CN110500986B - Method and system for determining rotary center line position of rotary table and unthreaded hole operation system - Google Patents
Method and system for determining rotary center line position of rotary table and unthreaded hole operation system Download PDFInfo
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- CN110500986B CN110500986B CN201910911960.6A CN201910911960A CN110500986B CN 110500986 B CN110500986 B CN 110500986B CN 201910911960 A CN201910911960 A CN 201910911960A CN 110500986 B CN110500986 B CN 110500986B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
- G01B21/24—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes for testing alignment of axes
Abstract
The invention discloses a method and a system for determining the position of a rotation central line of a rotary table and a unthreaded hole operation system. The method comprises the following steps: sequentially driving the rotary table to rotate to three measuring positions, and determining a reference point coordinate of a preset reference point in a preset coordinate system at each measuring position, wherein the preset reference point is arranged on a counterpoint block fixed on the rotary table, and the preset coordinate system is a static coordinate system vertical to a rotating central line; and determining the coordinates of the rotation center line in a preset coordinate system according to the obtained coordinates of the three reference points. On the determined preset coordinate system, the position of the rotating center line can be accurately found only by determining three coordinates of a preset reference point convenient to identify in the process of moving along with the rotary table, and the position judgment accuracy is high.
Description
Technical Field
The invention relates to the technical field of machining, in particular to a method and a system for determining the position of a rotating center line of a rotary table and a unthreaded hole operation system.
Background
After rough machining is performed on the fabrication holes of workpieces such as workpieces, it is necessary to perform a drilling operation. In the existing typical hole drilling operation, the workpiece is not moved, and only the rotating main shaft 02 extends into the fabrication hole 01 to rotate so as to polish. If the relative position of the workpiece and the rotating spindle is not adjusted to the set requirement, the fabrication hole 01 may not be uniformly machined during the drilling operation, for example, in fig. 1, the rotating spindle 02 rotates around the rotating center line a, and the position of the rotating center line a deviates from the set position, so that the rotating spindle 01 can only polish the section B on the wall of the fabrication hole, which affects the operation effect. In contrast, the method of rotating the workpiece and the rotating spindle 02 at the same time can improve the uniformity of processing, and taking fig. 1 as an example, even if the rotation center line a deviates from the set position, the workpiece is fixed on the turntable, and the turntable is used to drive the workpiece to rotate, so that each part on the hole wall of the fabrication hole 01 can rotate to the position of the section B, and the uniformity of the hole drilling operation can be improved.
In order to better apply the rotary table to the unthreaded hole operation, the position of the rotating center line of the rotary table needs to be accurately determined, the position relation between the fabrication hole and the rotating main shaft can be accurately adjusted by accurately determining the position of the rotating center line, for example, the contact area between the hole wall of the fabrication hole and the rotating main shaft can be larger than that of the section B, and therefore, the operation precision and efficiency are improved on the basis of ensuring the operation uniformity.
Therefore, how to accurately determine the position of the rotation center line of the turntable is a technical problem that needs to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the present invention provides a method and a system for determining the position of the rotation center line of a turntable, which have high accuracy in determining the position of the rotation center line. It is another object of the present invention to provide a lighthole operating system including the above system that provides a high degree of accuracy in the determination of the position of the center of rotation of the turret.
In order to achieve the purpose, the invention provides the following technical scheme:
a method of determining a position of a center line of rotation of a turntable, comprising:
sequentially driving a rotary table to rotate to three measuring positions, and determining a reference point coordinate of a preset reference point in a preset coordinate system at each measuring position, wherein the preset reference point is arranged on a positioning block fixed on the rotary table, and the preset coordinate system is a static coordinate system vertical to the rotating center line;
and determining the coordinates of the rotation center line in the preset coordinate system according to the obtained coordinates of the three reference points.
Preferably, the preset reference point is a circle center of a circular measuring hole on the alignment block, and determining a reference point coordinate of the preset reference point in a preset coordinate system includes:
determining the coordinates of the measuring points of three different measuring points on the edge of the measuring hole in the preset coordinate system;
and determining the circle center coordinate of the circle center of the measuring hole on the preset coordinate system according to the three measuring point coordinates, wherein the circle center coordinate is the reference point coordinate.
