CN113245625B - Machining equipment integrated with force sensor and ultra-precise cutting tool setting method - Google Patents
Machining equipment integrated with force sensor and ultra-precise cutting tool setting method Download PDFInfo
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- CN113245625B CN113245625B CN202110516422.4A CN202110516422A CN113245625B CN 113245625 B CN113245625 B CN 113245625B CN 202110516422 A CN202110516422 A CN 202110516422A CN 113245625 B CN113245625 B CN 113245625B
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- 238000005520 cutting process Methods 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000003754 machining Methods 0.000 title claims abstract description 25
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- 238000007514 turning Methods 0.000 claims description 17
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- 230000033001 locomotion Effects 0.000 claims description 10
- 229910003460 diamond Inorganic materials 0.000 claims description 9
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- 230000003068 static effect Effects 0.000 claims description 2
- 238000005259 measurement Methods 0.000 abstract description 8
- 238000004519 manufacturing process Methods 0.000 abstract description 4
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
- B23D79/00—Methods, machines, or devices not covered elsewhere, for working metal by removal of material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/56—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism
- B23Q1/60—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism
- B23Q1/62—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism with perpendicular axes, e.g. cross-slides
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/20—Automatic control or regulation of feed movement, cutting velocity or position of tool or work before or after the tool acts upon the workpiece
- B23Q15/22—Control or regulation of position of tool or workpiece
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Abstract
The invention belongs to the technical field of precision manufacturing equipment, in particular to machining equipment integrating a force sensor and an ultra-precision cutting tool setting method, wherein the machining equipment comprises a main shaft, a cutter, a three-shaft driving device, a position transmission device and a tool setting control system, wherein the tool setting control system comprises a force sensor and a PID controller, and the force sensor is arranged on the cutter and is used for detecting the contact force between the cutter and a workpiece; and the PID controller controls the Z-direction driving mechanism to work according to the magnitude of the contact force. The invention realizes the contact force/cutting force closed-loop feedback control function and the scanning measurement function through the tool setting control system, develops an ultra-precise cutting tool setting method based on the functions, can realize ultra-precise tool setting without other instruments, can meet the tool setting requirement under the condition that the machining range is limited and other tool setting instruments are difficult to install, and has universality. Meanwhile, the operation flow of tool setting is simplified, and the degree of automation and the tool setting precision of tool setting are greatly improved.
Description
Technical Field
The invention belongs to the technical field of precision manufacturing equipment, and particularly relates to machining equipment integrated with a force sensor and an ultra-precision cutting tool setting method.
Background
The ultra-precise cutting technology is an important means for manufacturing optical elements with micro-nano fine structures or high-precision morphology, is widely applied to the fields of aerospace, national defense and military industry, information communication, life science, material science and the like, and is an important branch in the ultra-precise machining field. The ultra-precise cutting method based on single-point diamond has the advantages that the ultra-precise lathe with the positioning precision of the nano machine and the diamond with sharp cutting edge, high hardness and good wear resistance are used as the cutter, and the geometric surface is formed by precisely controlling the relative motion track between the cutter and the workpiece, so that the nano-scale surface roughness and the micro-nano structure surface with the submicron shape precision can be obtained.
In order to ensure high-quality face type manufacturing based on ultra-precise cutting of single-point diamond, precise tool setting between a diamond tool and a workpiece is an important precondition.
The traditional ultra-precise cutting tool setting method is realized by a method of manually using an optical tool setting instrument. This method has several disadvantages: (1) The method has higher requirements on the operation experience of operators and is complicated to operate; (2) The tool setting precision of the optical tool setting instrument is limited by the depth of field and the resolution of the tool setting instrument, so that the tool setting precision of nanometer level is difficult to achieve; (3) For ultra-precise cutting processing of some special components, such as inner walls of small-size components, other instruments such as an optical tool setting instrument and the like are difficult to install in a narrow processing space, so that corresponding precise tool setting operation cannot be realized; (4) The optical tool setting gauge can only position the tool tip on the surface of a workpiece, but for a rotary workpiece, the tool tip cannot be accurately positioned at the rotation center of the main shaft, so that the subsequent tool path planning precision is affected.
