the curved surface member to rotate, so that the surface-shaped measuring head 12 moves along with the surface of the closed curved surface member 4, the closed curved surface member 4 rotates, and the laser interference light scans the surface of the curved surface member along with the shape. When the pose of the first clamp 16 is measured, the X-axis slide block 6, the Z-axis slide block 8 and the B-axis motion table 9 are driven, the position of the first leveling measuring head 10 relative to the first clamp 16 is adjusted, the first clamp 16 is located in the measuring range of the first leveling measuring head 10, the Z-axis slide block 8 is driven, the pose of the first clamp 16 is measured through the first leveling measuring head 10, and data are recorded. When the pose of the second clamp 11 is measured and adjusted, the X-axis slide block 6, the Z-axis slide block 8 and the B-axis motion table 9 are driven, the relative position of the second clamp 11 relative to the second leveling measuring head 13 is adjusted, the second clamp 11 is located in the measuring range of the second leveling measuring head 13, the Z-axis slide block 8 is driven, the pose of the second clamp 11 is measured through the second leveling measuring head 13, data is recorded, the X-axis slide block 6, the Z-axis slide block 8 and the B-axis motion table 9 are driven as required according to the comparison of the measured data and target data, and the pose of the second clamp 11 is corrected.
Example 2
Referring to fig. 2-5, the embodiment discloses a method for measuring, reversing, clamping and positioning the whole surface of a closed curved surface member 4, which comprises the following steps:
the pose of the first clamp 16 is measured. After the closed curved surface member 4 finishes the first scanning, the X-axis slide block 6, the Z-axis slide block 8 and the B-axis motion table 9 are driven, the first clamp 16 is positioned in the measuring range of the first leveling measuring head 10 by means of the positions of the first CCD camera 3 and the second CCD camera 14 relative to the first clamp 16, the Z-axis slide block 8 is driven, the position and posture data of the first clamp 16 are recorded, the position and posture data comprise position data and posture data, and the target position and posture data of the second clamp 11 are set according to the position and posture data.
And measuring and adjusting the pose of the second clamp 11. Driving a Z-axis sliding block 8, an X-axis sliding block 6 and a B-axis moving table 9, roughly adjusting the pose of a second clamp 11 by means of a first CCD camera 3 and a second CCD camera 14, enabling a second adsorption head of the second clamp 11 and a first adsorption head of a first clamp 16 to be located on the same plane, and enabling the second adsorption head to point to the closed curved surface component 4; adjusting the position of the second leveling measuring head 13 along the X-axis direction to enable the second clamp 11 to be located in the measuring range of the second leveling measuring head 13; driving the Z-axis slide block 8, measuring the pose of the second clamp 11 by using a second leveling measuring head 13, and recording the actually measured pose data, wherein the actually measured pose data comprises position data and pose data; comparing the actual measurement pose data with the target pose data in the first step, and determining an adjustment scheme; according to the adjustment scheme, the pose of the second clamp 11 is adjusted and corrected through the multi-axis motion of the second objective table; and after adjustment, measuring and comparing again, if the pose of the second clamp 11 is adjusted to the target pose, stopping adjustment, if the pose of the second clamp is not adjusted to the target pose, continuing adjustment, measurement and comparison until the pose of the second clamp 11 is adjusted to the target pose, and when the pose of the second clamp 11 is adjusted to the target pose, the second clamp is in 16-bit mirror symmetry with the first clamp.
The first clamp 16 and the second clamp 11 are matched to perform reversing clamping on the closed curved surface member 4. After the second clamp 11 is adjusted to a target pose, under the monitoring of the first CCD camera 3 and the second CCD camera 14, the Z-axis slide block 8 is driven, the second clamp 11 is gradually close to the closed curved surface member 4, a vacuum pipeline of the second clamp 11 is communicated, a vacuum pipeline of the first clamp 16 is disconnected, the second clamp 11 adsorbs the closed curved surface member 4, and the first clamp 16 unloads the closed curved surface member 4; the adsorption position of the second clamp 11 is a starting position for measuring the surface shape of the closed curved surface member 4 before reversing, the adsorption position of the first clamp 16 before reversing is a measuring blind area, the adsorption position after reversing is used as a starting position for measuring the surface shape of the closed curved surface member 4, the full-surface shape measurement of the closed curved surface member 4 can be realized through two times of measurement, and the subsequent data splicing is facilitated; the whole reversing and clamping process is completed under the monitoring of the first CCD camera 3 and the second CCD camera 14, so that the second clamp 11 is prevented from colliding with the closed curved surface member 4 while the distance between the second clamp 11 and the closed curved surface member 4 meets the adsorption requirement; after the second clamp 11 adsorbs the closed curved surface member 4, the first clamp 16 and the second clamp 11 are taken down, the second clamp 11 is installed on the C-axis moving table 17, reversing clamping is completed, and then subsequent secondary measurement and measurement data splicing are carried out, so that the full-surface shape measurement of the closed curved surface member 4 is realized.