Preferably, the determining the measurement point coordinates of the three different measurement points on the edge of the measurement hole in the preset coordinate system comprises:
controlling a sensor above the rotary table to move perpendicular to the rotation center line and receiving a feedback signal generated by the sensor until three different measurement point coordinates are obtained;
determining the coordinate of the medium emission point of the sensor on the preset coordinate system as a measurement point coordinate at each moment when the feedback signal is received;
the direction of the medium emitted by the medium emitting point is parallel to the rotating central line, and the medium can emit a feedback signal when hitting the edge of the measuring hole.
Preferably, the controlling the sensor above the turntable to move perpendicular to the rotation center line includes:
and controlling the sensor to move along a plurality of parallel set straight lines in sequence, wherein the set straight lines are perpendicular to the rotating central line.
A system for determining a position of a center line of rotation of a turntable, comprising:
the first driving module is used for sequentially driving the rotary table to rotate to three measuring positions;
the datum point coordinate determination module is used for determining the datum point coordinate of a preset datum point in a preset coordinate system at each measuring position, wherein the preset datum point is arranged on a positioning block fixed on the rotary table, and the preset coordinate system is a static coordinate system vertical to the rotating center line;
and the calculation module is used for determining the coordinates of the rotation center line in the preset coordinate system according to the obtained coordinates of the three reference points.
Preferably, the preset reference point is a circle center of a circular measuring hole on the alignment block, and the reference point coordinate determination module includes:
the first coordinate determination unit is used for determining the coordinates of the measuring points of three different measuring points on the edge of the measuring hole in the preset coordinate system;
and the first calculation unit is used for determining the circle center coordinate of the circle center of the measuring hole on the preset coordinate system according to the three measuring point coordinates, wherein the circle center coordinate is the reference point coordinate.
Preferably, the first coordinate determination unit includes:
the sensor motion control unit is used for controlling a sensor above the rotary table to move perpendicular to the rotating central line and receiving a feedback signal generated by the sensor until three different measuring point coordinates are obtained;
the second coordinate determination unit is used for determining the coordinate of the medium emission point of the sensor on the preset coordinate system as a measurement point coordinate at each moment when the feedback signal is received;
the direction of the medium emitted by the medium emitting point is parallel to the rotating central line, and the medium can emit a feedback signal when hitting the edge of the measuring hole.
Preferably, in the sensor motion control unit, the controlling the sensor above the turntable to move perpendicularly to the rotation center line includes:
and controlling the sensor to move along a plurality of parallel set straight lines in sequence, wherein the set straight lines are perpendicular to the rotating central line.
An unthreaded hole operation system comprises the system for determining the position of the rotating center line of the rotating platform, a positioning block fixed on the rotating platform, a rotating platform driver for driving the rotating platform to rotate around the rotating center line, a rotating main shaft arranged above the rotating platform and a main shaft driving system for driving the rotating main shaft to move, wherein the positioning block is arranged on the rotating platform;
the rotary table is connected with the rotary table driver, the rotary main shaft is connected with the main shaft driving system, and the main shaft driving system and the rotary table driver are respectively and electrically connected with the system for determining the position of the rotary center line of the rotary table.
Preferably, a sensor capable of determining the edge position of the hole in the alignment block is connected to the rotating spindle.
According to the determination method provided by the invention, on the determined preset coordinate system, the position of the rotating center line can be accurately found only by determining three coordinates of the preset reference point which is convenient to identify in the process of moving along with the rotary table, and the position judgment accuracy is higher, so that the rotary table can be better applied to the unthreaded hole operation, the unthreaded hole operation is kept to be good in uniformity, high in precision and high in efficiency.
The system for determining the position of the rotation center line of the rotary table provided by the invention has higher accuracy in determining the position of the rotation center line of the rotary table.
