CN102151866A - Three-ball-based multistation coordinate unifying method of processing center - Google Patents
Three-ball-based multistation coordinate unifying method of processing center Download PDFInfo
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- CN102151866A CN102151866A CN 201110064690 CN201110064690A CN102151866A CN 102151866 A CN102151866 A CN 102151866A CN 201110064690 CN201110064690 CN 201110064690 CN 201110064690 A CN201110064690 A CN 201110064690A CN 102151866 A CN102151866 A CN 102151866A
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Abstract
The invention discloses a three-ball-based multistation coordinate unifying method of a processing center. By taking a constant relative position reference system established by three balls as reference, the method can realize positioning of a workpiece at any angle, namely can increase the movement dimension of the processing center, and mainly can realize accurate centering and boring. The method comprises the steps of: fixing the workpiece on a working rotary platform, and boring one side of the workpiece; then replacing a tool with a measuring head and calibrating standard balls and processing holes of the workpiece; then rotating the working rotary platform for 180 degrees and calibrating again; utilizing an online-measurement coordinate transform algorithm to unify two coordinate systems; calculating the difference between a theoretical angle and a real angle; adjusting the processing direction of a main shaft; and finally boring the other side of the workpiece. Similarly, accurate positioning of secondary clamping of the workpiece also can be realized.
Description
Technical field
The invention belongs to technical fields such as machine-building, detection,, set up space coordinates by three or more standard ball, utilize the coordinate transform theory, accurately the method for location turntable actual rotational angle finally reaches accurate processing, has been equivalent to increase the dimension of numerical control machining center.
Background technology
For present numerical control machining center, because the quality of turntable is very big, so inertia is very big, be difficult to realize that turntable accurately locatees, especially be difficult to realize that it is low and repeatedly repair phenomenon the qualification rate of product to occur to heart bore hole, improved cost, in the face of these problems, utilize the laser interference instrument can realize accurate localization, but cost is too high.The main way that still adopts offline inspection and secondary to repair.Prolong the production cycle and the processing cost of product so greatly, also reduced precision simultaneously.
Summary of the invention
Defective or deficiency at above-mentioned prior art creation, the object of the present invention is to provide a kind of machining center multistation coordinate unified approach based on three balls, be combined in the machine measurement function, the problem that has faced more than well having solved, it is simple that this method has mechanism simultaneously, cost is low, uses characteristics such as simple.
In order to realize above-mentioned task, the present invention takes following technical solution:
Utilize the on-machine measurement function of machining center, on turntable, realize workpiece to heart bore hole:
This method is to have used for reference to utilize standard ball to carry out the detection method and the coordinate transform theory of detecting error, the accurate location of having realized turntable in the three coordinate measuring machine.Detecting error is to use 25 points on the coordinate measuring machine measurement standard ball hemisphere, with whole 25 centers that calculate the least square ball, and the difference of calculating minimax is a detecting error, and work in-process in the heart, with body and the motion of machining center as three coordinate measuring machine, the method that replaces a kind of on-machine measurement of cutter realization with gauge head, be equivalent to whole three coordinate measuring machine has been transplanted on the machining center, realized demarcation to a plurality of standard ball centre ofs sphere, and then set up a reference frame of workpiece, no matter how machining center moves, their relative position is constant, combine the coordinate transform theory again, just can realize the unification of different coordinates, coordinate transform theory work in-process reaches in the heart and has obtained good application in the measurement.Whole algorithm is to be integrated in the digital control system or on the external PC, realizes measuring indirectly control and algorithm process by RS232 communication.
The anchor clamps of standard ball must be reasonable in design, designed the installing hole of matrix form, according to different systems, adjust the position relation of three standard ball, prevents to interfere, and realizes correct measurement.
In order better to improve positioning accuracy, can adopt the standard ball more than three to set up coordinate system, utilize more redundant data to improve the precision of Mathematical Modeling.Can utilize simultaneously the demarcation of a standard ball realization, carry out the gauge head radius compensation the on-machine measurement gauge head.
What utilize is the consistency of relative position, the location that can realize any rotation angle.Utilize reference frame, can realize the secondary accurate positioning that is installed of workpiece.
Description of drawings
Fig. 1 is that workpiece is realized the schematic diagram to heart bore hole on Work turning table.
Label is wherein represented respectively: 1, the Y-axis of secondary workpiece coordinate system, 2, machining center Work turning table, 3, anchor clamps, 4, differential seat angle, 5, postrotational workpiece, 6, the Y-axis of initial workpiece coordinate system, 7, the X-axis of cutter 8, tool magazine 9, gauge head 10, initial workpiece coordinate system in the tool magazine, 11, the X-axis of secondary workpiece coordinate system, 12, standard ball, 13, the workpiece before the rotation, 14, the cutter before the rotation, 15, postrotational cutter.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing.
Referring to Fig. 1, the application tool that the present invention relates to mainly comprises machining center turntable and motion thereof, tool magazine and trisphaeridine position device.Described machining center turntable just is meant machining center Work turning table 2, and tool magazine comprises knife rest 8, and gauge head 9 and cutter 7/14/15, trisphaeridine position device mainly comprise anchor clamps 3 and three standard ball 12.