Disclosure of Invention
The invention aims to provide the machining equipment of the integrated force sensor and the ultra-precise cutting tool setting method, which have the advantages of simple structure, convenient operation, high automation degree and high tool setting precision.
The purpose of the invention is realized in the following way:
A force sensor integrated processing apparatus, comprising:
The main shaft is used for driving the workpiece to rotate;
the cutter is arranged on one side of the main shaft and is used for processing the workpiece;
The three-axis driving device comprises an X-direction driving mechanism, a Y-direction driving mechanism and a Z-direction driving mechanism, which respectively control the workpiece or the cutter to move along the X/Y/Z direction, wherein the Z direction is the axial direction of the main shaft;
the position transmission device is used for outputting the X/Y/Z direction positions of the workpiece or the cutter respectively; and
A tool setting control system, comprising:
a force sensor arranged on the cutter for detecting the contact force between the cutter and the workpiece; and
And the PID controller is used for controlling the Z-direction driving mechanism to work according to the magnitude of the contact force.
Preferably, the position transmission device comprises an X-axis encoder mounted on the X-direction driving mechanism, a Y-axis encoder mounted on the Y-direction driving mechanism and a Z-axis encoder mounted on the Z-direction driving mechanism.
Preferably, the X-direction driving mechanism is arranged below the main shaft and is used for driving the main shaft to move along the X-direction;
The Y-direction driving mechanism and the Z-direction driving mechanism are arranged below the cutter and used for driving the cutter to move along the Y/Z direction.
Preferably, a rotary encoder is installed in the main shaft.
Preferably, the tool is a diamond tool.
Preferably, the tool setting control system further comprises:
A charge amplifier, which is arranged between the force sensor and the PID controller and is used for amplifying a contact force signal to the PID controller;
Wherein, a contact force reference value is arranged in the PID controller,
When the contact force signal is smaller than the reference value of the contact force, the workpiece and the cutter are relatively close to each other along the Z direction;
When the contact force signal is equal to the contact force reference value, the workpiece and the cutter are relatively static along the Z direction;
And when the contact force signal is larger than the contact force reference value, the workpiece and the cutter are relatively far away along the Z direction.
An ultra-precise cutting tool setting method for positioning a tool tip to a center of rotation of an end face of a workpiece, the method being based on the above-described machining apparatus integrating a force sensor, comprising the steps of:
Step (1), Z-direction tool setting:
Starting a tool setting control system, and enabling the tool to perform stepping motion along the Z direction by controlling a Z-direction driving mechanism; when the contact force signal is equal to the contact force reference value, stopping Z-direction movement of the cutter, completing Z-direction cutter setting, and recording the position Z t of the Z-axis encoder at the moment;
Step (2), turning a circular ring on the end face of the workpiece:
After Z-direction tool setting is completed, keeping the tool stationary, driving the spindle, controlling the workpiece to rotate, and enabling the tool to leave a circular turning trace on the end face of the workpiece, wherein the center of the circular turning trace is the workpiece rotation center;
step (3), X-direction tool setting:
driving an X-direction driving mechanism to enable the cutter to move in the X direction relative to the position of the workpiece;
meanwhile, a tool setting control system is started, so that the contact force between the tool and the workpiece is kept constant, and the tool is moved along the end surface contour of the workpiece;
The surface type characteristics of the workpiece at the X-direction scanning track can be obtained through the output of the X-axis encoder and the Z-axis encoder, the circular turning track can leave two obvious protruding characteristics in the X-direction scanning track, the coordinates of the peak points of the protruding characteristics in the X-direction are marked as X 1 and X 2, and then the X-direction coordinates of the rotation center of the workpiece are calculated as
Step (4), Y-direction tool setting;
Driving a Y-direction driving mechanism to enable the cutter to move in the Y direction relative to the position of the workpiece;
meanwhile, a tool setting control system is started, so that the contact force between the tool and the workpiece is kept constant, and the tool is moved along the end surface contour of the workpiece;
the surface type characteristics of the workpiece at the Y-direction scanning track can be obtained through the output of the Y-axis encoder and the Z-axis encoder, two obvious convex characteristics are reserved in the Y-direction scanning track by the circular turning track, the coordinates of the peak points of the two convex characteristics in the Y-direction are marked as Y 1 and Y 2, and then the coordinates of the rotation center of the workpiece in the Y-direction are calculated as
Step (5), moving the cutter to a workpiece rotation center:
And (3) driving an X-direction driving mechanism and a Y-direction driving mechanism according to the coordinates of the end face of the workpiece in the X-direction and the Y-direction obtained in the step (3) and the step (4), so that the tip of the cutter moves to X t、Yt, and the tool setting is completed.
