CN1009861B - Workpiece position controller - Google Patents
Workpiece position controllerInfo
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- CN1009861B CN1009861B CN 87101750 CN87101750A CN1009861B CN 1009861 B CN1009861 B CN 1009861B CN 87101750 CN87101750 CN 87101750 CN 87101750 A CN87101750 A CN 87101750A CN 1009861 B CN1009861 B CN 1009861B
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- turntable
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Abstract
A metering device is provided with a turntable (4) capable of doing horizontal and rotary movement for correcting centers and adjusting level. The turntable (4) is supported on three supporting points (A, B, P), wherein the point (P) is fixed, and the rest two points (A, B) can vertically move via motorized supporting columns. Data obtained from a workpiece surface is detected by a sensor (12). A computer (72) calculates the horizontal and the rotary movement to be done by the turntable (4) and automatically corrects the centers and adjusts the level.
Description
The present invention is relevant with the workpiece positioning control, and is in detail, on the turntable that coexists that a workpiece correction center is relevant with the method and apparatus of adjustment level, especially relevant with measuring apparatus.
A workpiece is positioned on the turntable of known measuring apparatus, measures by rotating table, and the surface of a sensor workpiece.Usually must carry out an operation that is called correction center and adjustment level, in operating process, for instrument being taken to a needed position, turntable can be moved horizontally and make it simultaneously, in general, the pivot center of a desired axis of workpiece and turntable is overlapped, and it would be desirable: the operation of correction center and adjustment level should automatically perform so that can effectively and promptly finish.
The measuring apparatus that can automatically perform correction center and adjustment level is well known and has been applied to industry.The round turntable of known devices is installed on the supporting construction, and it comprises the supporting surface of a ball-type, allows turntable around fulcrum direction ground banking motion, and fulcrum exceeds the workplace of turntable and is in a known horizontal plane.Two pillars below the turntable are installed in the position apart from one another by 90 degree, to guarantee the banking motion of realization around the quadrature-axis that is positioned at above-mentioned horizontal plane separately.Spring pushes turntable downwards and makes it to keep in touch with pillar, and a ball-type supporting surface and a matching seat are kept in touch, and matching seat comprises a ball collar and is placed in the supporting construction with a member.Supporting construction is fixed on the main shaft that makes the turntable rotation, utilizes another bearing to form the tangential movement of supporting construction, can carry out the operation at correction center whereby.
In this prior art device, be placed on workpiece to be tested on the turntable after, at first measure the surface of the work center partly be positioned at horizontal plane, horizontal plane comprise turntable around that of inclination, carry out cent(e)ring and horizontal adjustment then.Workpiece is rotated around main-shaft axis finish this mensuration by making the fingertip that is included in this device and surface of the work in this horizontal plane contact and drive main shaft.So according to and the signal of sensor that links to each other of fingertip can determine degree of eccentricity between Workpiece Rotating axis (or main-shaft axis) and the surface of the work center in this plane.For determined surface of the work center and main-shaft axis are overlapped, in view of the above with respect to main shaft, the supporting construction of mobile turntable flatly.Therefore, finished for the cent(e)ring on that plane operation.Fingertip is moved on to a different horizontal plane, drive main shaft with turning of work piece, and utilize signal of sensor, be determined at the degree of eccentricity of the interior surface of the work center of this horizontal plane with respect to main-shaft axis.Thereby implementation horizontal adjustment.After this degree of eccentricity is measured, drive pillar and overlap must make the surface of the work center in second horizontal plane and the rotation (main-shaft axis) of turntable.This has just finished the horizontal adjustment operation, thereby has also finished cent(e)ring and horizontal adjustment.
Because occur in turntable banking motion in the horizontal adjustment operating process and be in first horizontal plane a bit to be the center, that overlaps by cent(e)ring operation and shaft axis, so the horizontal adjustment operation can't destroy this coincidence.