Machining center turntable 2 is to utilize motor can realize the mechanism of rotating, and has encoder, and wherein encoder is exactly a kind of raster count that utilizes, and has the reading device of sensor treatment circuit, is used for realizing that the relative or exhausted degree of position detects.
Wherein, the Y-axis 6 of initial workpiece coordinate system and the X-axis 10 of initial workpiece coordinate system are the coordinate systems before the rotation, the Y-axis 1 of secondary workpiece coordinate system and the X-axis 11 of secondary workpiece coordinate system are postrotational actual coordinates, and what the postrotational anchor clamps 3 of turntable adopted is common iron plate.Trisphaeridine position device is to realize the unified basis of coordinate, relative consistency according to their positions, by the rotation of two coordinate systems and the unification of translation realization coordinate system, can be by calculating theoretical and actual differential seat angle 4, workpiece 13 before will rotating then is mapped under the secondary coordinate system that the X-axis 11 of the Y-axis 1 of secondary workpiece coordinate system and secondary workpiece coordinate system forms, calculate the processing starting point, finally make the direction vector of cutter along theoretical and actual differential seat angle 4, begin processing from the processing starting point, finally realize accurate bore hole.As seen this method has realized the unified and location of coordinate of multistation very easily.
Use this method, the precision of machining center bore hole is improved, improve the efficient and the quality of processing, reduction in the numbers of seconds reduces offline inspection and uses the expense of optional equipment, can realize the secondary location that is installed easily.
Above content is to further describing that the present invention did in conjunction with concrete preferred implementation; can not assert that the specific embodiment of the present invention only limits to this; for the general technical staff of the technical field of the invention; without departing from the inventive concept of the premise; can also make some simple deduction or replace, all should be considered as belonging to the present invention and determine scope of patent protection by claims of being submitted to.
Claims (9)
1. machining center multistation coordinate unified approach based on three balls, it is characterized in that: this method comprises the following steps:
Step 1, the workpiece 13 before at first will rotating is installed on the machining center Work turning table 2, and fixes;
Step 2 is fixed on the anchor clamps 3 that are fastened with three standard ball 12 on the machining center Work turning table 2, and three standard ball 12 can not conllinear;
Step 3 utilizes the preceding workpiece 13 of the preceding 14 pairs of rotations of cutter of rotation to carry out bore hole;
Step 4 in tool magazine 8, changes the cutter 14 before the rotation into gauge head 10, and three standard ball 12 are demarcated, and measures the position in preceding workpiece 13 holes of rotation simultaneously, sets up initial workpiece coordinate system by Survey Software; Described initial workpiece coordinate system is exactly the coordinate system that utilizes the centre of sphere foundation of three standard ball 12;
Step 5, with machining center turntable 2 Rotate 180s °, described 180 ° is the angle that machining center Work turning table 2 will rotate in theory, utilize gauge head 10 once more three standard ball 12 to be demarcated, set up the secondary workpiece coordinate system, utilize the coordinate transform theory, obtain differential seat angle 4; Described secondary workpiece coordinate system is the coordinate system that utilizes the centre of sphere of three standard ball 12 to set up behind work in-process heart turntable 2 Rotate 180s ° once more;
Step 6 changes gauge head 10 into postrotational cutter 15 once more, makes cutter carry out the bore hole second time along the direction of differential seat angle 4, has finished heart bore hole.
2. the method for claim 1 is characterized in that, described machining center comprises that directions X, Y direction, Z direction rectilinear motion and W direction turntable rotate, and be horizontal Machining centers, cutter is parallel with Work turning table, and each axle all is equipped with high-precision encoder, has the on-machine measurement function.
3. the method for claim 1 is characterized in that, described standard ball 12 is steel balls, and what select for use is that diameter is that 10mm, the highest circularity are that 0.08um, dimensional accuracy are 0.5um and the steel ball that has fixed bar.
4. the method for claim 1 is characterized in that, has the matrix form screw above the described anchor clamps 3 and is used for fixing standard ball, also has clamping screw to be used for fixing with the working face of turntable below the anchor clamps 3.
5. the method for claim 1 is characterized in that, described bore hole is to through hole of 13 processing of the workpiece before rotating.
6. the method for claim 1 is characterized in that, described gauge head 10 is that mechanical type triggers gauge head, is used for contact type measurement.
7. the method for claim 1 is characterized in that, described Survey Software is based on the software with measurement and error assessment function of PC, also can be the measurement module that increases in the digital control system, can set up workpiece coordinate system according to measuring point.
8. the method for claim 1 is characterized in that, described coordinate transform theory is exactly by matrix operation, utilizes translation and rotation transformation algorithm to realize the conversion of a coordinate system to another coordinate system.
9. the method for claim 1 is characterized in that, described differential seat angle 4 is exactly the poor of the angle of theoretical rotation and angle that Practical Calculation obtains.