Step (6), Z-direction tool setting is carried out again:
And (3) repeating the step (1) at the position of the step (5), allowing the cutter to perform tool setting in the Z direction again to obtain a new tool setting point, updating the position of the Z-axis encoder at the position to Z t, and completing tool setting when the three-dimensional coordinate of the tip of the cutter is X t,Yt,Zt.
Compared with the prior art, the processing equipment provided by the invention has the following outstanding and beneficial technical effects:
The invention can sense the contact force/cutting force between the cutter and the workpiece in real time through the integrated force sensor, and the contact force signal is compared with the reference value of the contact force through the amplification of the charge amplifier, the difference value of the contact force signal and the reference value of the contact force is input as a PID controller, the PID controller outputs a signal to drive the Z-direction sliding seat to move, and the contact/cutting depth between the tip of the cutter and the workpiece is controlled, so that the purpose of controlling the contact force/cutting force to be kept constant is achieved, and the closed-loop feedback control of the contact force/cutting force is realized. Meanwhile, the Z-direction driving displacement can be read at the computer end in real time by collecting the output of the Z-axis encoder.
Therefore, based on the process, when the X-direction/Y-direction sliding seat is driven, the tool setting control system is started, the Z-direction sliding seat is automatically driven to move based on the closed-loop feedback control of the contact force/cutting force, and the tool tip such as a scanning probe can perform follow-up scanning on the surface of a workpiece along the X-direction/Y direction, so that the appearance of the surface of the workpiece in the X-direction/Y direction can be obtained through the output of the Z-axis encoder and the output signal of the X-axis/Y-axis encoder, and the scanning measurement function is achieved.
Based on the contact force/cutting force closed-loop feedback control function and the scanning measurement function of the machining equipment, ultra-precise tool setting can be realized, other instruments are not needed, the machining range space limitation can be met, the tool setting requirement under the condition that other tool setting instruments are difficult to install is met, and the tool setting device has universality.
Meanwhile, the operation flow of tool setting is simplified, and the degree of automation and the tool setting precision of tool setting are greatly improved.
Compared with the prior art, the method has the outstanding and beneficial technical effects that:
Compared with the prior art, the tool setting method has the advantages of higher tool setting automation degree, simpler tool setting flow and lower operation difficulty.
The tool setting method has high tool setting precision, is based on the force detection precision of sub milli-newton magnitude, and can realize the ultra-precise tool setting precision of nanometer magnitude.
The tool setting method can position the tool tip to the rotation center point of the main shaft (the requirement is met when the center of the workpiece deviates from the rotation center of the main shaft) while ensuring the contact tool setting of the tool and the workpiece, thereby ensuring the subsequent tool path planning precision taking the rotation center of the main shaft as the origin.
Drawings
FIG. 1 is a schematic view of the construction of the processing apparatus of the present invention.
Fig. 2 is a schematic diagram of the tool setting control system of the present invention.
Fig. 3 is a graph of the contact force signal and Z-axis encoder output of the present invention during Z-direction tool setting.
Fig. 4 is a schematic structural view of the present invention for turning a ring on the end face of a workpiece.
Fig. 5 is a schematic view of an X-direction scanning path of the processing apparatus according to the present invention during X-direction scanning measurement.