The unthreaded hole operation system provided by the invention has the advantages that the rotary table is applied to unthreaded hole operation, the position of the rotation center line of the rotary table can be accurately determined, and the operation uniformity, high operation precision and efficiency can be ensured in the unthreaded hole operation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of a positional relationship between a main shaft and a fabrication hole during a via hole operation in the prior art;
FIG. 2 is a diagram illustrating a relationship between a predetermined reference point and a rotation center line at a first measurement position according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating the relationship between the predetermined reference point and the rotation center line at the second measurement position according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating a relationship between a predetermined reference point and a rotation center line at a third measurement position according to an embodiment of the present invention;
FIG. 5 is a diagram illustrating the relationship between the positions of the predetermined reference points and the rotation center line at three measurement positions according to an embodiment of the present invention;
FIG. 6 is a diagram illustrating a relationship between a predetermined reference point and a rotation center line at a first measurement position according to a second embodiment of the present invention;
FIG. 7 is a diagram illustrating the relationship between the predetermined reference point and the rotation center line at the second measurement position according to the second embodiment of the present invention;
FIG. 8 is a diagram illustrating the relationship between the predetermined reference point and the rotation center line at the third measurement position according to the second embodiment of the present invention
FIG. 9 is a diagram illustrating the relationship between the positions of the predetermined reference points and the rotation center line at three measurement positions according to a second embodiment of the present invention;
FIG. 10 is a block diagram of a system for performing a drilling operation in accordance with the present invention;
FIG. 11 is a flow chart of a method provided by the present invention.
Reference numerals:
a fabrication hole 01 and a rotating main shaft 02;
the device comprises an X-axis driver 1, a Y-axis driver 2, a Z-axis driver 3, a rotating spindle 4, an optical fiber sensor 5, a positioning block 6, a first measuring hole 61, a jig 7, a rotary table 8 and a rotary table motor 9.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The core of the invention is to provide a method and a system for determining the position of the rotation center line of the turntable, which have higher accuracy in determining the position of the rotation center line. Another core of the present invention is to provide a lighthole operating system including the above system, which has high accuracy in determining the position of the center line of rotation of the turntable.
In the description of the present invention, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In an embodiment of the method for determining the position of the rotation center line of the turntable, please refer to fig. 11, which includes the following steps:
step S1: sequentially driving the rotary table to rotate to three measuring positions, and determining a reference point coordinate of a preset reference point in a preset coordinate system at each measuring position, wherein the preset reference point is arranged on a positioning block fixed on the rotary table, the preset coordinate system is a static coordinate system perpendicular to the rotating center line, and correspondingly, the rotating center line is a determined point position on the preset coordinate system;
step S2: and determining the coordinates of the rotation center line in the preset coordinate system according to the obtained coordinates of the three reference points.
The turntable can be a turntable used for supporting glass in the glass process hole and unthreaded hole operation, can also be a turntable which needs to determine the position of a rotation center line in other equipment, and can also be a plastic plate or a workpiece made of other materials besides glass.
Before the method is executed, the alignment block can be manually fixed at any position on the turntable. After measurement, if the coordinates of the three reference points obtained are the same, the coordinates of the reference points are the coordinates of the rotation center line on the preset coordinate system.
However, in most cases, the preset reference point is not usually located exactly on the rotation center line during the process of mounting the alignment block on the turntable, i.e., the preset reference point is a point outside the line of the rotation center line.
The preset reference point can be regarded as a fixed point on the turntable under the condition that the preset reference point is positioned outside the rotating center line, and in the rotating process of the turntable, the track of the preset reference point is positioned on a circle which takes the rotating center line of the turntable as the center. As shown in fig. 2 to 4, the position O point of the rotation center line on the preset coordinate system is not changed. When the rotary table rotates to a first measuring position, the preset reference point is positioned at a point O1; when the rotary table rotates to a second measuring position, the preset reference point is positioned at a point O2; when the turntable is rotated to the third measuring position, the preset reference point is located at a point O3.
According to the principle that the center of a three-point circle and the circumcircle of a triangle are unique in mathematics, the coordinates of the point O can be determined according to the coordinates of the point O1, the point O2 and the point O3 in a preset coordinate system, and therefore the position of the rotating center line is determined. Specifically, as shown in fig. 5, the principle of the three-point circle is that perpendicular bisectors of the line segment O1O3 and the line segment O2O3 (or the line segment O1O2 and the line segment O2O3, or the line segment O1O2 and the line segment O1O3) are respectively drawn, and the intersection point of the two perpendicular bisectors is the point O. The calculation of the O (x0, y0) point coordinates by the more three-point circle principle can be referenced to the following equation:
R2＝(x1-x0)2+(y1-y0)2；R2＝(x2-x0)2+(y2-y0)2；R2＝(x2-x0)2+(y2-y0)2
wherein, R is radius, O1 coordinate is (x1, y1), O2 coordinate is (x2, y2), and O3 coordinate is (x3, y 3).