This device has many shortcomings.At first, must be positioned at same fixingly by detection, the surface of the work that comprises in the horizontal plane at the tiltedly moving center of turntable is carried out each cent(e)ring operation, and in some cases, workpiece not surface be in can be detected the plane in.For the workpiece with complicated shape, this is important disadvantages, for example a bent axle.Secondly, the mass centre of workpiece must always be positioned at the turntable fan sections of 90 degree that limited by two pillar positions: measure the barycenter that drops on this fan section outside and will lean on turntable to produce torque, often cause that turntable swings and disengage with pillar.Once more, it is both difficult and expensive that the spherical bearing that make to support turntable reaches required precision.
The invention provides a kind of device that to exempt one or more these problems.
A kind of situation, a kind of Working piece positioning device provided by the invention has a turntable carrying workpiece, and have practical computer equipment to carry out correction center and adjustment levels operation, in operating process, owing to having obtained compensation for the tiltedly moving any workpiece off-centre that causes of the turntable of adjusting level.Therefore, device with this a kind of situation construction according to the present invention, can any horizontal plane be that benchmark is carried out the correction center and adjusted levels operation, be not limited to comprise the tiltedly moving center of turntable, as the unique horizontal plane in the above-mentioned prior art.
Another kind of situation, Working piece positioning device provided by the invention has a workpiece turntable, turntable is carried on three fulcrums that are positioned at triangular apex, equilateral triangle preferably, the center of turntable is arranged on wherein, and 2 height can be regulated in the above-mentioned fulcrum, and, computer equipment is in the process of carrying out the correction center and the level of adjustment, and the height of or above above-mentioned fulcrum is regulated.
Another situation the invention provides a kind of method or is used for carrying out the device of the operation of correction center and/or adjustment level, detects workpiece with sensing device and according to predetermined algorithm executable operations under the control of electronic-controlled installation in operating process.
Other situation, device provided by the invention has the turntable of a carrying workpiece, turntable can be around its surface following a bit or an axis rotate with the realization horizontal adjustment, the electronic-controlled installation that is provided is used for realizing above-mentioned rotation, the intersection point of this point or axis preferably departs from the rotation of turntable.
All the other situations of the present invention, it is clearer to seem from later description and claims.
With reference to accompanying drawing, illustrate further the present invention by example, wherein:
Fig. 1 is the skeleton view of device embodiment of the present invention;
Fig. 2 is a skeleton view that is included in the turret supports structure of Fig. 1 device;
Fig. 3 is a sectional view by Fig. 2 part supporting construction, but also demonstrates turntable;
Fig. 4 is a simplification calcspar that is included in the control system in Fig. 1 device;
Fig. 5 a to Fig. 5 d is with schematic drawing explanation correction center and adjust the levels operation process; And
Fig. 6 to Fig. 9 is that to help to understand control system be illustrated correction center of execution graph 6 and the sketch of adjusting the calculating that levels operation carries out.
With reference to Fig. 1, a measuring apparatus comprises the pin that can only see base among the worktable 2(Fig. 1 by base 3 supports).The turntable (4) that can settle workpiece of base 3 carryings.Article one, vertical square column 6 bears the balladeur train 8 of the vertical movement of a motor driven.Fingertip 10 is installed in the end of pivot arm 12, makes the position of fingertip to change, and pivot arm 12 refills the end at the horizontal swing arm (radially) 14 of balladeur train 8 carryings.Rotating table and/or move radially fingertip and/or the vertical moving fingertip causes that thereby the traversing surface of the works of crossing of fingertip 10 carry out measurement operations to workpiece.