Fig. 6 is a graph of the X-axis encoder output and the Z-axis encoder output on an X-direction scan trajectory.
Fig. 7 is a schematic view of a Y-scan trajectory of the processing device of the present invention during Y-scan measurement.
Fig. 8 is a graph of the Y-axis encoder output and the Z-axis encoder output on a Y-direction scan trajectory.
The meaning indicated by the reference numerals in the figures:
A 1-X direction driving mechanism; 2-Y direction driving mechanism; a 3-Z direction driving mechanism; 4-a processing device; 5-force sensor; 6, cutting tools; 7-a workpiece; 8-a main shaft; 9-turning marks of the circular ring; 10-X direction scanning track; 11-Y scan trajectory.
Detailed Description
The invention is further described with reference to the following specific examples:
As shown in fig. 1, a machining apparatus integrating a force sensor includes a frame, a spindle 8, a machining device 4, a tool 6, a triaxial driving device, a position transmission device, and a tool setting control system.
A main shaft 8 for driving the workpiece 7 to rotate is arranged on one side of the frame, a rotary encoder for outputting a rotation position is arranged in the main shaft 8, and a clamp for clamping the workpiece 7 is arranged at the end part of the main shaft 8. The machining device 4 is arranged on one side of the frame, the cutter 6 is arranged on one side of the machining device 4 close to the clamp, and the cutter 6 is a diamond cutter 6 and is used for ultra-precise cutting of the workpiece 7. The machining device 4 may be a machining device 4 commonly used in ultra-precise cutting such as a fast tool servo and a slow tool servo.
The triaxial driving device comprises an X-direction driving mechanism 1, a Y-direction driving mechanism 2 and a Z-direction driving mechanism 3, which respectively control the workpiece 7 or the cutter 6 to move along the X/Y/Z direction, wherein the Z direction is the axial direction of the main shaft 8, the X direction is the front-back direction of the main shaft 8, and the Y direction is the up-down direction of the main shaft 8.
Specifically, the X-direction driving mechanism 1 comprises an X-direction slide and an X-direction slide driver, wherein the X-direction slide driver is used for controlling the X-direction movement of the X-direction slide; the Y-direction driving mechanism 2 comprises a Y-direction sliding seat and a Y-direction sliding seat driver, wherein the Y-direction sliding seat driver is used for controlling the Y-direction movement of the Y-direction sliding seat; the Z-direction driving mechanism 3 comprises a Z-direction sliding seat and a Z-direction sliding seat driver, and the Z-direction sliding seat driver is used for controlling Z-direction movement of the Z-direction sliding seat.
The position transmission device comprises an X-axis encoder arranged on the X-direction sliding seat, a Y-axis encoder arranged on the Y-direction sliding seat and a Z-axis encoder arranged on the Z-direction sliding seat, and the X-axis encoder, the Y-axis encoder and the Z-axis encoder are used for respectively outputting the X/Y/Z-direction positions of the workpiece 7 or the cutter 6.
In this embodiment, the X-direction driving mechanism 1 is disposed below the spindle 8, and is configured to drive the spindle 8 to move along the X-direction; the Y-direction driving mechanism 2 and the Z-direction driving mechanism 3 are arranged below the cutter 6 and are used for driving the cutter 6 to move along the Y/Z direction, so that the machining function of ultra-precise cutting of single-point diamond is realized.
In addition, the processing equipment of the embodiment has a contact force/cutting force closed-loop feedback control function and a scanning measurement function besides a processing function based on single-point diamond ultra-precise cutting, and has the following specific structure:
as shown in fig. 2, the tool setting control system includes a force sensor 5, a charge amplifier, and a PID controller.
The force sensor 5 is arranged between the machining devices 4 of the tool 6 for detecting a contact force between the tool 6 and the workpiece 7.
And the PID controller controls the Z-direction driving mechanism 3 to work according to the magnitude of the contact force.
The charge amplifier is arranged between the force sensor 5 and the PID controller for amplifying the contact force signal to the PID controller.