Therefore, by the determination method provided by the embodiment, on the determined preset coordinate system, the position of the rotation center line can be accurately found only by determining three coordinates of the preset reference point convenient to identify in the process of moving along with the turntable, and the position judgment accuracy is high.
Further, the preset reference point is a circle center of the circular measuring hole on the alignment block, and the determining of the reference point coordinate of the preset reference point in a preset coordinate system includes:
determining the coordinates of the measuring points of three different measuring points on the edge of the measuring hole in the preset coordinate system;
and determining the circle center coordinate of the circle center of the measuring hole on the preset coordinate system according to the three measuring point coordinates, wherein the circle center coordinate is the reference point coordinate.
As shown in fig. 6 to 9, on the edge of the first measuring hole on the aligning block, when the turntable is rotated to the first measuring position, the coordinates of point a1, point B1 and point C1 are determined, so that the coordinates of point O1 are obtained; when the rotary table rotates to a second measuring position, determining coordinates of the point A2, the point B2 and the point C2 so as to obtain coordinates of the point O2; when the rotary table rotates to the third measurement position, coordinates of the point A3, the point B3 and the point C3 are determined, so that coordinates of the point O3 are obtained.
Compared with the method of directly identifying the coordinate of one point, the method has the advantages that the coordinate of the edge of the measuring hole is determined, the position of the preset reference point is determined based on the principle of three-point circle, and the accuracy of the coordinate of the preset reference point can be ensured.
Further, the determining the measurement point coordinates of the three different measurement points on the edge of the measurement hole in the preset coordinate system includes:
controlling a sensor above the rotary table to move perpendicular to the rotation center line and receiving a feedback signal generated by the sensor until three different measurement point coordinates are obtained;
determining the coordinate of the medium emission point of the sensor on the preset coordinate system as a measurement point coordinate at each moment when the feedback signal is received; in addition, the direction of the medium emitted by the medium emitting point is parallel to the rotation center line, and the medium can emit a feedback signal when striking the edge of the measuring hole.
Wherein, preferably, the sensor can be the optical fiber sensor, and measurement accuracy is higher. The optical fiber sensor sends light parallel to the rotating center line, when the optical fiber sensor moves to the edge of the measuring hole, the thickness inside and outside the measuring hole changes, the optical fiber sensor has threshold value changes and generates feedback signals, and when the feedback signals are generated, corresponding points on the edge of the measuring hole are on the straight line where the light of the optical fiber sensor is located, so that the coordinate of the light emitting point of the optical fiber sensor on the preset coordinate system is the coordinate of the measuring point on the edge of the measuring hole. And the coordinates of the three measuring points can be determined in sequence by moving the optical fiber sensor. Of course, in other embodiments, the sensor may also be an ultrasonic sensor or other photoelectric sensor.
The sensor can be driven by equipment such as a manipulator to move, each position in the moving process of the manipulator can be determined in a preset coordinate system, and the position of a medium emission point of the sensor in the preset coordinate system can be determined by combining the structure of the sensor, so that the coordinates of the measurement point are obtained correspondingly.
More specifically, as shown in fig. 10, in the unthreaded hole operation system, a rotary spindle for performing polishing operation on a workpiece on a turntable in cooperation with the turntable and a spindle drive system connected to the rotary spindle are generally provided above the turntable, and the spindle drive system can drive the rotary spindle to move in various directions. When the sensor is installed, the sensor can be directly fixed at the bottom end of the rotating main shaft. As shown in fig. 10, the light emitting point of the optical fiber sensor is located on the center line of the main axis of the rotation main axis, so that the coordinates of the light emitting point can be determined.
In the embodiment, the coordinates of the measuring points are determined by controlling the motion of the sensor, so that the operation is convenient, and the cost is saved.
Further, the controlling the sensor above the turntable to move perpendicular to the rotation center line includes: and controlling the sensor to move along a plurality of parallel set straight lines in sequence, wherein the set straight lines are perpendicular to the rotating central line.
As shown in fig. 6, the control sensor is moved on the set straight line X11 to determine the coordinates of the a1 point, B1 point; the sensor is controlled to move onto the set straight line X12 and to move on the set straight line X12 to determine the coordinates of the C1 point. Preferably, the setting straight line X11 and the setting straight line X12 are parallel to the X axis relative to the X axis and the Y axis perpendicular to the X axis in the preset coordinate system, so that the Y axis coordinate of each point on each setting straight line in the preset coordinate system can be predetermined, and only the X axis coordinate of the measurement point needs to be determined.
