基于多通道电感测量的圆周等分孔位置度在线快速评定方法

doi:10.3969/j.issn.1000-1093.2020.04.019

兵工学报 ›› 2020, Vol. 41 ›› Issue (4): 799-809.doi: 10.3969/j.issn.1000-1093.2020.04.019

基于多通道电感测量的圆周等分孔位置度在线快速评定方法

李兵¹，樊寅斌¹，孙彬²，兰梦辉¹，龙兴元³，侯颖¹

(1.西安交通大学机械制造系统工程国家重点实验室，陕西西安 710049; 2.西安工业大学机电工程学院，陕西西安 710021;3.秦川机床工具集团股份公司，陕西宝鸡 721009)

收稿日期:2019-07-10 修回日期:2019-07-10 上线日期:2020-06-02
作者简介:李兵(1965—),男,教授,博士生导师。E-mail: lb@xjtu.edu.cn；
樊寅斌(1995—),男,硕士研究生。E-mail: fanyinbin@stu.xjtu.edu.cn
基金资助:
国家重点研发计划项目(2017YFB1300704)；国家科技重大专项项目(2014ZX04013011)；智能制造综合标准化与新模式应用项目(2016年)

On-line Rapid Assessment Method for the Positions of Equally Distributed Circumferential Holes Based on Multi-channel Inductance Measurement

LI Bing¹, FAN Yinbin¹, SUN Bin², LAN Menghui¹, LONG Xingyuan³, HOU Ying¹

(1.State Key Laboratory of Mechanism Manufacture System Engineering, Xi'an Jiaotong University, Xi'an 710049, Shaanxi, China； 2.School of Mechatronic Engineering, Xi'an Technological University, Xi'an 710021, Shaanxi, China; 3.Qinchuan Machine Tool Group Co., Ltd., Baoji 721009, Shaanxi, China)

Received:2019-07-10 Revised:2019-07-10 Online:2020-06-02

摘要/Abstract

摘要： 针对工业机器人RV减速器精密零件行星架与摆线轮的加工精度在线测量问题，提出一种位置度极角二分法搜索寻优算法，并研制出一种融合位置度量规、坐标测量技术以及多通道电感协同测量技术的圆周等分孔位置度在线快速测量仪。利用多通道电感传感器采集零件被测孔的坐标数据，通过孔心多边形旋转变换和极角二分法迭代寻优，迅速准确得到各孔满足最优的位置度误差。设置单个零件测量节拍小于10 s，以适应生产线上的测量要求。基于分析测量仪的误差源，完成传感器静态标定实验和非线性误差补偿。算法仿真实验、重复性实验和精度对比实验结果表明：所提算法精度小于1.4 μm，精度较高；测量仪重复性精度小于1.5 μm，再现性小于1.0 μm；测量仪与三坐标测量机结果对比误差平均小于2.6 μm，证明了位置度在线测量仪具有较高的稳定性和可靠性。

关键词: 零件, 圆周等分孔, 在线测量, 位置度, 二分法, 搜索寻优

Abstract: A positional polar angle dichotomy search optimization algorithm is proposed for on-line measuring the machining accuracies of planetary carrier and cycloid of precision parts in industrial robot RV reducer. An on-line rapid measuring instrument for the positions of equally distributed circumferential holes is proposed, which combines position measuring meter, coordinate measurement technology and multi-channel inductance collaborative measurement technology. The multi-channel inductive sensor is used to collect the coordinate data of the measured hole of the part, and the optimal position error can be quickly and accurately obtained by the “hole-centered polygon” rotation transformation and the polar angle dichotomy iterative optimization. The measuring time of a single part is less than 10 s, which is suitable for measuring requirements on the production line. The sensor static calibration experiments and nonlinear error compensation were completed by analyzing the error source of measuring meter. Through algorithm simulation experiment, repetitive experiment and precision comparison test, the accuracy of the proposed algorithm is less than 1.4 μm, which has high accuracy; the repeatability of the measuring instrument is less than 1.5 μm, and the reproducibility is less than 1.0 μm; and the comparison error between the measuring instrument and the coordinate measured results is less than 2.6 μm on average, which proves that the position measuring instrument has high stability and reliability. Key

Key words: part, equallydistributedcircumferentialhole, onlinemeasurement, positionaldegree, dichotomy, searchoptimization

中图分类号:

TB921

李兵，樊寅斌，孙彬，兰梦辉，龙兴元，侯颖. 基于多通道电感测量的圆周等分孔位置度在线快速评定方法[J]. 兵工学报, 2020, 41(4): 799-809.

LI Bing, FAN Yinbin, SUN Bin, LAN Menghui, LONG Xingyuan, HOU Ying. On-line Rapid Assessment Method for the Positions of Equally Distributed Circumferential Holes Based on Multi-channel Inductance Measurement[J]. Acta Armamentarii, 2020, 41(4): 799-809.

