CN115964818A - Automatic leveling method of adjusting table for four-axis precision measurement - Google Patents
Automatic leveling method of adjusting table for four-axis precision measurement Download PDFInfo
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Abstract
The invention discloses an automatic leveling method of an adjusting table for four-axis precision measurement, which comprises the following steps: step 100, establishing a three-dimensional coordinate system; 200, collecting data of a workpiece to be detected; step 300, determining a space fitting equation of the current central axis; step 400, determining an included angle alpha, an included angle beta and an included angle gamma; step 500, if gamma is less than theta, determining the feeding amount L y And the feed amount L x (ii) a Step 600, controlling the X-direction leveling shaft to move L x Y-direction leveling shaft movement L y (ii) a Step 700, returning to execute the step 200-step 400, and ending the adjustment if the theta is not less than gamma and not more than 90 degrees; if γ < θ, go to step 500. The leveling method has high automation degree, simplifies the leveling process, reduces manual operation in the adjusting process, avoids manual error, obviously improves the adjusting precision and the adjusting efficiency, and is suitable for large-scale batch production line detection.
Description
Technical Field
The invention belongs to the technical field of industrial metering, and particularly relates to an automatic leveling method of an adjusting platform for four-axis precision measurement.
Background
In the field of industrial metering, the adjusting table for precision measurement is widely applied to the measurement and assembly processes of automobile engines, automobile parts, aerospace engines and the like, and is mainly responsible for positioning and clamping parts and ensuring the horizontal characteristics of the parts in the early stage of measurement so as to perform accurate appearance analysis on a certain vertical area on the surface of the parts or drive the parts to rotate around a fixed axis so as to perform accurate appearance analysis on a certain horizontal area of the parts. In order to eliminate relative position errors caused by the fact that a vertical included angle exists between a region to be measured and a measuring direction in the part clamping process and improve the precision of the accurate positioning of the measuring region and the measuring result, an adjusting table needs to be adjusted, and leveling of the adjusting table (leveling/leveling) is a key step in the whole adjusting process. In the process, the adjusting table is horizontally adjusted, so that the plane of the area to be measured is parallel to the measuring direction (the axis of the detector), the vertical included angle between the measuring area and the measuring direction can be effectively eliminated, the relative position error in the clamping process can be eliminated, the accuracy of the measuring result is improved, and the measuring result has higher actual reference value.
The prior art generally adopts a four-axis manual leveling method and a three-point support adjusting table manual leveling method, wherein the four-axis manual leveling method is to position and clamp a workpiece, clamp a dial indicator or other small displacement sensors on a selected reference surface, enable the measuring direction (the axis where a detector is located) of the dial indicator or other small displacement sensors to be vertical to the plane where the reference surface is located, manually rotate the adjusting table to enable two leveling shafts to be respectively located on the same plane in the vertical direction with the position where the sensor (the detector) is located, observe the jumping variation of the dial indicator or the displacement sensor, and adjust the leveling shafts located on the same plane. Repeating the above process for multiple times until the jitter variation of the dial indicator is smaller than a certain rated value, finishing the leveling work, taking down the dial indicator or other small-sized displacement sensor devices, and starting the subsequent measurement work.
The leveling method of the three-point supporting adjusting table is characterized in that an included angle between every two three shafts is 120 degrees, one shaft is fixed in height and is called a fixed shaft, and the two outer shafts can be adjusted in height and are called adjustable supporting shafts. The leveling function is realized by adjusting the height of the adjustable supporting shaft. Because the axes of the two adjustable supporting shafts are intersected at the supporting point of the fixed shaft, and the included angle between the adjustable supporting shafts is 120 degrees, the two adjustable supporting shafts can be mutually influenced in the adjusting process.
In the manual leveling method of the three-point support adjusting table, a dial indicator is placed on a reference end face (namely the top face of a workpiece) in the leveling process to observe the run-out of a diametral plane, in addition, any two sections of the workpiece with different heights are selected as references to observe the run-out of the sections in the adjusting process. Determining the proportional relation of the rotary table through geometric solving or debugging according to the type of the leveling reference; the types of the leveling datum comprise an end surface datum and a double-diameter surface combined datum; the adjusting proportion relation is a quantitative size relation of jumping variation quantity of each position of the reference surface when the height of the supporting point of the adjustable supporting shaft of the adjusting table is changed. And rotating the adjusting table, measuring and recording the jitter data of the reference surface, and fitting the data by using a least square method to obtain the shape error of the reference surface. Calculating the jumping adjustment amount of the reference surface relative to the two adjustable supporting shaft supporting points according to the quantitative size relationship of the jumping amount of the two adjustable supporting shaft supporting points and the shape error of the reference surface; rotating the adjusting table to enable the two adjustable supporting shafts to be at the same angle with the sensor in sequence, and adjusting each adjusting shaft according to the calculated adjustment amount; re-measuring the jumping data of the reference surface, and checking whether the jumping data meets the leveling requirement; if the jumping data meets the leveling requirement, leveling is finished; if the leveling requirement is not met, repeating the operation of the steps until the jitter data after retesting meets the leveling requirement.