In addition, it should be noted that, since the position of the measuring hole is not known in advance, after the first set straight line controlling the movement of the sensor may not intersect with the measuring hole, the movement position of the sensor needs to be adjusted continuously to determine the set straight line with a proper position until three different coordinates of the measuring point are obtained. After the coordinates of three different measuring points are determined, the number of the set straight lines is correspondingly determined without moving the sensor. The diameter of the measuring hole is generally known, so that the position of another set straight line intersecting with the measuring hole can be quickly found according to the diameter of the measuring hole in addition to the determined set straight line intersecting with the measuring hole, so as to obtain the coordinates of the measuring points in required quantity.
Optionally, when the position of the setting straight line is adjusted, the position of the setting straight line may be adjusted at equal intervals in a direction perpendicular to the setting straight line and the rotation center line each time, for example, for a measurement hole with a diameter of 10mm, the interval of the setting straight line may be 2mm, after the sensor moves on the first setting straight line, the sensor moves 2mm in the direction perpendicular to the setting straight line and the rotation center line, the position of the next setting straight line is determined, then the sensor is controlled to move on the determined setting straight line, and so on until the required number of measurement point coordinates are obtained.
In addition, one or at least two measuring holes may be arranged on the aligning block. For alignment blocks provided with at least two measuring holes, care should be taken to ensure that the resulting measuring hole coordinates are on the same measuring hole.
By moving the sensor along each set straight line, the regularity of the movement of the sensor is improved, and the determination of the coordinates of the measuring points can be further facilitated.
Of course, the process of determining the coordinates of the reference point in the preset coordinate system may be implemented in other ways. For example, in another embodiment, bumps or other marks can be directly fixed on the alignment block as the preset reference points, and the coordinates of the preset reference points can be determined by capturing the alignment block image at each measurement position and comparing the alignment block image with the preset coordinate system.
In addition to the above method for determining the position of the rotation center line of the turntable, the present invention also provides a system for determining the position of the rotation center line of the turntable by applying the above method.
Specifically, the system comprises:
the first driving module is used for sequentially driving the rotary table to rotate to three measuring positions;
the datum point coordinate determination module is used for determining the datum point coordinate of a preset datum point in a preset coordinate system at each measuring position, wherein the preset datum point is arranged on a positioning block fixed on the rotary table, and the preset coordinate system is a static coordinate system vertical to the rotating center line;
and the calculation module is used for determining the coordinates of the rotation center line in the preset coordinate system according to the obtained coordinates of the three reference points. After receiving the coordinates of the three reference points sent by the reference point coordinate determination module, the calculation module can determine the coordinates of the circle center, i.e., the coordinates of the rotation center line, by using the existing three-point circle method, and further can output the obtained coordinates of the rotation center line to a display or other execution mechanisms.
Further, the preset reference point is a circle center of the circular measuring hole on the alignment block, and the reference point coordinate determination module includes:
the first coordinate determination unit is used for determining the coordinates of the measuring points of three different measuring points on the edge of the measuring hole in the preset coordinate system;
and the first calculation unit is used for determining the circle center coordinate of the circle center of the measuring hole on the preset coordinate system according to the three measuring point coordinates, wherein the circle center coordinate is the reference point coordinate. After receiving the coordinates of the three measuring points sent by the first coordinate determination unit, the first calculation unit can determine the coordinates of the circle center, namely the coordinates of the circle center of the measuring hole, by using the existing three-point circle method.
Further, the first coordinate determination unit includes:
the sensor motion control unit is used for controlling a sensor above the rotary table to move perpendicular to the rotating central line and receiving a feedback signal generated by the sensor until three different measuring point coordinates are obtained;
the second coordinate determination unit is used for determining the coordinate of the medium emission point of the sensor on the preset coordinate system as a measurement point coordinate at each moment when the feedback signal is received;
the direction of the medium emitted by the medium emitting point is parallel to the rotating central line, and the medium can emit a feedback signal when hitting the edge of the measuring hole.