参考文献

［1］魏波, 周广武, 杨荣松, 等. RV减速器摆线轮齿廓修形方法对比研究[J]. 机械设计与研究, 2016,32(1):41-44.
WEI B, ZHOU G W, YANG R S, et al. Comparison between different modification model of cycloidal gear used in RV reducer [J]. Machine Design and Research, 2016,32(1):41-44.(in Chinese)
[2］王卫. 精密RV减速器摆线轮设计与力学分析[J]. 机电信息, 2016(12):120-121.
WANG W. Design and mechanical analysis of cycloidal wheel of precision RV reducer [J]. Mechanical and Electrical Information, 2016(12):120-121. (in Chinese)
[3］刘辛军, 谢福贵, 汪劲松. 当前中国机构学面临的机遇[J]. 机械工程学报, 2015, 51(13):2-12.
LIU X J, XIE F G, WANG J S. Current opportunities in the field of mechanisms in China[J]. Journal of Mechanical Engineering, 2015, 51(13):2-12. (in Chinese)
[4］韦鹏, 黎丽. 关于三坐标测量机与专用检具在曲轴测量中的差异分析[J]. 装备制造技术, 2016(3):149-151.
WEI P, LI L. The variation analysis in the crankshaft measurement between coordinate measuring machine and special fixture [J]. Equipment Manufacturing Technology, 2016(3):149-151. (in Chinese)
[5］崔静. 孔组位置度综合检具的设计及使用[J]. 金属加工(冷加工), 2008(20):45-46.
CUI J. Design and make use of resultant device for measuring the positions of groups of holes [J]. Metal Working (Metal Cutting), 2008(20):45-46. (in Chinese)
[6］张月梅, 张梅, 高陈媛. 基于核函数的三坐标空间测量误差估计[J]. 工具技术, 2018,52(2):122-124.
ZHANG Y M, ZHANG M, GAO C Y. Error estimation of coordinate measuring machine based on kennel function [J]. Tool Engineering, 2018,52(2):122-124. (in Chinese)
[7］韦芳霞. 基于区域搜索的圆锥度误差评定算法研究[D]. 洛阳:河南科技大学, 2010.
WEI F X. Research of conicity error evaluating algorithm based on area hunting [D]. Luoyang:Henan University of Science and Technology, 2010. (in Chinese)
[8］乔杨, 徐熙平, 卢常丽, 等. 机器视觉远距离目标尺寸自动标定测量系统研究[J]. 兵工学报, 2012, 33(6):759-763.
QIAO Y, XU X P, LU C L, et al. Study on automatic long-distance dimension measurement system based on machine vision [J]. Acta Armamentarii, 2012, 33(6):759-763. (in Chinese)
[9］何改云. 形位误差的逼近原理及算法研究[D]. 天津:天津大学, 2006.
HE G Y. Approximation principle and algorithm of shape and position error [D]. Tianjin:Tianjin University,2006. (in Chinese)
[10］张小萍, 王君泽, 周圣铧. 遗传算法支持下的孔组复合位置度误差评判[J]. 图学学报, 2011, 32(3):23-27.
ZHANG X P, WANG J Z, ZHOU S H. Evaluating for composite position error of hole group supported by genetic algorithm [J]. Journal of Engineering Graphics, 2011, 32(3):23-27. (in Chinese)
[11］李兵, 杜俊伟, 陈磊, 等. 工业机器人RV减速器传动误差分析[J]. 西安交通大学学报, 2017, 51(10):1-6.
LI B, DU J W, CHEN L, et al. Transmission error analysis for industrial robot RV reducer [J]. Journal of Xi'an Jiaotong University, 2017, 51(10):1-6. (in Chinese)
[12］何卫东, 吴鑫辉, 卢琦. RV传动中摆线轮及曲柄轴承有限元分析[J]. 大连交通大学学报, 2016, 37(4):67-71.
HE W D, WU X H, LU Q. Transmission error analysis for industrial robot RV reducer [J]. Journal of Dalian Jiaotong University, 2016, 37(4):67-71. (in Chinese)
[13］ DONG C S, ZHANG G X. Analysis and measurement for the dynamic errors of coordinate measuring machines [J]. Transactions of Tianjin University, 1998(2):63-67.
[14］段红旭, 石永强, 王宝光, 等. 发动机缸体视觉图像定位方法研究[J]. 仪器仪表学报, 2012, 33(3):643-648.
DUAN H X, SHI Y Q, WANG B G, et al. Study on positioning method of engine cylinder based on vision image [J]. Chinese Journal of Scientific Instrument, 2012, 33(3):643-648. (in Chinese)
[15］徐平, 张志忠. 旋转法在孔组位置度评定中的应用[J]. 计量技术, 2007(3):68-71.
XU P, ZHANG Z Z. Application of rotation method in evaluation of position of hole group [J]. Measurement Technique, 2007(3): 68-71. (in Chinese)

第41卷第4期2020 年4月
兵工学报ACTA ARMAMENTARII
Vol.41No.4Apr.2020

[1]	翟岩, 姜会林, 梅贵. 具有微小角度零件的加工及检验方法[J]. 兵工学报, 2020, 41(7): 1417-1422.
[2]	于震梁, 孙志礼, 曹汝男, 王鹏. 基于支持向量机和卡尔曼滤波的机械零件剩余寿命预测模型研究[J]. 兵工学报, 2018, 39(5): 991-997.
[3]	高红俐,张立彬,姜伟,周寅. 电磁谐振式疲劳裂纹扩展试验固有频率跟踪系统[J]. 兵工学报, 2013, 34(7): 896-903.
[4]	李晓舟₁，于化东₁，于占江₁，刘岩₁，许金凯. 微小尺寸零件表面缺陷光学检测方法[J]. 兵工学报, 2011, 32(7): 872-877.
[5]	吴平、陈晓群、吴盛济. FMS上线零件选择的数学模型[J]. 兵工学报, 1996, 17(1): 60-63.

基于多通道电感测量的圆周等分孔位置度在线快速评定方法

On-line Rapid Assessment Method for the Positions of Equally Distributed Circumferential Holes Based on Multi-channel Inductance Measurement

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 5

编辑推荐

Metrics

本文评价