CN113714829B - Large-size three-axis automatic posture adjustment tool design and operation method - Google Patents

Abstract

The invention provides a large-size three-axis automatic posture adjustment tool and an operation method, and belongs to the field of automatic fixtures. The large-size three-axis automatic attitude adjustment tool is composed of a base, an A-axis adjustment unit, a B-axis adjustment unit, and a C-axis adjustment unit. The three-axis automatic attitude adjustment tool can realize automatic measurement and attitude adjustment of the overall clamping attitude of large-sized structural parts, with simple operation, high efficiency and high precision; the overall structure is compact, suitable for the installation of CNC machine tools with small available space; high rigidity structure design And the auxiliary locking mechanism improves the reliability and safety of CNC machining. The large-size three-axis automatic attitude adjustment tooling provided by the invention solves the problems of low precision and poor reliability of manual clamping of complex components, realizes automatic identification and automatic adjustment of workpieces, and has high precision, high rigidity, good reliability and compact structure. Features.

Description

Design and operation method of large-size three-axis automatic attitude adjustment tool

technical field

The invention belongs to the technical field of automated fixtures, and relates to the design and operation method of a large-size three-axis automatic posture adjustment tool.

Background technique

In the field of high-end equipment manufacturing such as aerospace, there are many types of rotating body components, fuel tanks, cabins and other large-sized, weakly rigid and complex components that require precision machining. In the process of CNC machining, precise adjustment and reliable clamping of the positioning posture of components is one of the key links to ensure the overall machining quality. However, the existing mechanical tooling does not have the function of automatic adjustment, and can only rely on manual punching and "pad/knock" empirical adjustment. Improve the overall CNC machining quality and efficiency of complex components.

In recent years, many institutions have carried out research on automatic posture adjustment tooling. In 2020, Harbin University of Science and Technology disclosed "an automatic and flexible assembly device and method for tubular cabin sections" in patent CN111571171A. The scheme adopts the method of multi-axis superposition, so that the cabin can complete the adjustment of the position and attitude of five degrees of freedom. However, since the driving devices of each degree of freedom are superimposed on each other, the overall size is large, which is not suitable for the limited installation space of CNC machine tools. In 2016, Northwestern Polytechnical University disclosed "a series-parallel mechanical structure and an attitude adjustment method for aircraft component attitude adjustment" in patent CN106043736B. The series-parallel mechanism is used as the main structure of the entire posture adjustment tool, which controls the three directions of the pallet and the three movement axes of the parallel mechanism, a total of six axes of movement. However, the tooling has poor rigidity and small bearing capacity, and is only suitable for small and medium parts.

SUMMARY OF THE INVENTION

The main technical problem solved by the present invention is to overcome the shortcomings of the above-mentioned devices, and to solve the problem of adjusting the clamping posture of complex components such as cabins, a large-sized three-axis automatic posture-adjusting tool is invented. The tooling is based on the attitude information of binocular vision measurement, which can realize the automatic adjustment of the coaxiality deviation of the clamping; a compact, high-reliability large-size three-axis attitude adjustment and locking mechanism is designed to realize the limited installation space of CNC machine tools The attitude adjustment and maintenance of large-scale components under the condition of locating pin holes are proposed; an automatic attitude adjustment strategy based on the position and attitude information of the positioning pin holes is proposed.

In order to achieve the above object, the technical scheme adopted in the present invention is as follows:

A large-size three-axis automatic attitude adjustment tool, including base I, A-axis adjustment unit II, B-axis adjustment unit III and C-axis rotation unit IV;

The base I is used to connect the large-size three-axis automatic attitude adjustment tool to the machine tool to realize the fixation of the tool;

The A-axis adjustment unit II includes an A-axis servo motor 1, an A-axis transmission mechanism 2, an A-axis rotary platform 3, a support mechanism 4 and an A-axis locking mechanism 5;