The two methods have the problems that the manual adjustment process is complex and tedious to operate, the leveling efficiency is low, the manual adjustment cannot effectively guarantee the adjustment precision each time, the repeatability of the measurement result is poor, the precision of the measurement result is seriously influenced, and the method is not suitable for large-scale batch detection.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides an automatic leveling method of an adjusting table for four-axis precision measurement. The technical problem to be solved by the invention is realized by the following technical scheme:
an automatic leveling method of an adjusting table for four-axis precision measurement comprises the following steps:
step 100, establishing a three-dimensional coordinate system by taking any leveling adjustment shaft as a forward shaft of an X shaft and taking a placing surface of a bearing platform of an adjusting table as a base plane XOY;
200, acquiring data of a workpiece to be detected and acquiring section data of the workpiece to be detected on at least two sections corresponding to at least two height positions; the workpiece to be detected is a workpiece with a circular cross section;
step 300, determining a space fitting equation of the current central axis of the workpiece to be measured according to the section data; the current central axis is an axis kO' determined by fitting coordinates of two circle centers after circle fitting is carried out on the section data; the intersection point of the axis kO 'and the base plane XOY is O' (e) x ,e y ,0)；
Step 400, determining an included angle alpha of the rotation of the axis kO 'around the Y axis, an included angle beta of the rotation of the axis kO' around the X axis and an included angle gamma of the rotation of the axis kO 'and the base plane XOY according to the axis kO';
step 500, if gamma is less than theta, determining the feed L of the Y-direction leveling shaft according to the included angle alpha, the included angle beta, the projection of the bearing platform of the adjusting platform and the Y-direction leveling shaft in the YOZ coordinate plane and the projection of the bearing platform and the X-direction leveling shaft in the XOZ coordinate plane y And the feed amount L of the X-direction leveling shaft x Wherein θ represents a threshold angle of the axis kO' to the base plane XOY;
step 600, controlling the X-direction leveling shaft to move L x Y-direction leveling shaft movement L y ；
Step 700, returning to execute the step 200-step 400, and ending the adjustment if the theta is not less than gamma and not more than 90 degrees;
if γ < θ, go to step 500.
In an embodiment of the present invention, the specific steps of step 300 include:
step 310, performing circle fitting on the section data to determine at least two fitting coordinates of corresponding fitting circle centers of the at least two sections;
and 320, determining a space fitting equation of the current central axis according to the at least two fitting coordinates.
In one embodiment of the present invention, in the step 500, the bearing platform of the adjusting table and the X-direction leveling axis are adjusted according to the included angle α and the included angle βThe projection in the XOZ coordinate plane determines the feed L of the X-direction leveling shaft x The method comprises the following steps: determining the feed L of the X-direction leveling shaft according to the included angle alpha, the projection of the bearing platform and the X-direction leveling shaft in the XOZ coordinate plane and a formula VI x ；
The projection of the axis kO 'on the XOZ coordinate plane is OH, the projection of the bearing platform on the XOZ coordinate plane is a quadrilateral ABCD, and the projection of the front end ball head of the X-direction leveling shaft on the XOZ coordinate plane is a semicircle with the radius of a circle center of U' as r; PU ' represents the projection of the middle axis of the X-direction leveling shaft on the XOZ coordinate plane, the quadrilateral ABCD is driven to do circular arc motion around O by moving along the direction of PU ' and taking OM as the radius R, and the DC side of the quadrilateral ABCD is tangent to the circle U ' all the time in the motion process; m represents the intersection of OH and the DC side central line; f represents the intersection of OH and the AD edge;
if alpha is a positive value, the backward movement is performed in the negative direction along the linear motion direction of the PU'; if α is negative, the feeding direction along the straight line of PU' is positive.