The reversing clamping positioning system for the full-surface measurement of the closed curved surface member 4 is used for reversing the closed curved surface member 4, the positions of the clamps before and after reversing are detected through the displacement sensor, accurate positioning is realized, the full-surface measurement can be completed through one-time reversing, no measuring blind area exists, the data processing amount is reduced, and the measuring precision is improved; the relative motion of the workpiece and the displacement sensor is controlled by a five-axis ultra-precision machine tool system, so that the scanning range is expanded, and the measuring and positioning effects on workpieces with different sizes are good.
It is to be understood that in the claims, the specification of the present invention, all "including … …" are to be understood in an open-ended sense, i.e. in a sense equivalent to "including at least … …", and not in a closed sense, i.e. in a sense not to be understood as "including only … …". The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and those skilled in the art should cover all the changes, modifications, additions and substitutions within the spirit of the present invention.
Claims (10)
1. The utility model provides a full surface measurement switching-over clamping positioning system of closed curved surface component which characterized in that includes:
the first clamp and the second clamp are used for respectively fixing the closed curved surface members before and after direction change, have the same structure and can move relatively;
the pose detection unit is used for detecting the positions and the postures of the first clamp, the second clamp and the closed curved surface member;
and the pose adjusting unit is used for adjusting the relative position and the pose of the first clamp and the second clamp, and adjusting the first clamp and the second clamp into reversing clamping poses through multi-axis linkage by means of clamp pose information acquired by the clamp pose detecting unit.
2. The system for measuring, reversing, clamping and positioning the whole surface of the closed curved surface component according to claim 1, wherein the first clamp and the second clamp are both vacuum adsorption clamps, a first adsorption head is arranged at the end part of the first clamp, a second adsorption head is arranged at the end part of the second clamp, and the two adsorption heads are respectively communicated with different vacuum pipelines; when the first clamp and the second clamp are in the reversing clamping pose, the adsorption positions of the first adsorption head and the second adsorption head on the closed curved surface member are respectively a first adsorption position and a second adsorption position, and the two adsorption positions are in different areas and have no overlapping range.
3. The system for measuring, reversing, clamping and positioning the whole surface of the closed curved surface component according to claim 2, wherein a central connecting line of the first adsorption position and the second adsorption position passes through a mass center of the closed curved surface component; the second adsorption position is a starting position for measuring the surface shape of the closed curved surface member before reversing, and the first adsorption position is a starting position for measuring the surface shape of the closed curved surface member after reversing.
4. The system according to any one of claims 1 to 3, wherein the fixture pose adjusting unit comprises a first stage, a second stage and a rack, wherein the first fixture is disposed on the first stage, the second fixture is disposed on the second stage, and the first stage and the second stage can move relatively to each other to adjust the relative position and posture of the first fixture and the second fixture.
5. The system for measuring, reversing, clamping and positioning the full surface of the closed curved surface member according to claim 4, wherein the second stage comprises a Z-axis slide carriage and a Z-axis slide block arranged on the Z-axis slide carriage in a sliding manner, and the Z-axis slide block can slide on the Z-axis slide carriage in a reciprocating manner along the Z-axis direction; an X-axis sliding seat is fixedly arranged on the Z-axis sliding block, an X-axis sliding block is arranged on the X-axis sliding seat in a sliding manner, and the X-axis sliding block can slide on the X-axis sliding seat in a reciprocating manner along the X-axis direction; and a B-axis motion table is arranged on the X-axis sliding block, the B-axis motion table can rotate around the B axis, the B axis is perpendicular to the X axis and the Z axis, and the second clamp is arranged on the B-axis motion table.