The A-axis servo motor 1 is installed horizontally; the A-axis transmission mechanism 2 is mainly composed of a worm 201, a worm wheel 202, a rolling bearing 203 and a drive gear 204. The worm 201 and the output shaft of the A-axis servo motor 1 are coupled through a shaft The worm gear 202 and the worm screw 201 are driven to realize the direction change of motion; the worm gear 202, the rolling bearing 203 and the driving gear 204 are arranged coaxially to realize the motion transmission; the driving gear 204 and the A-axis rotating platform 3 drive the A The axis rotating platform 3 rotates; the supporting mechanism 4 is mainly composed of a pin shaft 401 and a roller 402, and the roller 402 is used to support the A axis rotating platform 3 to realize the smooth rotation of the A axis rotating platform 3; the A axis locking mechanism 5 is hydraulic The rod 501 and the hydraulic cylinder 502 are composed of two groups at each end of the A-axis rotary platform 3. When the A-axis rotary platform 3 is adjusted to the designated position, the hydraulic rod 501 extends and the electromagnetic brake locks the A-axis rotary platform 3. Realize the locking of the A-axis rotating platform 3;

The B-axis adjustment unit III includes a B-axis motor mounting plate 6, a B-axis servo motor 7, a B-axis transmission mechanism 8, a B-axis locking mechanism 9 and a lifting platform 10;

The B-axis servo motor 7 is horizontally installed on the B-axis motor mounting plate 6 to provide driving force; the B-axis transmission mechanism 8 is mainly composed of a lead screw 801 and two wedge-shaped sliders 802. The end is fixed on the B-axis motor mounting plate 6 through bearings, the upper wedge-shaped slider 802 is connected with the lifting platform 10 through the pin shaft, the lower wedge-shaped slider 802 moves with the lead screw 801, and the two wedge-shaped sliders 802 cooperate to realize the lifting platform 10 Rotation; two sets of B-axis locking mechanisms 9 are provided at one end of the lifting table 10, the lifting table 10 is adjusted to a designated position, and the position of the lifting table 10 is locked through the B-axis locking mechanism 9 and the electromagnetic brake;

The C-axis rotation unit IV includes a C-axis servo motor 11, a flange 12, a bearing 13, a C-axis rotary platform 14 and a C-axis locking mechanism 15;

The C-axis servo motor 11 is vertically installed on the C-axis rotary platform 14 to provide driving force; the flange 12 is connected with the motor shaft to realize the rotation of the C-axis rotary platform 14; the C-axis rotary platform 14 is located above the base I and below the A-axis rotary platform 3, and is connected to the base I through the bearing 13; the C-axis locking mechanism 15 is mainly composed of a T-shaped screw 151 and a groove 152. Each corner is one set, and the locking of the C-axis rotary platform 14 is realized by tightening the screws and the electromagnetic brake.

An attitude adjustment method based on a large-size three-axis automatic attitude adjustment tooling, based on binocular vision measurement information and precise control of a servo motor, to realize automatic identification and automatic adjustment; the specific steps for the automatic attitude adjustment of the tooling are:

The first step is to detect the posture of the workpiece

To obtain the attitude of the workpiece through the binocular vision measurement unit, it is necessary to set two visual markers at both ends of the workpiece in advance. The binocular vision measurement unit moves to one end of the workpiece and moves to a suitable position to obtain the coordinate information of the target point A. Then move horizontally to the other end to obtain the coordinate information of another target point B on the same end face; then move to the other end face to obtain the coordinate information of the other two target points C and D in the same way; at the same time record the camera in the machine tool coordinate system in four location information of each measurement point;

The second step, the workpiece attitude calculation

For automatic adjustment, coordinate system conversion is required, and the machine coordinate system is defined as x ₀ , y ₀ , z ₀ , tooling coordinate system x ₁ , y ₁ , z ₁ , visual coordinate system x ₂ , y ₂ , z ₂ ;

First, convert the visual coordinate system x ₂ , y ₂ , z ₂ to the machine tool coordinate system x ₀ , y ₀ , z ₀ ; let the origin of the visual coordinate system, that is, the position of the binocular vision measurement unit, be a coordinate in the machine tool coordinate system _1i , b _1i , c _1i , the coordinates of the four points in the visual coordinate system are:

Ax _A , y _A , z _A , Bx _B , y _B , z _B , Cx _C , y _C , z _C , Dx _D , y _D , z _D

In the formula, ^A0 P is the coordinate of point A in the machine tool coordinate system, ^A2 P is the coordinate of point A in the visual coordinate system, a _1i , b _1i , and c _1i are the coordinates of the origin of the camera coordinate system in the machine tool coordinate system respectively. ;

Calculate the coordinates of the four points respectively. Point A, point B, point C, and point D are calculated according to formula (1) and formula (2) respectively, and the new coordinates obtained by conversion are:

Ax _A +a ₁₁ , y _A +b ₁₁ , z _A +c ₁₁ , Bx _B +a ₁₂ , y _B +b ₁₂ , z _B +c ₁₂

Ca ₁₃ -x _C , y _C +b ₁₃ , z _C +c ₁₃ , Da ₁₄ -x _D , y _D +b ₁₄ , z _D +c ₁₄

In the formula, c ₁₁ and c ₁₂ are equal, c ₁₃ and c ₁₄ are equal, a ₁₁ and a ₁₂ are equal, and a ₁₃ and a ₁₄ are equal;

The machine tool coordinate system x ₀ , y ₀ , z ₀ is converted to the tool coordinate system x ₁ , y ₁ , z ₁ ; the origin of the tool coordinate system is a ₂ , b ₂ , c ₂ in the machine tool coordinate system, using the same method , the new coordinates obtained by transformation:

Ax _A +a ₁₁ -a ₂ , y _A +b ₁₁ -b ₂ , z _A +c ₁₁ -c ₂

Bx _B +a ₁₁ -a ₂ , y _B +b ₁₂ -b ₂ , z _B +c ₁₁ -c ₂

Ca ₁₃ -x _C -a ₂ , y _C +b ₁₃ -b ₂ , z _C +c ₁₃ -c ₂

Da ₁₄ -x _D -a ₂ ,y _D +b ₁₄ -b ₂ ,z _D +c ₁₃ -c ₂

Through coordinate transformation, the angle that needs to be adjusted for each axis is calculated, and the results are as follows:

C axis:

B-axis:

A-axis:

In the formula, l is the length of the workpiece, h _AC is the height difference between A and C;

The third step is to automatically adjust the tooling execution process

The communication between the binocular vision measurement unit and the tooling is realized through the industrial computer, and the connection is established; first, the C-axis error adjustment is performed, adjusted to the designated position, and fixed by the C-axis locking mechanism 15; Adjust the platform to an appropriate angle with the slider 802, and lock it through the B-axis locking mechanism 9; finally adjust the A-axis error, through the A-axis transmission mechanism 2, rotate the A-axis to an appropriate position, and the hydraulic rod 501 extends to lock the platform , the tooling is adjusted to the appropriate position.

The beneficial effects of the present invention are: the three-axis automatic attitude adjustment tool can realize automatic measurement and attitude adjustment of the overall clamping attitude of large-sized structural parts, with simple operation, high efficiency and high precision; the overall structure is compact, and it is suitable for small installation space. CNC machine tool; high rigidity structure design and auxiliary locking mechanism improve the reliability and safety of CNC machining.

Description of drawings

Figure 1 is a schematic diagram of a large-size three-axis automatic attitude adjustment tool.

Figure 2 is a schematic diagram of the A-axis rotation unit.

FIG. 3 is a schematic diagram of the transmission mechanism of the A-axis rotating unit.

Figure 4 is a cross-sectional view of a large-size three-axis automatic attitude adjustment tool.

In the figure: I base, IIA axis rotation unit, IIIB axis rotation unit, IVC axis rotation unit, 1A axis servo motor, 2A axis transmission mechanism, 3A axis rotation platform, 4 support mechanism, 5A axis locking mechanism, 6B axis motor installation Plate, 7B axis servo motor, 8B axis transmission mechanism, 9B axis locking mechanism, 10 lifting platform, 11C axis servo motor, 12 flange plate, 13 bearing, 14C axis rotary platform, 15C axis locking mechanism.

Detailed ways

The embodiments of the present invention will be described in detail below with reference to the accompanying drawings and technical solutions, but the protection scope of the present invention is not limited thereto.

Figure 1 is a schematic diagram of a large-size three-axis automatic attitude adjustment tool. The automatic attitude adjustment tool includes a base I, an A-axis rotation unit II, a B-axis rotation unit III, and a C-axis rotation unit IV. Among them, the base I is used to connect the tooling with the machine tool to realize the fixing of the tooling.