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102554701A (en) * | 2012-03-07 | 2012-07-11 | 天津大学 | Method and device for compensating indexing error of machine tool |
| CN102922004A (en) * | 2012-10-15 | 2013-02-13 | 山西航空发动机维修有限责任公司 | Part machining point coordinate measuring auxiliary device of coordinate boring machine and measuring method |
| CN104596390B (en) * | 2014-10-28 | 2017-08-25 | 中国航空工业集团公司洛阳电光设备研究所 | The method that multistation measurement element is calculated is realized using three coordinate measuring machine |
| CN107101579A (en) * | 2017-04-26 | 2017-08-29 | 长沙迪迈数码科技股份有限公司 | A kind of goaf point cloud coordinates compensation method |
| CN107741198A (en) * | 2017-09-25 | 2018-02-27 | 北京华睿盛德科技有限公司 | A kind of method based on the demarcation of four axle optical scanning system turntables |
| CN109579759A (en) * | 2018-11-27 | 2019-04-05 | 中国航发沈阳黎明航空发动机有限责任公司 | A kind of method of secondary coordinate fitting mensuration detection high-precision overlength standard component |
| CN113385972A (en) * | 2021-06-11 | 2021-09-14 | 蓝思智能机器人(长沙)有限公司 | Tool magazine assembly position parameter calibration method and machine tool |
| CN113799115A (en) * | 2020-06-11 | 2021-12-17 | 台达电子工业股份有限公司 | Coordinate correction method of robot arm |
| WO2022067596A1 (en) * | 2020-09-30 | 2022-04-07 | 成都飞机工业（集团）有限责任公司 | Standard ball array-based geometric error detection method for machine tool |
| CN115014252A (en) * | 2022-08-05 | 2022-09-06 | 西安德普赛科计量设备有限责任公司 | Method for realizing multi-station measurement element calculation |
| CN115401233A (en) * | 2022-08-18 | 2022-11-29 | 成都飞机工业（集团）有限责任公司 | Boring machining reference establishing method for welding assembly |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102554701A (en) * | 2012-03-07 | 2012-07-11 | 天津大学 | Method and device for compensating indexing error of machine tool |
| WO2013131354A1 (en) * | 2012-03-07 | 2013-09-12 | 天津大学 | Method and device for compensating indexing error of machine tool |
| CN102922004A (en) * | 2012-10-15 | 2013-02-13 | 山西航空发动机维修有限责任公司 | Part machining point coordinate measuring auxiliary device of coordinate boring machine and measuring method |
| CN102922004B (en) * | 2012-10-15 | 2014-09-17 | 山西航空发动机维修有限责任公司 | Part machining point coordinate measuring auxiliary device of coordinate boring machine and measuring method |
| CN104596390B (en) * | 2014-10-28 | 2017-08-25 | 中国航空工业集团公司洛阳电光设备研究所 | The method that multistation measurement element is calculated is realized using three coordinate measuring machine |
| CN107101579A (en) * | 2017-04-26 | 2017-08-29 | 长沙迪迈数码科技股份有限公司 | A kind of goaf point cloud coordinates compensation method |
| CN107101579B (en) * | 2017-04-26 | 2020-03-27 | 长沙迪迈数码科技股份有限公司 | Goaf point cloud coordinate correction method |
| CN107741198B (en) * | 2017-09-25 | 2019-11-15 | 北京华睿盛德科技有限公司 | A method of it is demarcated based on four axis optical scanning system turntables |
| CN107741198A (en) * | 2017-09-25 | 2018-02-27 | 北京华睿盛德科技有限公司 | A kind of method based on the demarcation of four axle optical scanning system turntables |
| CN109579759A (en) * | 2018-11-27 | 2019-04-05 | 中国航发沈阳黎明航空发动机有限责任公司 | A kind of method of secondary coordinate fitting mensuration detection high-precision overlength standard component |
| CN113799115A (en) * | 2020-06-11 | 2021-12-17 | 台达电子工业股份有限公司 | Coordinate correction method of robot arm |
| CN113799115B (en) * | 2020-06-11 | 2023-03-24 | 台达电子工业股份有限公司 | Coordinate correction method of robot arm |
| US11738462B2 (en) | 2020-06-11 | 2023-08-29 | Delta Electronics, Inc. | Coordinate calibration method of manipulator |
| WO2022067596A1 (en) * | 2020-09-30 | 2022-04-07 | 成都飞机工业（集团）有限责任公司 | Standard ball array-based geometric error detection method for machine tool |
| CN113385972A (en) * | 2021-06-11 | 2021-09-14 | 蓝思智能机器人(长沙)有限公司 | Tool magazine assembly position parameter calibration method and machine tool |
| CN115014252A (en) * | 2022-08-05 | 2022-09-06 | 西安德普赛科计量设备有限责任公司 | Method for realizing multi-station measurement element calculation |
| CN115401233A (en) * | 2022-08-18 | 2022-11-29 | 成都飞机工业（集团）有限责任公司 | Boring machining reference establishing method for welding assembly |
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