As shown in Figures 2 and 3, the supporting construction of turntable 4 comprises a basal plane 16 by disk 18 carryings, and the main shaft 20 of disk 18 and motor driven fixes.The with dashed lines contour representation bearing holder device 21 support main shaft 20 are around it self vertical axis 23 rotations among Fig. 3.Bearing holder device 21 is installed on the base 3, and is preferably illustrated among the patented claim No2178805A as Britain's announcement.Cover ball bearing 22 in the disc box 24 is between basal plane 16 and disk 18, and this is to do to be provided with respect to the tangential movement of disk 18 for basal plane 16.This motion is to utilize motor 26x, and 26y carries out along the x of mutually orthogonal and y axis, motor 26x, 26y is fixed on the basal plane 16 and through transmission case 30x and 30y and promotes reciprocal drive link 28x and 28y respectively, sub for example, transmission case 30x, 30y can be made up of worm-and-wheel gear.When separately motor starts, drive drive link 28x and 28y along x and y axle respectively.Boss 32 is fixed in the upper end of the main shaft 20 that extends through basal plane 16 center pits 34, the plane 32x and the 32y of boss 32, and the end with drive link 28x and 28y contacts respectively, and is in respectively in the plane perpendicular to x and y axle.One end of tension spring 36 is connected with boss 32, and the other end is connected with the post 38 that is fixed in basal plane 16, and plane 32x and 32y and drive link 28x separately and the end of 28y are kept in touch.Therefore, under the help of the acting force of motor 26x and 26y and spring 36, basal plane 16 can accurately move past determined distance along any one direction of x axle and y axle.Drive link 28x and 28y pass guide plate 40x and 40y respectively, and guide plate all has the groove 42 of laying pilot pin 44, and pilot pin is installed in transmission case 30x and 30y.
A ball 46 that is contained in post 38 upper end dimples support turntables 4 around fulcrum P direction rotate.
Be positioned at A, ball 50a that B is ordered and 50b only are illustrated among Fig. 3 through adjusting pad 52() support turntable 4 respectively, adjusting pad 52 is fixed in the bottom surface of turntable 4 and is placed on ball 50a, on the 50b.Be installed on the support 56 around transverse axis 58(perpendicular to Fig. 3 paper) the lever plate 54a that rotates, 54b has recess 60a, and 60b lays ball 50a respectively, 50b.Motor 62a, 62b are by transmission case 66a, and 66b drives pillar 64a, and 64b(only has expression in Fig. 3), make lever plate 54a, 54b rotates around their rotating shaft 58 upper and lowerly.Therefore, hotwire 62a cause turntable around the axis tilt that links fulcrum P and B, and hotwire 62b causes that then turntable 4 is around the axis tilt that links fulcrum P and A.These change line by ball 46, the center of 50a and 50b.
Fulcrum A, B, P are positioned at three summits of an equilateral triangle, and the center of leg-of-mutton center C and turntable 4 overlaps, and promptly puts A, B, and P is with respect to a C symmetric offset spread.This just provides the maximum area of place work piece reposefully for turntable.Though the result, turntable around axis PA and the PB of inclination become 60 degree angles mutually.
Tension spring 68 is the pushing turntable downwards, and adjusting pad 52 and ball 50a and 50b are kept in touch, and tension spring 70 pushes lever plate 54a and 54b downwards, makes they and pillar 64a, and 64b keeps in touch.
A cylindrical barrier that is fixed in disk 18 has sealed above-mentioned supporting construction.
As what seen in the simplified block diagram of Fig. 4, arrive, proofread and correct the motor 26x at center, the motor 62a of the 26y and the level of adjustment, 62b is by computer system 72 controls, and computing machine receives the input signal from the sensor 73 of response fingertip 10.The operating personnel of supervisory keyboard 75 are prepared as computer system 72 instruction are provided.Computer system 72 also is controlled to be rotating table (θ axle) and balladeur train 8(z axle on the motor 74 ascending, descending square columns 6 of drive shaft 20) motor 76 and for making fingertip 10 with the surface of the work contact or separates the radially motor 78 of (r axle) promotion horizontal arm 14. Remaining sensor 80,82,84 provides the angular coordinates of turntable 4, the perpendicular coordinate of balladeur train 8 and the radial seat target data sample of horizontal arm 14 for computer system 72.One visual display (VDU) 86 also is connected with computer system 72 with storer 88, the program of data that storer 88 storages receive and computer system 72 work institute foundations.Computer system can comprise one or above computing machine.