Wherein, the PID controller is internally provided with a contact force reference value, namely a threshold value.
When the contact force signal is smaller than the reference value of the contact force, the workpiece 7 and the tool 6 are relatively close in the Z direction. In this embodiment, the PID controller drives the Z-direction drive mechanism 3 to move the tool 6 in the Z-direction close to the workpiece 7.
When the contact force signal is equal to the reference value of the contact force, the workpiece 7 and the tool 6 are made relatively stationary in the Z-direction. In this embodiment, i.e. the Z-drive mechanism 3 is deactivated, the Z-position of the tool 6 and the workpiece 7 is maintained.
When the contact force signal is greater than the contact force reference value, the workpiece 7 is relatively far away from the tool 6 in the Z direction. In this embodiment, the PID controller drives the Z-direction drive mechanism 3 to move the tool 6 in the Z-direction away from the workpiece 7.
Specifically, the tool setting control system is started, the contact force/cutting force between the tool 6 and the workpiece 7 (the acting force of the workpiece 7 and the tool 6 is called as contact force during tool setting and called as cutting force during cutting) can be sensed in real time through the integrated force sensor 5, the contact force signal is amplified by the charge amplifier, the contact force signal is compared with the reference value of the contact force, the difference value of the contact force signal and the reference value is input by the PID controller, the output signal of the PID controller drives the Z-direction sliding seat to move, and the contact/cutting depth between the tip of the tool 6 and the workpiece 7 is controlled, so that the purpose of controlling the contact force/cutting force to be kept constant is achieved, and the closed-loop feedback control of the contact force/cutting force is realized.
Meanwhile, the Z-direction driving displacement can be read at the computer end in real time by collecting the output of the Z-axis encoder.
Therefore, based on the above process, when the X-direction/Y-direction sliding seat is driven, the tool setting control system is started, the Z-direction sliding seat is automatically driven to move based on the closed-loop feedback control of the contact force/cutting force, so that the tip of the tool 6, like a scanning probe, can perform follow-up scanning on the surface of the workpiece 7 along the X-direction/Y-direction, and the morphology of the surface of the workpiece 7 in the X-direction/Y-direction can be obtained by outputting signals output by the Z-axis encoder and the X-axis/Y-axis encoder, thereby achieving the function of scanning measurement.
Based on the contact force/cutting force closed-loop feedback control function and the scanning measurement function of the machining equipment, ultra-precise tool setting can be realized, other instruments are not needed, the machining range space limitation can be met, the tool setting requirement under the condition that other tool setting instruments are difficult to install is met, and the tool setting device has universality.
Meanwhile, the operation flow of tool setting is simplified, and the degree of automation and the tool setting precision of tool setting are greatly improved.
An ultra-precise cutting tool setting method for accurately positioning the tip of a tool 6 to the center of rotation of the end face of a workpiece 7, the method being based on the above-mentioned machining device integrating a force sensor, comprising the steps of:
Step (1), Z-direction tool setting:
as shown in fig. 3, the workpiece 7 is clamped on the spindle 8, and at this time, the tool 6 is away from the workpiece 7.
Starting a tool setting control system, wherein initially, as the tool 6 fails to contact with the workpiece 7, no force acts on the tip of the tool 6, and the contact force signal is smaller than the reference value of the contact force, the PID controller controls the Z-direction driving mechanism 3 to move, so that the tool 6 performs stepping motion along the Z direction and approaches the spindle 8;
When the contact force signal is equal to the contact force reference value, the cutter 6 stops the Z-direction movement, completes Z-direction cutter setting, and records the Z-axis encoder position Z t at the moment.
Step (2), turning a circular ring on the end face of the workpiece 7:
As shown in fig. 4, after the Z-direction tool setting is completed, the tool 6 is kept stationary, the spindle 8 is driven, the workpiece 7 is controlled to rotate, the tool 6 leaves a circular turning trace 9 on the end face of the workpiece 7, and at this time, the center of the circular turning trace 9 is the rotation center of the workpiece 7.