In one embodiment of the present invention, in the step 500, the feeding amount L of the Y-axis is determined according to the included angle α, the included angle β, the projection of the bearing platform of the adjusting table and the Y-axis in the YOZ coordinate plane y The method comprises the following steps: determining the feed L of the Y-direction leveling shaft according to the included angle beta, the projection of the bearing platform and the Y-direction leveling shaft in the YOZ coordinate plane and a formula y ；
The projection of the axis kO 'on the YOZ coordinate plane is OH, the projection of the bearing platform on the YOZ coordinate plane is a quadrilateral ABCD, and the projection of the ball head at the front end of the Y-direction leveling shaft on the YOZ coordinate plane is a semicircle with the radius of a circle center of U' as r; PU ' represents the projection of the middle axis of the Y-direction leveling shaft on the YOZ coordinate plane, the quadrangle ABCD is driven to do circular arc motion around O by moving along the straight line where PU ' is located and taking OM as the radius R, and the DC side of the quadrangle ABCD is always tangent to the circle U ' in the motion process; m represents the intersection of OH and the DC side centerline; f represents the intersection of OH and the AD side;
if beta is a positive value, the backward movement is in a negative direction along the linear movement direction of PU'; if β is negative, the linear motion direction along PU' is positive.
The invention has the beneficial effects that:
the invention automatically calculates the adjustment quantity of leveling adjustment by establishing a digital model, and drives the X-direction leveling shaft and the Y-direction leveling shaft to move according to the adjustment quantity through the motor, thereby achieving the purpose of automatic leveling. The leveling method has high automation degree, simplifies the leveling process, does not need manual operation in the adjusting process, avoids human errors, obviously improves the adjusting precision and the adjusting efficiency, and is suitable for large-scale batch production line detection.
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Drawings
Fig. 1 is a schematic view of a spatial relationship between a workpiece axis of a to-be-measured workpiece and a rotation central axis of an adjusting table after the to-be-measured workpiece is clamped by the adjusting table for four-axis precision measurement according to an embodiment of the present invention;
fig. 2 is a mathematical model diagram of an automatic leveling method of an adjusting table for four-axis precision measurement according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating a mathematical model of an adjusting table in an ideal horizontal state according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a mathematical model of an adjusting table in an actual working condition and being not leveled according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to specific examples, but the embodiments of the present invention are not limited thereto.
An automatic leveling method of an adjusting table for four-axis precision measurement comprises the following steps:
step 100, establishing a three-dimensional coordinate system by taking any adjusting axis as a forward axis of an X axis and taking the surface of a bearing platform of the adjusting table as a base plane XOY, as shown in FIG. 2. The adjusting platform comprises a bearing platform, an X-direction leveling shaft and a Y-direction leveling shaft; the front end of the X-direction leveling shaft is provided with a front end ball head, the front end of the Y-direction leveling shaft is provided with a front end ball head, the rear end of the X-direction leveling shaft is fixedly connected with the linear driving motor, the rear end of the Y-direction leveling shaft is fixedly connected with the linear driving motor, and the front end ball head can drive the bearing platform to rotate at the original point of a three-dimensional coordinate system.
As shown in fig. 1, the adjusting table has an X-direction leveling shaft and a Y-direction leveling shaft, the two adjusting shafts are orthogonal to form a four-axis adjusting mechanism, and after the workpiece to be measured is leveled, the workpiece axis kO' is parallel to the rotation central axis (the rotation axis of the adjusting table). At least one sensor is arranged on one side of the adjusting table. The Z axis is a rotation central axis.
Step 200, taking two height positions as an example, acquiring data of the workpiece to be detected and acquiring a first height z of the workpiece to be detected 1 And a second height z 2 Cross-sectional data on the corresponding first and second cross-sections; the workpiece to be measured is a workpiece with a circular cross section. The workpiece to be measured can be a shaft workpiece generally, the data of the surface of the workpiece to be measured can be collected through the sensors, the section data is represented by polar coordinates, the two sensors are different in height, and one sensor is presetAnd (3) obtaining the radius value under the polar coordinate, and respectively obtaining the variation of the sensors under the two heights (namely the angle value under the polar coordinate).
Step 300, determining a space fitting equation of the current central axis of the workpiece to be measured according to the section data; the current central axis is an axis kO' determined by fitting coordinates of two circle centers after circle fitting is carried out on the section data; the intersection point of the axis kO 'and the base plane XOY is O' (e) x ,e y 0); the cross-sectional data includes: first data on the first cross section and second data on the second cross section, specifically:
310, performing circle fitting on the first data and the second data according to a least square method, and calculating to obtain a first fitting coordinate c of a fitting circle center corresponding to the first cross section and the second cross section 1 (x 1 ,y 1 ,z 1 ) And a second fitted coordinate c 2 (x 2 ,y 2 ,z 2 )；
Step 320, according to the first fitted coordinate c 1 (x 1 ,y 1 ,z 1 ) And the second fitted coordinate c 2 (x 2 ,y 2 ,z 2 ) A determined spatial fit equation for the current central axis.