With reference to figure 5a to Fig. 5 d, can understand cent(e)ring and horizontal adjustment, the motion that turntable 4 is experienced in order to realize workpiece.For for simplicity, Fig. 5 explanation is positioned at the cylindrical work 100 of triangle ABP on the turntable 4.Workpiece 100 relies on an end 102 standing and places, end face 102 is planes, but supposition and sagittal plane (then having exaggerated a lot among Fig. 5) in a very small angle, so that the vertical rotating shaft line 23 of the axis 104 of workpiece 100 and main shaft 20 at an angle.The order of the step of the correction center of execution graph 5 explanations and adjustment levels operation comprises at first rotating table 4, adjusts fingertip 10 and comes perception to be in the surface of the workpiece 100 in the horizontal plane 108.The output signal of computer system 72 receiving sensors (80,73,84) is also utilized a kind of profile fitting algorithm (form fitting algorithm), calculates workpiece at the center 110 on plane 108 and the size and Orientation of the displacement between the axis 23.The pole coordinate parameter of sensor output is transformed into a kind of rectangular coordinate system of theory, and (u v), supposes N the point that detects the surface, and coordinate is (u
i, v
i), use the least square error criterion of revising, by minimum and the center (u that comes gauging surface
o, v
o) and radius R:
After calculating the center, then computing machine hotwire 26x and 26y in case must make a little 110 and axis 23 overlap, as shown in Fig. 5 b.Next step is a rotating table 4, adjusts the surface of the work of fingertip 10 perception in leaving the different horizontal plane 112 on plane 108, and in this example, plane 112 is higher than plane 108.Utilize the profile fitting algorithm again, computing machine is determined the center of workpiece in plane 112.After this, computer system 72 calculate the workpiece of sening as an envoy to from the position shown in Fig. 5 b to the angular motion of necessary turntable 4 in the position shown in Fig. 5 c and workpiece 100, the axis 23 of the axis 104 of workpiece and main shaft is parallel among Fig. 5 c.Have further description below this computing technique.As seeing in Fig. 5 c, the result of this angular motion or inclination is point 110 off-axis 23 once more.For axis 104 and axis 23 overlapped, shown in Fig. 5 d, still utilize above-mentioned profile fitting algorithm and hotwire 26x and 26y, last step is that to finish with axis 23 be the cent(e)ring operation second time of the benchmark position of determining axis of workpiece 104.For for simplicity, though above description about Fig. 5 is based on:, carry out each step with a kind of special order in order to reach the situation shown in Fig. 5 d.And this is not requisite, in fact, be under the situation of the position shown in Fig. 5 a at workpiece 100 and turntable 4, measurement plane 110 and 112 at first, then simultaneously or with any desirable order hotwire 26x, 26y, 62a and 62b, but, adjust the order of level then preferably with first calibration of workpieces center.
What will describe now is: about in order to realize cent(e)ring and horizontal adjustment, turntable 4 is finished the calculating of needed level and banking motion.In the description afterwards, motor 26x and 26y will be called x and y motor, and motor 62a and 62b will be called a and b motor.Though part can have any profile, still for for simplicity, if there is the section of a rule on the surface of determining, the correction center of research cylindrical workpiece (for example workpiece shown in Fig. 5 100) and the situation of adjustment level just seem convenient, because the axis of cylinder defines easily.
In discussing afterwards, all motions are summed up in the point that having vector of unit length i, j, right hand rectangular coordinate system X, the Y of k and Z represent to seem easy.The former point selection of coordinate system and point of fixity P overlap, and the on line that X-axis is hanked five equilibrium A, B at 2.Fig. 6 represents this coordinate system, and its Z axle is perpendicular to paper and be illustrated on Fig. 2.
To realize the cent(e)ring of turntable about the motion that the active line that is parallel to x and y motor is resolved in the motion of X and Y-axis.