Step (3), X-direction tool setting:
as shown in fig. 5, the X-direction driving mechanism 1 is driven to make the cutter 6 move in the X-direction relative to the position of the workpiece 7;
meanwhile, a tool setting control system is started, so that the contact force between the tool 6 and the workpiece 7 is kept constant, and the tool 6 moves along the end surface contour of the workpiece 7;
As shown in FIG. 6, the surface type feature of the workpiece 7 at the X-direction scanning track 10 can be obtained by outputting the X-axis encoder and the Z-axis encoder, the circular turning trace 9 leaves two obvious convex features in the X-direction scanning track 10, the coordinates of the peak point of the convex features in the X-direction are marked as X 1 and X 2, and then the X-direction coordinate of the rotation center of the workpiece 7 is calculated as After the scanning is completed, the X, Z is driven to the slide seat, so that the relative position of the workpiece 7 and the cutter 6 is returned to the position before the scanning.
Step (4), Y-direction tool setting;
as shown in fig. 7, the Y-direction driving mechanism 2 is driven to make the cutter 6 move in the Y-direction relative to the position of the workpiece 7;
meanwhile, a tool setting control system is started, so that the contact force between the tool 6 and the workpiece 7 is kept constant, and the tool 6 moves along the end surface contour of the workpiece 7;
as shown in FIG. 8, the surface type feature of the workpiece 7 at the Y-direction scanning track 11 can be obtained by outputting the Y-axis encoder and the Z-axis encoder, the circular turning trace 9 leaves two obvious convex features in the Y-direction scanning track 11, the coordinates of the peak points of the two convex features in the Y-direction are marked as Y 1 and Y 2, and then the coordinates of the rotation center of the workpiece 7 in the Y-direction are calculated as
Step (5), the cutter 6 moves to the rotation center of the workpiece 7:
And (3) driving the X-direction driving mechanism 1 and the Y-direction driving mechanism 2 according to the coordinates of the end face of the workpiece 7 in the X-direction and the Y-direction obtained in the step (3) and the step (4), so that the tip of the cutter 6 moves to X t、Yt, and the cutter setting is completed.
Step (6), Z-direction tool setting is carried out again:
And (3) repeating the step (1) at the position of the step (5), allowing the cutter 6 to perform tool setting in the Z direction again to obtain a new tool setting point, and updating the position of the Z-axis encoder at the position to Z t, wherein the three-dimensional coordinate of the tip of the cutter 6 is (X t,Yt,Zt), and the tool setting is completed.
The method has the advantages that:
1. The tool setting degree of automation is higher, compares prior art, and the tool setting flow is comparatively simple and easy, and the operation degree of difficulty is lower.
2. The tool setting precision is high, and the ultra-precise tool setting precision of nanometer magnitude can be realized based on the force detection precision of sub milli-newton magnitude.
3. The method can ensure that the cutter contacts with the workpiece and the cutter is aligned, and simultaneously, the tip of the cutter is positioned to the rotation center point of the main shaft (the requirement is met when the center of the workpiece deviates from the rotation center of the main shaft), so that the subsequent cutter track planning precision taking the rotation center of the main shaft as the origin is ensured.
The above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention in this way, therefore: all equivalent changes in structure, shape and principle of the invention should be covered in the scope of protection of the invention.