FIG. 2 is a schematic diagram of the A-axis rotation unit, and FIG. 3 is a schematic diagram of the transmission mechanism of the A-axis rotation unit. The A-axis rotation unit II includes a servo motor 1 , an A-axis transmission mechanism 2 , an A-axis rotation platform 3 , a support mechanism 4 , and an A-axis locking mechanism 5 . The servo motor 1 is installed horizontally, and the transmission mechanism 2 is composed of a worm 201 , a worm wheel 202 , a rolling bearing 203 , and a driving gear 204 . The worm 201 is connected with the output shaft of the servo motor through a coupling, and is driven by a worm gear to realize the movement direction change. The worm gear 202 , the rolling bearing 203 , and the driving gear 204 are arranged coaxially to realize motion transmission. The driving gear 204 and the rotating platform 3 are meshed with gear teeth to drive the platform to rotate around the axis. The support mechanism 4 is composed of a pin shaft 401 and a roller 402 , and the roller 402 is used to support the rotating platform 3 so as to realize the stable rotation of the rotating platform 3 . The A-axis locking mechanism 5 is composed of a hydraulic rod 501 and a hydraulic cylinder 502, and two groups are arranged at each end of the rotating platform 3. When the rotating platform 3 is adjusted to the designated position, the hydraulic rod 501 extends and the electromagnetic brake locks the platform. 3 Lock to achieve platform locking.

Figure 4 is a cross-sectional view of a large-size three-axis automatic attitude adjustment tool. The B-axis rotation unit II includes a B-axis motor mounting plate 6 , a servo motor 7 , a B-axis transmission mechanism 8 , a B-axis locking mechanism 9 , and a lifting platform 10 . The servo motor 7 is horizontally installed on the B-axis motor mounting frame 6 to provide driving force. The transmission system 8 is composed of a lead screw 801 and a wedge-shaped slider 802. Both ends of the lead screw 801 are fixed on the B-axis motor mounting plate 6 through bearings. The wedge-shaped slider 802 moves with the lead screw 801 to realize the rotation of the lifting platform 10 . Two sets of B-axis locking mechanisms 9 are arranged at one end, the platform is adjusted to the designated position, and the position of the lifting platform 10 is locked through the locking mechanism and the electromagnetic brake.

The C-axis rotation unit IV includes a servo motor 11 , a flange 12 , a bearing 13 , a C-axis rotary platform 14 , and a locking mechanism 15 . The servo motor 11 is vertically installed on the C-axis rotary platform 14 to provide driving force. The flange 12 is connected with the motor shaft to realize the rotation of the rotary platform. The C-axis rotary platform is located above the base I, below the A-axis rotary platform 3, and is connected to the base I through a bearing 13. The locking mechanism 15 is composed of T-shaped screws 151 and grooves 152. One group is placed at each of the four corners of the C-axis rotary platform 14. By tightening the screws and electromagnetic brakes, the C-axis rotary platform 14 is locked. .

The first step is to detect the attitude of the workpiece

To obtain the attitude of the workpiece through the binocular vision measurement unit, it is necessary to set two visual markers at both ends of the workpiece in advance. The binocular vision measurement unit moves to one end of the workpiece and moves to a suitable position to obtain the coordinate information of the target point A, Move to the other end along the B axis to obtain the coordinate information of another target point B on the same end face. Then move to the other end face, and obtain the coordinate information of the other two target points C and D in the same way. At the same time, the position information of the camera at the four measurement points in the machine tool coordinate system is recorded.

The second step is to solve the workpiece attitude

Take the fuel tank compartment with a length of 3000mm and a diameter of 600mm as an example.

Before settlement, it is necessary to unify the coordinate system, define the machine coordinate system as (x ₀ , y ₀ , z ₀ ), the tooling coordinate system (x ₁ , y ₁ , z ₁ ), the visual coordinate system (x ₂ , y ₂ , z ₂ ).

First, convert the vision coordinate system (x ₂ , y ₂ , z ₂ ) to the machine coordinate system (x ₀ , y ₀ , z ₀ ). Suppose the origin of the visual coordinate system (that is, the position of the binocular vision measurement unit) in the machine tool coordinate system is (a _1i , b _1i , c _1i ), then the coordinates of the four points in the visual coordinate system are:

A(403, 20, 10), B(400, 17, 14), C(497, 20, 20), D(500, 23, 24)

The coordinates of the origin of the visual coordinate system (that is, the position of the binocular vision measurement unit) in the machine tool coordinate system are:

A'(100, 100, 300), B'(100, 500, 300)

C'(4000, 200, 200), D'(4000, 400, 200)

The four-point coordinates are converted and calculated. Point A, point B, point C, and point D are calculated according to formula (1) and formula (2) respectively, and the new coordinates obtained by conversion: the new coordinates obtained by conversion:

A (503, 120, 310), B (500, 517, 314)