Further, in the sensor motion control unit, the controlling the sensor above the turntable to move perpendicularly to the rotation center line includes:
and controlling the sensor to move along a plurality of parallel set straight lines in sequence, wherein the set straight lines are perpendicular to the rotating central line.
In addition to the method and system for determining the position of the rotation center line of the turntable, the present invention further provides a system for performing a drilling operation, including the system for determining the position of the rotation center line of the turntable, which may be specifically the system for determining the position of the rotation center line of the turntable provided in any of the above embodiments, and the beneficial effects may be correspondingly referred to the above embodiments.
Meanwhile, the unthreaded hole operation system further comprises a rotary table, a positioning block fixed on the rotary table, a rotary table driver used for driving the rotary table to rotate around the rotating central line of the rotary table, a rotating main shaft arranged above the rotary table and a main shaft driving system used for driving the rotating main shaft to move. The rotary table is connected with the rotary table driver, the rotary main shaft is connected with the main shaft driving system, and the main shaft driving system and the rotary table driver are respectively and electrically connected with the system for determining the position of the rotary center line of the rotary table.
More specifically, the spindle driving system includes an X-axis driver, a Y-axis driver and a Z-axis driver, the Y-axis driver and the Z-axis driver can respectively drive the rotating spindle to move along the X-axis, the Y-axis and the Z-axis, the X-axis, the Y-axis and the Z-axis are perpendicular to each other, and in addition, the spindle driving system may further include a rotating driver for driving the rotating spindle to rotate around the Z-axis. In addition, the turntable may include a jig to mount the workpiece. The polishing of the workpiece on the rotary table is realized through the control of the spindle driving system and the rotary table driver.
The turntable is applied to the unthreaded hole operation, the workpiece and the rotating main shaft can rotate in the operation process, and the operation uniformity can be ensured. Meanwhile, due to the fact that the system for determining the position of the rotation center line of the rotary table is arranged, the process of determining the position of the rotation center line of the rotary table can be achieved based on the matching action of the rotary table, the rotary main shaft, the rotary table driver and the main shaft driving system, the position of the rotation center line of the rotary table can be accurately determined, and operation uniformity, high operation precision and efficiency can be guaranteed in unthreaded hole operation.
Furthermore, a sensor capable of determining the edge position of the hole in the alignment block is connected to the rotating spindle, and the sensor can be detachably connected to the rotating spindle. The bracket which takes the rotating main shaft as the sensor drives the sensor to move, so that the utilization rate of the rotating main shaft can be improved, and additional sensor bracket equipment is not required.
The specific application process of the unthreaded hole operation system provided by the invention is as follows:
as shown in fig. 10, the X-axis driver and the turntable are fixed, the optical fiber sensor is mounted on the rotating spindle, the X-axis driver, the Y-axis driver and the Z-axis driver can respectively drive the rotating spindle to move along the X-axis, the Y-axis and the Z-axis, and the light emitting point of the optical fiber sensor is collinear with the central line of the rotating spindle, which is parallel to the Z-axis. The turntable motor can drive the jig and the alignment block on the jig to rotate by taking the rotating center line of the turntable as a center, the rotating center line of the turntable is parallel to the Z axis, and the preset coordinate system is vertical to the Z axis.
As shown in fig. 6, under the X-axis driver and the Y-axis driver, the optical fiber finds three points a1, B1, and C1 along the trajectories X11 and X12, and the system program automatically calculates the coordinates of the center O1. As shown in fig. 7, the turntable motor drives the jig to rotate by a set angle, such as 60 degrees, with the rotation center line of the turntable. The three points A2, B2 and C2 can be found according to the steps, and the system program automatically calculates the coordinates of the center O2.
As shown in fig. 8, the turntable motor driving jig is further rotated by a set angle, such as 60 degrees, with the rotation center line of the turntable. The three points A3, B3 and C3 can be found according to the steps, and the system program automatically calculates the center O3.