Step 400, determining an included angle alpha of the rotation of the axis kO 'around the Y axis, an included angle beta of the rotation of the axis kO' around the X axis and an included angle gamma of the rotation of the axis kO 'and the base plane XOY according to the axis kO';
in particular, z 1 z 2 Parallel to the Z axis, determining an included angle alpha according to the axis kO' and a first formula:
determining an included angle beta according to the axis kO' and a second formula:
determining an included angle gamma between the axis kO 'and the base plane XOY according to the axis kO' and a formula III:
step 500, if gamma is less than theta, determining the feed L of the Y-direction leveling shaft according to the included angle alpha, the included angle beta, the projection of the bearing platform and the Y-direction leveling shaft in the YOZ coordinate plane and the projection of the bearing platform and the X-direction leveling shaft in the XOZ coordinate plane y And the feed amount L of the X-direction leveling shaft x Where θ represents the threshold angle of the axis kO' to the base plane XOY. The threshold included angle theta represents the adjustment precision (threshold value/coaxiality), and in an ideal state, when gamma is 90 degrees, the workpiece to be measured is completely horizontal, and the axis kO' should be perpendicular to the base plane, namely the rotation central axis. In practical application, when gamma is close to 90 degrees and less than 90 degrees, the workpiece to be measured can be considered to be in a leveling state. Therefore, the threshold angle θ may be preset to an angle close to 90 ° and smaller than 90 ° as needed. The bearing platform is a part for bearing the workpiece to be measured by the adjusting platform.
Specifically, the feeding amount L of the X-direction leveling shaft is determined according to the included angle alpha, the included angle beta, the projection of the bearing platform and the X-direction leveling shaft in the XOZ coordinate plane x The method comprises the following steps: determining the feed L of the X-direction leveling shaft according to the included angle alpha, the projection of the bearing platform and the X-direction leveling shaft in the XOZ coordinate plane and a formula VI x ；
The projection of the axis kO 'on the XOZ coordinate plane is OH, the projection of the bearing platform on the XOZ coordinate plane is a quadrilateral ABCD, and the projection of the ball head at the front end of the X-direction leveling shaft on the XOZ coordinate plane is a semicircle with the radius of the circle center of U' as r; the rear end of the X-direction leveling shaft is fixedly connected with the linear driving motor. PU ' represents the projection of the central axis of the X-direction leveling shaft on the XOZ coordinate plane, the quadrangle ABCD is driven to do circular arc motion around O by moving along the straight line where PU ' is located and taking OM as the radius R, and the DC side of the quadrangle ABCD is always tangent to the circle U ' in the motion process.
Fig. 3 is a two-dimensional mathematical model of the projection of the adjusting stage from the forward Y-axis view onto the XOZ coordinate plane at the ideal horizontal state. EO is the Z axis and GO is the X axis. At the moment, the projection of the ball head at the front end of the X-direction leveling shaft in the YOZ coordinate plane is a semicircle with the radius r taking U as the center of circle; PU represents the projection of the middle axis of the X-direction leveling axis on the XOZ coordinate plane, and M represents the intersection point of OH and the DC side central line; f denotes the intersection of OH and AD edge, OM = R, OM being the radius of rotation of the load-bearing platform. M represents the intersection of OH and the DC side centerline; f denotes the intersection of OH with the AD side, and FD, R and R are known quantities since the various parameters of the stage mechanics are known.
As shown in fig. 4, in the mathematical model in which the actual working condition of the workpiece to be measured is observed from the Y-axis forward direction and is not leveled, in this step, for convenience of calculation, the projection mn of the axis kO' on the XOZ coordinate plane is translated, so that the point m coincides with the origin O of the XOZ coordinate plane, and OH is also mn after translation. The quadrangle ABCD and the circle U' simulate a mechanical structure for leveling the bottom end of the rotating shaft of the adjusting table, and the angle FOL is alpha.