C (3503, 220, 220), D (3500, 423, 224)

Through coordinate transformation, the angle to be adjusted can be calculated according to formula (3), formula (4) and formula (5). The result is:

C-axis α=0.057°, B-axis β=0.19°, A-axis γ=0.76°

The third step is to automatically adjust the tooling execution process

The connection is established by communicating with the attitude adjustment tool through the binocular vision measurement unit. First, adjust the C-axis error, adjust it to the designated position, and fix it with the locking mechanism; secondly, adjust the B-axis error, adjust the platform to a suitable angle through the lead screw and the slider, and lock it with the locking mechanism; finally adjust the A Shaft error, through the worm gear and gear transmission, the A-axis is rotated to the appropriate position, the hydraulic rod is extended to lock the platform, and the tooling is adjusted to the appropriate position.

The large-size three-axis automatic posture adjustment tooling provided by the invention solves the problems of low precision and poor reliability of manual clamping of complex components, and realizes automatic identification and automatic adjustment of workpieces. It has the characteristics of high precision, high rigidity, good reliability and compact structure.

Claims (1)

1. An attitude adjustment method based on a large-size three-axis automatic attitude adjustment tool, characterized in that the large-size three-axis automatic attitude adjustment tool comprises a base (I), an A-axis adjustment unit (II), a B-axis adjustment Unit (III) and C-axis rotation unit (IV); The base (I) is used for connecting a large-size three-axis automatic attitude adjustment tool to a machine tool to realize the fixation of the tool; The A-axis adjustment unit (II) includes an A-axis servo motor (1), an A-axis transmission mechanism (2), an A-axis rotating platform (3), a support mechanism (4) and an A-axis locking mechanism (5); The A-axis servo motor (1) is installed horizontally; the A-axis transmission mechanism (2) is mainly composed of a worm (201), a worm wheel (202), a rolling bearing (203) and a drive gear (204). 201) is connected with the output shaft of the A-axis servo motor (1) through a coupling, and is driven by a worm gear (202) and a worm (201) to realize motion change; the worm gear (202), the rolling bearing (203), the driving gear (204) ) are arranged coaxially to realize motion transmission; the gear tooth meshing between the driving gear (204) and the A-axis rotating platform (3) drives the A-axis rotating platform (3) to rotate; the supporting mechanism (4) is mainly composed of a pin shaft (401) and a roller (402), the roller (402) is used to support the A-axis rotating platform (3), so as to realize the smooth rotation of the A-axis rotating platform (3); the A-axis locking mechanism (5) is composed of a hydraulic rod (501) It is composed of a hydraulic cylinder (502), and two sets are arranged at each end of the A-axis rotating platform (3). When the A-axis rotating platform (3) is adjusted to the designated position, the hydraulic rod (501) is extended and the electromagnetic lock The rotating platform (3) is locked to realize the locking of the A-axis rotating platform (3); The B-axis adjustment unit (III) includes a B-axis motor mounting plate (6), a B-axis servo motor (7), a B-axis transmission mechanism (8), a B-axis locking mechanism (9) and a lifting platform (10) ; The B-axis servo motor (7) is horizontally installed on the B-axis motor mounting plate (6) to provide driving force; the B-axis transmission mechanism (8) is mainly composed of a lead screw (801) and two wedge-shaped slides. The two ends of the lead screw (801) are fixed on the B-axis motor mounting plate (6) through bearings, the upper wedge-shaped slider (802) and the lifting platform (10) are connected by pins, and the lower wedge-shaped slider The block (802) moves with the lead screw (801), and the two wedge-shaped sliders (802) cooperate to realize the rotation of the lift table (10). (10) Adjust to the designated position, and realize the position locking of the lifting platform (10) through the B-axis locking mechanism (9) and the electromagnetic brake; The C-axis rotation unit (IV) includes a C-axis servo motor (11), a flange (12), a bearing (13), a C-axis rotary platform (14) and a C-axis locking mechanism (15); The C-axis servo motor (11) is vertically installed on the C-axis rotary platform (14) to provide driving force; the flange plate (12) is connected with the motor shaft to realize the rotation of the C-axis rotary platform (14). The C-axis rotary platform (14) is located above the base (I) and below the A-axis rotary platform (3), and is connected with the base (I) through a bearing (13); the C-axis locking mechanism (15) It is mainly composed of T-shaped screws (151) and grooves (152). At each of the four corners of the C-axis rotary platform (14), tighten the screws and electromagnetic brakes to realize the C-axis rotary platform (14). lock; The attitude adjustment method realizes automatic identification and automatic adjustment based on binocular vision measurement information and precise control of the servo motor; the specific steps for automatic attitude adjustment of the tooling are as follows: The first step is to detect the posture of the workpiece To obtain the attitude of the workpiece through the binocular vision measurement unit, it is necessary to set two visual markers at both ends of the workpiece in advance. The binocular vision measurement unit moves to one end of the workpiece and moves to a suitable position to obtain the coordinate information of the target point A. Then move horizontally to the other end to obtain the coordinate information of another target point B on the same end face; then move to the other end face to obtain the coordinate information of the other two target points C and D in the same way; at the same time record the camera in the machine tool coordinate system in four location information of each measurement point; The second step, the workpiece attitude solution To perform automatic adjustment, coordinate system conversion is required, and the machine coordinate system is defined as (x ₀ , y ₀ , z ₀ ), tooling coordinate system (x ₁ , y ₁ , z ₁ ), visual coordinate system (x ₂ , y ₂ , z ₂ ); First, convert the visual coordinate system (x ₂ , y ₂ , z ₂ ) to the machine tool coordinate system (x ₀ , y ₀ , z ₀ ); set the origin of the visual coordinate system, that is, the position of the binocular vision measurement unit in the machine tool coordinate system The coordinates of (a _1i , b _1i , c _1i ), then the coordinates of the four points in the visual coordinate system are: A(x _A , y _A , z _A ), B(x _B , y _B , z _B ), C(x _C , y _C , z _C ), D(x _D , y _D , z _D )