If required cent(e)ring vector is c
1I+c
2J is respectively e and establish the vector of unit length that is parallel to x and y motor active line
xAnd e
yCan know according to geometry:
c
1i+c
2j＝-k〔（c
1-c
2）e
x+（c
1+c
2）e
y〕（1）
In the formula, k=2
-1/2
When discussion is placed on the horizontal adjustment of a part on the turntable, introduce two other variable θ
1And θ
2Can make things convenient for θ
1Be the pitch angle of turntable end face about X-axis, θ
2Then be corresponding angles about Y-axis.Therefore, the height when being in level with turntable surface is a benchmark, can provide any point (X on the turntable surface
1, Y
1) height
Z
1＝X
1tanθ
1+Y
1tanθ
2（2）
Now as shown in Figure 6, introduce with reference to T
1And T
2, and the incremental height of a some A and B is called Z
A, Z
B, this just provides formula
Z
A＝T
1tanθ
1+T
2tanθ
2（3a）
Z
B＝T
1tanθ
1-T
2tanθ
2（3b）
Utilize tiltangle
1And θ
2, can calculate some A more than the horizontal plane of ordering and the incremental height of B by P according to these equations.
As seen on from Fig. 6, T
1And T
2Size depend on axis AP that turntable tilts and the included angle A PB between the BP.Therefore, regulate in the operation at executive level, the calculating that computing machine 72 carries out depends on angle APB.
Before setting about carrying out, must further study the practical set-up that in vertical plane, drives some A and B with a in the most preferred embodiment and b motor.
According to example as shown in Figure 7, the distance between the center 51 of axis 58 and ball bearing 50a or 50b is 12 millimeters, is 36 millimeters and change line 58 with the distance between the contact point 55 of pillar 64a or 64b and lever 54a or 54b.
With reference to figure 8, as can be seen, if screw pillar 64a or 64b are risen a height z, the center of ball 50a or 50b will move past a height δ z so.Can know:
z＝36tanα （4）
δz＝12sinα
Can draw from equation (4):
z＝36δz/（12
2-δz
2）
1/2（5a）
Perhaps
z＝3δz+3δz
3/（2×12
2）+3
2δz
5/（2
3×12
4）+……（5b）
Suppose that turntable 4 was in level originally, and at two height (z
1, z
2), measure cylindrical object, as shown in Figure 9, the center on two planes is decided to be (a
1, b
1, z
1) and (a
2, b
2, z
2).Can see, any point on the cylinder axis of height Z, its coordinate in selected coordinate system can be provided by following formula:
X＝〔（a
2-a
1）/（z
2-z
1）〕Z+a
1
Y＝〔（b
2-b
1）/（z
2-z
1）〕Z+b
1
Note is made h=(z
2-z
1), and with these equations and equation (2) comparison, then
tanθ
1＝（a
2-a
1）/h
tanθ
2＝（b
2-b
1）/h
In order to compensate these angles, the incremental height δ Z that some A, B must move past
A, δ Z
BCan provide by equation (3), so,
δZ
A＝T
1tanθ
1+T
2tanθ
2
δZ
B＝T
1tanθ
1-T
2tanθ
2
And the height that the screw pillar must rise can be provided by following formula according to equation (5)
Z
A＝3δZ
A/（12
2-δZ
2 A）
1/2
Z
B＝3δZ
B/（12
2-δZ
2 B）
1/2
Utilize the binomial expansion of these equations and the truncation progression at second place to provide:
Z
A＝3δZ
A+PδZ
3 A
Z
B＝3δZ
B+PδZ
3 B
P=1 in the formula, 1331161 * 10
-2, comprised correction to the progression truncation.
Therefore, utilize above calculating, can determine a that the realization horizontal adjustment is required and the revolution of b motor at an easy rate.And the X that the realization cent(e)ring is required and the revolution of y motor are also calculated easily.Computer system 72 is not only calculated but also utilize result of calculation to start a, b, x and y motor.
Therefore, illustrated embodiment has significant advantage: the plane 108 shown in Fig. 5 and 112 can be positioned at sensor 73 and 84 working ranges Anywhere, for correction center and adjustment level and the surface of measuring workpieces in plane 108 and 112; Workpiece can its mass centre be positioned in the triangle ABP Anywhere, and this is just significantly greater than the corresponding region of prior art device, and is symmetrical in the turntable center, and the location also just makes things convenient for manyly; Because turntable is supported at three point, wherein 2 height can be regulated, for horizontal adjustment forms banking motion.Large-scale spherical bearing as the needed costliness of prior art can save.