As shown in FIG. 2, O 'A' is the projection of kO 'on the XOY plane, mn is the projection of kO' on the XOZ plane, c 2 Q is perpendicular to O'm, c 2 Q is parallel to sm. During the adjustment process, the axis kO' is adjusted to z 1 z 2 The position is that the axis kO' rotates around the Y axis to eliminate alpha, and rotates around the X axis to eliminate beta and then is parallel to the Z axis, thereby realizing the leveling work of the workpiece. In fig. 4, since the translation is performed, OH and OE coincide with each other after the adjustment is completed.
For convenience of description, the coordinate of the U point in the ideal horizontal state is recorded as U beginX Recording the abscissa of the U 'point in the actual working condition as U' removeX ：
When the adjusting table is in an ideal horizontal state, the beta =0 and the alpha =0 are obtained according to the geometrical relation, and the recumbent U of the U point is obtained at the moment beginX ＝FD+r：
When the adjusting platform is in an actual inclined working condition:
β ≠ 0, α ≠ 0, as shown in FIG. 4, which is obtained from the geometrical relationship, at which time the abscissa of the U' point
The quadrangle ABCD simulates the angular deviation condition of the adjusting table in the X-axis leveling direction after the workpiece to be tested is clamped. The circle U and the circle U' simulate the horizontal displacement condition of the adjusting table in the X-axis leveling direction after the workpiece to be measured is clamped. To achieve an automated adjustment, a quantitative relationship between the feed in the direction of PU and α needs to be obtained.
Fig. 4 simulates a two-dimensional schematic diagram of the axis of the workpiece projected onto the XOZ plane from the forward direction of the Y axis after a certain clamping is completed, the center of circle at the front end of the leveling shaft moves from U to U ', and the circle center U' of the ideal working condition and the circle center U 'of the actual working condition are on the same straight line, so that the calculation of the feed amount can be converted into the absolute value of the difference between the abscissa of the U point under the ideal working condition and the abscissa of the U' point under the actual working condition according to the geometric relationship in the diagram.
If alpha is a positive value, the backward movement is performed in the negative direction along the linear motion direction of the PU'; if α is negative, the feeding direction along the straight line of PU' is positive.
Accordingly, the feed amount L is calculated y The geometric model is completely consistent with the geometric model, and the feeding amount L of the Y-direction leveling shaft is determined according to the included angle alpha, the included angle beta, the projection of the bearing platform and the Y-direction leveling shaft in the YOZ coordinate plane y The method comprises the following steps: determining the feed L of the Y-direction leveling shaft according to the included angle beta, the projection of the bearing platform and the Y-direction leveling shaft in the YOZ coordinate plane and a formula y ；
Step 600, controlling X-direction leveling axis motion L through linear driving electrodes x Y-direction leveling shaft movement L y ；
And 700, returning to execute the steps 200-400, and finishing the adjustment if the theta is not less than gamma and not more than 90 degrees. And after the adjustment is finished once, continuously acquiring data to calculate the included angle gamma, if the gamma is smaller than theta, continuously executing the step 500 until the gamma is smaller than or equal to 90 degrees and the adjustment is finished. Since the shift is performed in fig. 4, OH and OE are overlapped after the adjustment is completed.
In a feasible implementation manner, the method only considers the condition that the intersection point O' of the workpiece axis of the workpiece to be measured and the XOY plane is not coincident with the point O of the rotation central axis, namely, the working condition of misalignment. If the intersection point O' of the workpiece axis of the workpiece to be measured and the XOY plane is coincident with the point O of the rotation central axis, namely after the center adjustment, e in the method is enabled x ＝0，e y The number of times of calculation is = 0.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, merely for convenience of description and simplification of the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
Furthermore, 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. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
In the present invention, unless expressly stated or limited otherwise, the recitation of a first feature "on" or "under" a second feature may include the recitation of the first and second features being in direct contact, and may also include the recitation that the first and second features are not in direct contact, but are in contact via another feature between them. Also, the first feature "on," "above" and "over" the second feature may include the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by those skilled in the art.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (4)
1. An automatic leveling method of an adjusting table for four-axis precision measurement is characterized by comprising the following steps:
step 100, establishing a three-dimensional coordinate system by taking any leveling adjustment shaft as a forward shaft of an X shaft and taking a placing surface of a bearing platform of an adjusting table as a base plane XOY;
200, acquiring data of a workpiece to be detected and acquiring section data of the workpiece to be detected on at least two sections corresponding to at least two height positions; the workpiece to be detected is a workpiece with a circular cross section;
step 300, determining a space fitting equation of the current central axis of the workpiece to be measured according to the section data; the current central axis is an axis kO' determined by fitting coordinates of two circle centers after circle fitting is carried out on the section data; the intersection point of the axis kO 'and the base plane XOY is O' (e) x ,e y ,0)；
Step 400, determining an included angle alpha of the rotation of the axis kO 'around the Y axis, an included angle beta of the rotation of the axis kO' around the X axis and an included angle gamma of the axis kO 'and a base plane XOY according to the axis kO';
step 500, if gamma is less than theta, determining the feed L of the Y-direction leveling shaft according to the included angle alpha, the included angle beta, the projection of the bearing platform of the adjusting platform and the Y-direction leveling shaft in the YOZ coordinate plane and the projection of the bearing platform and the X-direction leveling shaft in the XOZ coordinate plane y And the feed amount L of the X-direction leveling shaft x Wherein θ represents a threshold angle between the axis kO' and the base plane XOY;
step 600, controlling the X-direction leveling shaft to move L x Y-direction leveling shaft movement L y ；
Step 700, returning to execute the step 200-step 400, and ending the adjustment if the theta is not less than gamma and not more than 90 degrees;
if γ < θ, go to step 500.