6. The system for measuring, reversing, clamping and positioning the whole surface of the closed curved surface member according to claim 5, wherein the first object stage comprises a Y-axis motion stage, the Y-axis motion stage can reciprocate along the Y-axis direction, a C-axis motion stage is arranged on the Y-axis motion stage, the C-axis motion stage can rotate around a C axis, and the C axis is parallel to a Z axis; the first clamp is arranged on the C-axis moving table.
7. The system for measuring, reversing, clamping and positioning the whole surface of the closed curved surface component according to claim 6, wherein the pose detection unit comprises a first CCD camera, a second CCD camera, a first leveling measuring head and a second leveling measuring head; the first CCD camera and the second CCD camera are both arranged on the object carrier and are respectively positioned in the horizontal direction and the vertical direction of the closed curved surface component; the first leveling measuring head is arranged on the B-axis motion table, is used for measuring the pose of the first clamp and is arranged at intervals with the second clamp; the second leveling measuring head is arranged on the carrier, and the measuring head of the second leveling measuring head points to the B-axis motion table so as to measure the pose of the second clamp;
the B-axis motion table is also provided with a surface-shaped measuring head, and the measuring head of the surface-shaped measuring head, the measuring head of the first leveling measuring head and the adsorption head of the second clamp point to the outer side along the radial direction of the B-axis motion table;
the measuring head of the surface-shaped measuring head is arranged away from the adsorption head of the second clamp at an interval of 180 degrees; the measuring head of the first leveling measuring head, the measuring head of the surface-shaped measuring head and the adsorption head of the second fixture are spaced by 90 degrees.
8. A method for measuring, reversing, clamping and positioning the whole surface of a closed curved surface component comprises the following steps:
measuring the pose of a first clamp, recording pose data of the first clamp, wherein the pose data comprise position data and attitude data, and setting target pose data of a second clamp according to the pose data;
measuring the pose of the second clamp, and acquiring actual pose data of the second chuck, wherein the actual pose data comprises position data and attitude data; comparing the actual measurement pose data with the target pose data in the first step, and determining an adjustment scheme; according to the adjusting scheme, the pose of the second clamp is adjusted through multi-axis linkage of the second objective table; measuring and comparing after adjustment, stopping adjustment if the pose of the second clamp is adjusted to the target pose, and continuing adjustment, measurement and comparison until the pose of the second clamp is adjusted to the target pose if the pose of the second clamp is not adjusted to the target pose;
and step three, after the second clamp is adjusted to the target pose, the first clamp and the second clamp are matched to perform reversing clamping on the closed curved surface member.
9. The method for measuring, reversing, clamping and positioning the whole surface of the closed curved surface member according to claim 8, wherein the method for measuring the pose of the second clamp in the second step is as follows: driving a Z-axis sliding block, an X-axis sliding block and a B-axis moving table, roughly adjusting the pose of a second clamp by virtue of a first CCD camera and a second CCD camera, enabling a second adsorption head of the second clamp and a first adsorption head of a first clamp to be located on the same plane, and enabling the second adsorption head to point to a closed curved surface member; adjusting the position of a second leveling measuring head along the X-axis direction to enable a second clamp to be located in the measuring range of the second leveling measuring head; and driving the Z-axis sliding block, measuring the pose of the second clamp by using a second leveling measuring head, and recording the actually measured pose data.
10. The method for measuring, reversing, clamping and positioning the whole surface of the closed curved surface component according to claim 8, wherein the method for reversing and clamping the closed curved surface component in the third step comprises the following steps: under the monitoring of a first CCD camera and a second CCD camera, a Z-axis sliding block is driven to enable a second clamp to gradually approach a closed curved surface component, a second clamp vacuum pipeline is communicated, a first clamp vacuum pipeline is disconnected, the second clamp adsorbs the closed curved surface component, and the first clamp unloads the closed curved surface component; the whole reversing clamping process is completed under the monitoring of the first CCD camera and the second CCD camera, so that the second clamp is prevented from colliding with the closed curved surface member while the distance between the second clamp and the closed curved surface member meets the adsorption requirement; and after the second clamp adsorbs the closed curved surface member, taking down the first clamp and the second clamp, and installing the second clamp on the C-axis moving table to finish reversing clamping.
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