Based on the principle that the center of a three-point circle and the circumcircle of a triangle are unique, the system program automatically calculates the coordinates of the center O point of the turntable according to the O1 point, the O2 point and the O3 point.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The method, system and system for determining the position of the rotation center line of the turntable provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (6)
1. A method of determining a position of a center line of rotation of a turntable, comprising:
sequentially driving the rotary table to rotate to three measuring positions, and determining a reference point coordinate of a preset reference point in a preset coordinate system at each measuring position, wherein the preset reference point is arranged at the center of a circular measuring hole on a positioning block fixed on the rotary table, and the preset coordinate system is a static coordinate system vertical to the rotating center line;
determining the coordinates of the rotation center line in the preset coordinate system according to the obtained coordinates of the three reference points;
wherein, the determining the reference point coordinates of the preset reference point in the preset coordinate system comprises: determining the coordinates of the measuring points of three different measuring points on the edge of the measuring hole in the preset coordinate system; determining circle center coordinates of the circle center of the measuring hole on the preset coordinate system according to the three measuring point coordinates, wherein the circle center coordinates are the coordinates of the reference point;
wherein the determining the measurement point coordinates of three different measurement points on the edge of the measurement hole in the preset coordinate system comprises: controlling a sensor above the rotary table to move perpendicular to the rotation center line and receiving a feedback signal generated by the sensor until three different measurement point coordinates are obtained;
determining the coordinate of the medium emission point of the sensor on the preset coordinate system as a measurement point coordinate at each moment when the feedback signal is received;
the direction of the medium emitted by the medium emitting point is parallel to the rotating central line, and the medium can emit a feedback signal when hitting the edge of the measuring hole.
2. The method of claim 1, wherein said controlling the movement of the sensor above the turntable perpendicular to the rotation centerline comprises:
and controlling the sensor to move along a plurality of parallel set straight lines in sequence, wherein the set straight lines are perpendicular to the rotating central line.
3. A system for determining a position of a center line of rotation of a turntable, comprising:
the first driving module is used for sequentially driving the rotary table to rotate to three measuring positions;
the datum point coordinate determination module is used for determining the datum point coordinate of a preset datum point in a preset coordinate system at each measuring position, wherein the preset datum point is arranged on a positioning block fixed on the rotary table, and the preset coordinate system is a static coordinate system vertical to the rotating center line;
the calculation module is used for determining the coordinate of the rotation center line in the preset coordinate system according to the obtained coordinates of the three reference points;
the preset reference point is the circle center of the circular measuring hole in the alignment block, and the reference point coordinate determination module comprises: the first coordinate determination unit is used for determining the coordinates of the measuring points of three different measuring points on the edge of the measuring hole in the preset coordinate system; the first calculation unit is used for determining circle center coordinates of the circle center of the measuring hole on the preset coordinate system according to the three measuring point coordinates, wherein the circle center coordinates are the reference point coordinates;
wherein the first coordinate determination unit includes: the sensor motion control unit is used for controlling a sensor above the rotary table to move perpendicular to the rotating central line and receiving a feedback signal generated by the sensor until three different measuring point coordinates are obtained; the second coordinate determination unit is used for determining the coordinate of the medium emission point of the sensor on the preset coordinate system as a measurement point coordinate at each moment when the feedback signal is received;
the direction of the medium emitted by the medium emitting point is parallel to the rotating central line, and the medium can emit a feedback signal when hitting the edge of the measuring hole.
4. The system of claim 3, wherein the sensor motion control unit, wherein the controlling the sensor above the turntable to move perpendicular to the rotation centerline comprises:
and controlling the sensor to move along a plurality of parallel set straight lines in sequence, wherein the set straight lines are perpendicular to the rotating central line.
5. A kind of unthreaded hole operation system, characterized by, including the system for confirming the centre line position of rotation of the revolving stage of any claim 3 to 4, the revolving stage, the counterpoint block fixed on said revolving stage, the driver of the revolving stage used for driving the said revolving stage to rotate around its said centre line of rotation, locate the rotating main shaft above said revolving stage and use for driving the main shaft drive system of the movement of said rotating main shaft;
the rotary table is connected with the rotary table driver, the rotary main shaft is connected with the main shaft driving system, and the main shaft driving system and the rotary table driver are respectively and electrically connected with the system for determining the position of the rotary center line of the rotary table.
6. A unthreaded hole operation system according to claim 5, wherein a sensor capable of determining the position of the edge of the hole in the alignment block is attached to the rotary spindle.
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| CN116175256A (en) * | 2023-04-04 | 2023-05-30 | 杭州纳志机器人科技有限公司 | Automatic positioning method for loading and unloading of trolley type robot |
| CN116295194B (en) * | 2023-04-28 | 2023-09-05 | 沈阳和研科技股份有限公司 | Coordinate determination method and device |
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