Claims (2)
1. An ultra-precise cutting tool setting method of a force sensor integrated machining device, characterized in that the force sensor integrated machining device comprises:
The main shaft is used for driving the workpiece to rotate;
the cutter is arranged on one side of the main shaft and is used for processing the workpiece;
The three-axis driving device comprises an X-direction driving mechanism, a Y-direction driving mechanism and a Z-direction driving mechanism, which respectively control the workpiece or the cutter to move along the X/Y/Z direction, wherein the Z direction is the axial direction of the main shaft;
the position transmission device is used for outputting the X/Y/Z direction positions of the workpiece or the cutter respectively; and
A tool setting control system, comprising:
a force sensor arranged on the cutter for detecting the contact force between the cutter and the workpiece; and
The PID controller is used for controlling the Z-direction driving mechanism to work according to the magnitude of the contact force;
the position transmission device comprises an X-axis encoder arranged on the X-direction driving mechanism, a Y-axis encoder arranged on the Y-direction driving mechanism and a Z-axis encoder arranged on the Z-direction driving mechanism;
The X-direction driving mechanism is arranged below the main shaft and is used for driving the main shaft to move along the X direction;
The Y-direction driving mechanism and the Z-direction driving mechanism are arranged below the cutter and used for driving the cutter to move along the Y/Z direction;
a rotary encoder is arranged in the main shaft;
The cutter is a diamond cutter;
The tool setting control system further includes:
A charge amplifier, which is arranged between the force sensor and the PID controller and is used for amplifying a contact force signal to the PID controller;
Wherein, a contact force reference value is arranged in the PID controller,
When the contact force signal is smaller than the reference value of the contact force, the workpiece and the cutter are relatively close to each other along the Z direction;
When the contact force signal is equal to the contact force reference value, the workpiece and the cutter are relatively static along the Z direction;
When the contact force signal is larger than the contact force reference value, the workpiece and the cutter are relatively far away in the Z direction;
The ultra-precise cutting tool setting method of the processing equipment integrated with the force sensor is used for positioning the tool tip to the rotation center of the end face of the workpiece and comprises the following steps of:
step (1), Z-direction tool setting:
Starting a tool setting control system, and enabling the tool to perform stepping motion along the Z direction by controlling a Z-direction driving mechanism; when the contact force signal is equal to the reference value of the contact force, stopping the Z-direction movement of the cutter, completing Z-direction cutter setting, and recording the position of the Z-axis encoder at the moment ；
Step (2), turning a circular ring on the end face of the workpiece:
After Z-direction tool setting is completed, keeping the tool stationary, driving the spindle, controlling the workpiece to rotate, and enabling the tool to leave a circular turning trace on the end face of the workpiece, wherein the center of the circular turning trace is the workpiece rotation center;
Step (3), X-direction tool setting:
driving an X-direction driving mechanism to enable the cutter to move in the X direction relative to the position of the workpiece;
meanwhile, a tool setting control system is started, so that the contact force between the tool and the workpiece is kept constant, and the tool is moved along the end surface contour of the workpiece;
The surface type characteristics of the workpiece at the X-direction scanning track can be obtained through the output of the X-axis encoder and the Z-axis encoder, the circular turning track can leave two obvious protruding characteristics in the X-direction scanning track, and the coordinates of the peak points of the protruding characteristics in the X-direction are recorded as AndThen, the X-direction coordinate of the rotation center of the workpiece is calculated as；
Step (4), Y-direction tool setting;
Driving a Y-direction driving mechanism to enable the cutter to move in the Y direction relative to the position of the workpiece;
meanwhile, a tool setting control system is started, so that the contact force between the tool and the workpiece is kept constant, and the tool is moved along the end surface contour of the workpiece;
The surface type characteristics of the workpiece at the Y-direction scanning track can be obtained through the output of the Y-axis encoder and the Z-axis encoder, the circular turning track can leave two obvious protruding characteristics in the Y-direction scanning track, and the coordinates of the peak points of the two protruding characteristics in the Y-direction are recorded as AndThen, calculating the coordinate of the rotation center of the workpiece in the Y direction as；
Step (5), moving the cutter to a workpiece rotation center:
Driving the X-direction driving mechanism and the Y-direction driving mechanism according to the coordinates of the end face of the workpiece in the X-direction and the Y-direction obtained in the step (3) and the step (4) to enable the tip end of the cutter to move to 、And finishing tool setting.
2. The ultra-precise cutting tool setting method of a force sensor integrated machining apparatus of claim 1, further comprising:
step (6), Z-direction tool setting is carried out again:
Repeating the step (1) under the position of the step (5), allowing the cutter to be set again in the Z direction to obtain a new tool setting point, and updating the position of the Z-axis encoder under the position to be At this time, the three-dimensional coordinates of the tip of the tool areAnd finishing tool setting.
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