Described device has comprehensive advantage: the operation of correction center and adjustment level can be carried out automatically, and the physical construction of turntable can be relative simple with gearing, and turntable has the stability of height, and can determine the workpiece of varied type.
And, the present invention can be applied to a kind of measuring apparatus about the situation of doing measurement on the plane of leaving center and tilt axis, workpiece is not to be carried on the turntable of measuring apparatus, but by anchor clamps or other similar thing clamping, anchor clamps etc. can rotate by an axis outside vertical axis, for example a horizontal axis.
The invention is not restricted to detect the outside surface of workpiece, (for example bearing surface of bent axle) but also be applicable to and detect inside surface (for example input and output bearing seat of transmission case shell).
In some example, wish that the center of finding out workpiece a bit aligns turret axis, and be orthogonal to turret axis by another plane surface that makes workpiece and make its maintenance level, rather than the two-part center of calibration of workpieces (for example two of a bent axle bearing surfaces).Sub for example, thus make it ideally an engine pistons to be proofreaied and correct center and adjustment level by the center and the adjustment lower edge plane, piston skirt of proofreading and correct piston crown perpendicular to axis.In this case, what measure is the pitch angle that workpiece another part or workpiece are fixed in a reference surface (for example placing the turntable surface of piston) at this place, rather than the center of definite workpiece another part.So the center that will determine can give centering; Adjust degree of tilt then; Caused off-centre is adjusted with the compensating for tilt degree in the center of then can proofreading and correct again.
The present invention is only limited to be used for detecting the workpiece with circular portion, but also can be used for detecting and have other shaped cross the workpiece of (for example rectangle, triangle, ellipse and hexagon).
For example, under the situation of cylindrical work, be not to detect the circular section of workpiece in two planes with spacing, but sensitive element can be measured the numerical value and the degree of tilt of transverse axis simultaneously along the helical path trace with respect to surface of the work.
Best, its supporting constructions 12,14 of sensor 10 and the layout that is illustrated in the control system among Fig. 4 all as our application of awaiting the reply of submitting to together simultaneously, to stop. the Rogers. Lai En (Hugh Rogers Lane) and Peter. the Dean. Nirn difficult to understand (Peter Dean Onyon) be the inventor and requires right of priority described in the UK Patent Application No8605324 of submission on March 3rd, 1986.In that scheme, a high resolving power, the sensor of little working range are installed in one radially on the swing arm, under computer control, drive the output signal of swing arm with motor, make sensor can automatically follow the tracks of the quite big surface of the work of change of shape with response sensor.Especially, sensor is in about 0.4 millimeter scope, and resolution approximately reaches 12 millimicrons, and radially the swing arm traverse is approximately 20 millimeters, and the position detecting system that a resolution is about 20 millimicrons is housed.This scheme simplify correction center and adjust levels operation be needn't be with the naked eye with the pre-determined bit accurately of the workpiece on the turntable, because effectively neutralization is smoothed in the range of adjustment at turntable, the sensor of our above-mentioned application of awaiting the reply is allowed any cent(e)ring and horizontal adjustment error.