In the formula, ^A0 P is the coordinate of point A in the machine tool coordinate system, ^A2 P is the coordinate of point A in the visual coordinate system, a _1i , b _1i , and c _1i are the coordinates of the origin of the camera coordinate system in the machine tool coordinate system respectively. ; Calculate the coordinates of the four points respectively. Point A, point B, point C, and point D are calculated according to formula (1) and formula (2) respectively, and the new coordinates obtained by conversion are: A(x _A +a ₁₁ , y _A +b ₁₁ , z _A +c ₁₁ ), B(x _B +a ₁₂ , y _B +b ₁₂ , z _B +c ₁₂ ) C(a ₁₃ -x _C , y _C +b ₁₃ , z _C +c ₁₃ ), D(a ₁₄ -x _D , y _D +b ₁₄ , z _D +c ₁₄ ) In the formula, c ₁₁ and c ₁₂ are equal, c ₁₃ and c ₁₄ are equal, a ₁₁ and a ₁₂ are equal, and a ₁₃ and a ₁₄ are equal; The machine tool coordinate system (x ₀ , y ₀ , z ₀ ) is converted to the tool coordinate system (x ₁ , y ₁ , z ₁ ); the origin of the tool coordinate system in the machine tool coordinate system is (a ₂ , b ₂ , c ₂ ), using the same method to convert the new coordinates: A(x _A +a ₁₁ -a ₂ , y _A +b ₁₁ -b ₂ , z _A +c ₁₁ -c ₂ ) B(x _B +a ₁₁ -a ₂ , y _B +b ₁₂ -b ₂ , z _B +c ₁₁ -c ₂ ) C(a ₁₃ -x _C -a ₂ , y _C +b ₁₃ -b ₂ , z _C +c ₁₃ -c ₂ ) D(a ₁₄ -x _D -a ₂ , y _D +b ₁₄ -b ₂ , z _D +c ₁₃ -c ₂ ) Through coordinate transformation, the angle that needs to be adjusted for each axis is calculated, and the results are as follows: C axis:

B axis:

A-axis:

In the formula, l is the length of the workpiece, h _AC is the height difference between A and C; The third step is to automatically adjust the tooling execution process The communication between the binocular vision measurement unit and the tooling is realized through the industrial computer, and the connection is established; first, the C-axis error adjustment is carried out, adjusted to the designated position, and then fixed by the C-axis locking mechanism (15); The lever (801) and the wedge-shaped slider (802) adjust the platform to an appropriate angle and lock it through the B-axis locking mechanism (9); finally adjust the A-axis error, and rotate the A-axis to the In the proper position, the hydraulic rod (501) is extended to lock the platform, and the tooling is adjusted to the proper position.

Images