2. The method for automatically leveling the adjusting platform for four-axis precision measurement according to claim 1, wherein the step 300 comprises the following specific steps:
step 310, performing circle fitting on the section data to determine at least two fitting coordinates of corresponding fitting circle centers of the at least two sections;
and 320, determining a space fitting equation of the current central axis according to the at least two fitting coordinates.
3. The method as claimed in claim 2, wherein in step 500, the feeding amount L of the X-axis leveling shaft is determined according to the included angle α, the included angle β, the supporting platform of the adjusting table and the projection of the X-axis leveling shaft in the XOZ coordinate plane x The method comprises the following steps: determining the feed L of the X-direction leveling shaft according to the included angle alpha, the projection of the bearing platform and the X-direction leveling shaft in the XOZ coordinate plane and a formula VI x ；
The projection of the axis kO 'on the XOZ coordinate plane is OH, the projection of the bearing platform on the XOZ coordinate plane is a quadrilateral ABCD, and the projection of the front end ball head of the X-direction leveling shaft on the XOZ coordinate plane is a semicircle with the radius of a circle center of U' as r; PU ' represents the projection of the middle axis of the X-direction leveling shaft on an XOZ coordinate plane, the quadrilateral ABCD is driven to do circular arc motion around O by moving along the direction of PU ' and taking OM as a radius R, and the DC side of the quadrilateral ABCD is tangent with a circle U ' all the time in the motion process; m represents the intersection of OH and the DC side central line; f represents the intersection of OH and the AD side;
if alpha is a positive value, the backward movement is in a negative direction along the linear motion direction of the PU'; if α is negative, the feeding direction along the straight line of PU' is positive.
4. The automatic leveling method of the adjustment table for four-axis precision measurement as claimed in claim 3, wherein in the step 500, the feeding amount L of the Y-direction leveling axis is determined according to the included angle α, the included angle β, the projection of the bearing platform of the adjustment table and the Y-direction leveling axis in the YOZ coordinate plane y The method comprises the following steps: determining the feed L of the Y-direction leveling shaft according to the included angle beta, the projection of the bearing platform and the Y-direction leveling shaft in the YOZ coordinate plane and a formula y ；
The projection of the axis kO 'on the YOZ coordinate plane is OH, the projection of the bearing platform on the YOZ coordinate plane is a quadrilateral ABCD, and the projection of the ball head at the front end of the Y-direction leveling shaft on the YOZ coordinate plane is a semicircle with the radius of the circle center being r and U'; PU ' represents the projection of the middle shaft of the Y-direction leveling shaft on the YOZ coordinate plane, the quadrangle ABCD is driven to do circular arc motion around O by moving along the straight line where PU ' is located and taking OM as a radius R, and the DC side of the quadrangle ABCD is always tangent to a circle U ' in the motion process; m represents the intersection of OH and the DC side central line; f represents the intersection of OH and the AD edge;
if beta is a positive value, the backward movement is performed in the negative direction along the linear motion direction of PU'; if β is negative, the feed is positive along the linear motion direction of PU'.
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| CN117058974A (en) * | 2023-08-14 | 2023-11-14 | 北京东舟技术股份有限公司 | Curved surface screen leveling method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117058974A (en) * | 2023-08-14 | 2023-11-14 | 北京东舟技术股份有限公司 | Curved surface screen leveling method and system |
| CN117058974B (en) * | 2023-08-14 | 2024-01-26 | 北京东舟技术股份有限公司 | Curved surface screen leveling method and system |
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