Claims (17)
1, for the device of a workpiece executable operations, this device comprises:
A) one can be around the column (20) of a predetermined axial line (23) rotation,
B) one is installed in the workpiece that above-mentioned Rotary cloumn (20) is gone up and rotate thereupon and accepts parts (4),
C) first device (46,50a, 50b), the above-mentioned parts of accepting of its carrying are along making banking motion with respect to any direction of above-mentioned Rotary cloumn (20),
D) second device (22), the above-mentioned parts (4) of accepting of its carrying are done transverse movement with respect to above-mentioned Rotary cloumn (20),
E) first and second drive units (62a, 62b; 26x 26y), is used for realizing respectively above-mentioned inclination and transverse movement,
F) the 3rd drive unit (74) is used for rotating above-mentioned Rotary cloumn (20),
G) a surface-sensitive element (10) is installed in order really to shift to or move apart above-mentioned axis (23) abreast,
Above-mentioned surface-sensitive element (10) is suitable for traversing, between sensitive element (10) and workpiece, does simultaneously to detect surface of the work in the process of relative motion,
H) four-drive device (76,78), be used for realizing above-mentioned sensitive element move and
I) computer installation (72), it is in response to above-mentioned sensitive element (10) and comprise and measure cent(e)ring and horizontal adjustment error and start above-mentioned first and second drive units (62a, 62b; 26x, the 26y) timer that implementation center proofreaies and correct and the horizontal adjustment correction is operated,
It is characterized in that:
L) above-mentioned first bogey comprise three support parts (46,50a, 50b) only a triangle (A, P, summit B), (A, B P) bear the above-mentioned parts (4) of accepting on 3, and workpiece is accepted the center (C) of parts (4) and dropped in the triangle (APB),
2) the above-mentioned first drive unit (62a, 62b) can regulate at least two above-mentioned support part (50a effectively, 50b), make and regulate an above-mentioned support part (50a, 50b) just can around a tilt axis (PB or PA) that extends in essence accordingly between all the other two above-mentioned parts (46 and 50a or 50b) tilt to accept parts (4) and
3) the said procedure device can effectively be used for controlling and depend on above-mentioned tilt axis (PB, the above-mentioned first drive unit (62a of the angle PA) (PAB), 62b) and control depend on any above-mentioned horizontal adjustment error above-mentioned second drive unit (26x, 26y).
2, device according to claim 1 is characterized in that: (PA, PB) the above-mentioned angle (PAB) between can not be the right angle to above-mentioned sloping shaft.
3, device according to claim 2 is characterized in that: (P, A B) are positioned at the summit of an equilateral triangle to above-mentioned fulcrum, and therefore above-mentioned angle (PAB) is 60 degree.
4, device according to claim 3 is characterized in that: accept the center (C) of parts (4) with respect to above-mentioned workpiece, (P, A B) are symmetric offset spread to above-mentioned fulcrum.
5, device according to claim 4 is characterized in that: (50a 50b) can regulate, and the 3rd (46) in above-mentioned three support parts are fixed to have only two in above-mentioned three support parts.
6, device according to claim 5 is characterized in that: above-mentioned first drive unit comprise respectively around above-mentioned first and second tilt axis (PB, PA) produce above-mentioned banking motion above-mentioned first and second motors (62a, 62b).
7, according to the described device of above-mentioned any claim, it is characterized in that: above-mentioned second drive unit comprise along separately orthogonal directions (x, y) produce first and second motors that laterally move (26x, 26y).
8, device according to claim 7 is characterized in that: straight line is divided above-mentioned orthogonal orientation equally, and (x, y), (50a is equidistant and by above-mentioned the 3rd support part (46) 50b) for this straight line and above-mentioned at least two support parts.
9, device according to claim 1 is characterized in that: above-mentioned predetermined axial line (23) is vertical.
10, device according to claim 9 is characterized in that: it is a turntable that above-mentioned workpiece is accepted parts (4).
11, device according to claim 1, it is characterized in that: the said procedure device can be used to cent(e)ring and horizontal adjustment operation, in operating process, be determined at perpendicular to above-mentioned axis (23) and along axis and have first and second planes (108 at interval, 112) Nei workpiece (100) center, rely on above-mentioned mensuration simultaneously, start above-mentioned first and second drive units (62a, 62b; 26x, 26y).
12, device according to claim 11 is characterized in that: rely on first, second and the 3rd result of calculation, the said procedure device is used for controlling above-mentioned first and second drive units (62a, 62b; 26x 26y), uses first result of calculation, determines that workpiece accepts the transverse movement of parts (4), overlaps must make first above-mentioned workpiece centre and above-mentioned axis (23); With second result of calculation, determine the banking motion of parts (4), must make the straight line that connects above-mentioned workpiece centre parallel with above-mentioned predetermined axial line (23); And, determine the transverse movement of parts (4) with the 3rd result of calculation, must compensate the skew of above-mentioned first workpiece centre that causes owing to above-mentioned banking motion.
