齿轮三维测量中线激光传感器位姿标定方法  

A position and attitude calibration method for the linear laser sensor in gear 3D measurement

作　　者：石照耀[1] 孙衍强[1] Shi Zhaoyao;Sun Yanqiang(Beijing Engineering Research Center of Precision Measurement Technology and Instruments,Beijing University of Technology,Beijing 100124,China)

机构地区：[1]北京工业大学北京市精密测控技术与仪器工程技术研究中心,北京100124

出　　处：《仪器仪表学报》2021年第12期39-46,共8页Chinese Journal of Scientific Instrument

基　　金：国家重点研发计划“制造基础技术与关键部件”专项项目(2018YFB2001400)资助。

摘　　要：在齿轮三维测量中,传感器位姿标定的结果直接影响测量结果的准确性。本文提出了一种基于特征标准件的线激光传感器位姿标定方法,并设计了一款具有一定几何特征的标准件。该方法解耦了传感器与仪器之间的位姿关系,通过运动过程中传感器与标准件的几何关系计算传感器的三个姿态角并调整至标定零位,然后通过多次偏置求等区域均值的方法依次计算传感器3个位置量的偏置距离。在齿轮测量中心上进行验证实验,多次标定后被测齿轮的齿廓偏差动态测量重复性为3.94μm,评价标准差小于0.3μm,且评价结果与传统接触式测量结果的趋势一致。结果表明,基于特征标准件的线激光传感器位姿标定方法使得齿轮三维测量具有较好的测量重复性与准确性。In the 3 D measurement of gear,the position and attitude calibration of sensors directly affects the accuracy of measurement results.In this article,a position and attitude calibration method of the linear laser sensor is proposed,which is based on feature standard parts.And a standard part with certain geometric features is designed.This method decouples the position and attitude relationship between the sensor and the instrument.Through the geometric relationship between the sensor and the standard part during the movement,the three attitude angles of the sensor are calculated and adjusted to the calibrated zero position.Then,the offset distances of the three positions of the sensor are calculated through calculating equal region mean by multiple offsets.The verification experiment is implemented on the gear measuring center.After multiple calibration,the dynamic measurement repeatability of the tooth profile deviation of the measured gear is 3.94μm.The evaluation standard deviation is less than 0.3μm.The evaluation results are consistent with the traditional contact measurement results,which show that the position and attitude calibration method of linear laser sensor based on feature standard parts has good repeatability and accuracy for the 3 D gear measurement.

关 键 词：齿轮测量 齿轮测量仪器 激光传感器 位姿标定 齿轮 

分 类 号：TH71[机械工程—测试计量技术及仪器]