13, device according to claim 12, it is characterized in that: the said procedure device can be used to carry out a kind of correction center and the horizontal program of adjustment, by this program, carry out above-mentioned first calculating, start the above-mentioned second drive unit (26x immediately according to result of calculation, 26y) so that above-mentioned first workpiece centre and above-mentioned predetermined axial line (23) coincidence, then, determine the position at above-mentioned second center, carry out above-mentioned second and the 3rd calculating, simultaneously start above-mentioned first and second drive units (62a, 62b according to above-mentioned second and the 3rd result of calculation; 26x, 26y).
14, device according to claim 13 is characterized in that: reorganization said procedure device, so that at the above-mentioned first drive unit (62a, 62b) finish transmission after, according to above-mentioned second result of calculation, start above-mentioned second drive unit (26x, 26y).
15, device according to claim 13, it is characterized in that: reorganization said procedure device, so that simultaneously according to above-mentioned the 3rd result of calculation with according to first drive unit (62a, transmission 62b) of second result of calculation, start above-mentioned second drive unit (26x, 26y).
16, device according to claim 13, it is characterized in that: reorganization said procedure device, calculate and start above-mentioned first and second drive units realize to carry out above-mentioned first, second and the 3rd, make and start above-mentioned first and second drive units (62a, 62b simultaneously; 26x 26y), overlaps above-mentioned two workpiece centres and above-mentioned predetermined axial line (23).
17, device according to claim 1, it is characterized in that: further adapt the said procedure device, by starting above-mentioned third and fourth drive unit (74,76,78) to cause a surface of the above-mentioned workpiece of the traversing mistake of above-mentioned sensitive element, be used for carrying out the metrological operation for above-mentioned workpiece, the output signal of storing above-mentioned sensitive element is to provide the data information that closes above-mentioned surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 87101750 CN1009861B (en) | 1987-03-04 | 1987-03-04 | Workpiece position controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 87101750 CN1009861B (en) | 1987-03-04 | 1987-03-04 | Workpiece position controller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN87101750A CN87101750A (en) | 1987-09-16 |
| CN1009861B true CN1009861B (en) | 1990-10-03 |
Family
ID=4813616
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 87101750 Expired CN1009861B (en) | 1987-03-04 | 1987-03-04 | Workpiece position controller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1009861B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101619920B (en) * | 2008-07-04 | 2011-02-02 | 上海华虹Nec电子有限公司 | Revolving table position acknowledging device for rotary drier and method thereof |
| CN101769730B (en) * | 2010-01-22 | 2012-07-25 | 西安工业大学 | Workpiece leveling and centering device |
| CN105880911A (en) * | 2016-05-25 | 2016-08-24 | 淮南市鸿裕工业产品设计有限公司 | Workpiece mounting gravity center deviation control assembly of welding positioner |
| CN106737284B (en) * | 2016-12-21 | 2018-09-28 | 嘉兴晟源工业设计有限公司 | A kind of Carrier mechanism of electronic product |
| JP6480979B2 (en) | 2017-05-10 | 2019-03-13 | ファナック株式会社 | Measuring device |
| CN109471458A (en) * | 2018-12-15 | 2019-03-15 | 东北林业大学 | A kind of drift angle compensation method of self-level(l)ing structural failure |
| CN114082999B (en) * | 2021-12-24 | 2023-06-09 | 伯朗特机器人股份有限公司 | Positioning structure and feeding and discharging device |
| CN114877850B (en) * | 2022-05-30 | 2023-10-20 | 玉环普天单向器有限公司 | Starting gear detection tool and detection method |
-
1987
- 1987-03-04 CN CN 87101750 patent/CN1009861B/en not_active Expired
Also Published As
| Publication number | Publication date |
|---|---|
| CN87101750A (en) | 1987-09-16 |
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