CN113714829B - Large-size three-axis automatic posture adjustment tool design and operation method - Google Patents
Large-size three-axis automatic posture adjustment tool design and operation method Download PDFInfo
- Publication number
- CN113714829B CN113714829B CN202110972993.9A CN202110972993A CN113714829B CN 113714829 B CN113714829 B CN 113714829B CN 202110972993 A CN202110972993 A CN 202110972993A CN 113714829 B CN113714829 B CN 113714829B
- Authority
- CN
- China
- Prior art keywords
- axis
- coordinate system
- tool
- platform
- adjusting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
-
- 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
- B23Q1/46—Movable or adjustable work or tool supports using particular mechanisms with screw pairs
-
- 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
- B23Q15/26—Control or regulation of position of tool or workpiece of angular position
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Machine Tool Units (AREA)
Abstract
The invention provides a large-size three-axis automatic posture adjusting tool and an operation method, and belongs to the field of automatic clamps. The large-size three-axis automatic posture adjusting tool comprises a base, an A-axis adjusting unit, a B-axis adjusting unit and a C-axis adjusting unit. The three-axis automatic posture adjusting tool can realize automatic measurement and posture adjustment of the integral clamping posture of a large-size structural member, and is simple to operate, efficient and high in precision; the whole structure is compact, and the device is suitable for installing a numerical control machine tool with small available space; the high-rigidity structural design and the auxiliary locking mechanism improve the reliability and safety of numerical control machining. The large-size three-axis automatic posture adjusting tool provided by the invention solves the problems of low precision and poor reliability of manually clamping complex components, realizes automatic identification and automatic adjustment of workpieces, and has the characteristics of high precision, high rigidity, good reliability, compact structure and the like.
Description
Technical Field
The invention belongs to the technical field of automatic clamps, and relates to a design and operation method of a large-size three-axis automatic posture adjusting tool.
Background
In the field of manufacturing high-end equipment such as aerospace and the like, large-size and weak-rigidity complex components such as various types of revolving body components, fuel storage tanks and cabin sections need to be precisely machined. In the numerical control machining process, accurate adjustment and reliable clamping of the positioning posture of the component are one of key links for ensuring the overall machining quality. However, the existing mechanical tool does not have an automatic adjustment function, and can only depend on manual surface striking and 'pad/knock' empirical adjustment, so that it is necessary to design a highly reliable automatic posture adjustment tool suitable for large-size components, thereby improving the overall numerical control processing quality and efficiency of complex components.
In recent years, there have been many mechanisms for developing automatic posture adjustment tools. In 2020, Harbin university of Physician in patent CN111571171A discloses an automatic flexible assembly device and method for barrel-type cabin sections. The scheme adopts a multi-axis superposition mode, so that the cabin section can complete the adjustment of the position and the posture of five degrees of freedom. However, the driving devices with various degrees of freedom are mutually overlapped, so that the whole size is large, and the numerical control machine tool is not suitable for the condition that the installation space of the numerical control machine tool is limited. In 2016, northwest university of industry disclosed "a series-parallel connection mechanical structure and method for adjusting attitude of airplane components" in patent CN 106043736B. The series-parallel mechanism is adopted as a main body structure of the whole posture adjusting tool, and the three directions of the supporting plate and three movement axes of the parallel mechanism are controlled to move in six axes. But the tool is poor in rigidity and small in bearing capacity, and is only suitable for small and medium parts.
Disclosure of Invention
The invention mainly solves the technical problem of overcoming the defects of the device and provides a large-size three-axis automatic posture adjusting tool aiming at the problem of clamping posture adjustment of complex cabin components. The tool can realize automatic adjustment of clamping coaxiality deviation based on the posture information measured by binocular vision; a compact and high-reliability large-size three-axis posture adjusting and locking mechanism is designed, and posture adjustment and maintenance of a large-size component in a limited installation space of a numerical control machine tool are realized; and an automatic posture adjusting strategy based on the position and posture information of the positioning pin hole is provided.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a large-size three-axis automatic posture adjusting tool comprises a base I, an A-axis adjusting unit II, a B-axis adjusting unit III and a C-axis rotating unit IV;
the base I is used for connecting the large-size three-axis automatic posture adjusting tool with a machine tool to fix the tool;
the A-axis adjusting unit II comprises an A-axis servo motor 1, an A-axis transmission mechanism 2, an A-axis rotating platform 3, a supporting mechanism 4 and an A-axis locking mechanism 5;
the A-axis servo motor 1 is horizontally arranged; the A-axis transmission mechanism 2 mainly comprises a worm 201, a worm wheel 202, a rolling bearing 203 and a driving gear 204, wherein the worm 201 is connected with an output shaft of the A-axis servo motor 1 through a coupler, and the direction of movement is changed through transmission of the worm wheel 202 and the worm 201; the worm gear 202, the rolling bearing 203 and the driving gear 204 are coaxially arranged to realize motion transmission; the driving gear 204 is meshed with the A-axis rotating platform 3 through gear teeth to drive the A-axis rotating platform 3 to rotate; the supporting mechanism 4 mainly comprises a pin shaft 401 and a roller 402, and the roller 402 is used for supporting the A-axis rotating platform 3 to realize the stable rotation of the A-axis rotating platform 3; the A-axis locking mechanism 5 consists of a hydraulic rod 501 and a hydraulic cylinder 502, two groups of locking mechanisms are respectively arranged at two ends of the A-axis rotating platform 3, when the A-axis rotating platform 3 is adjusted to a specified position, the hydraulic rod 501 extends out and an electromagnetic band-type brake locks the A-axis rotating platform 3, and locking of the A-axis rotating platform 3 is achieved;
the B-axis adjusting unit III comprises 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 arranged on the B-axis motor mounting plate 6 and provides driving force; the B-axis transmission mechanism 8 mainly comprises a lead screw 801 and two wedge-shaped sliding blocks 802, two ends of the lead screw 801 are fixed on the B-axis motor mounting plate 6 through bearings, the upper wedge-shaped sliding block 802 is connected with the lifting platform 10 through a pin shaft, the lower wedge-shaped sliding block 802 moves along with the lead screw 801, and the two wedge-shaped sliding blocks 802 are matched to realize the rotation of the lifting platform 10; two groups of B-axis locking mechanisms 9 are arranged at one end of the lifting platform 10, the lifting platform 10 is adjusted to a specified position, and the position of the lifting platform 10 is locked through the B-axis locking mechanisms 9 and the electromagnetic band-type brakes;
the C-axis rotating unit IV comprises a C-axis servo motor 11, a flange plate 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 arranged on the C-axis rotary platform 14 and provides driving force; the flange plate 12 is connected with a motor shaft to realize the rotation of the C-axis rotary platform 14; the C-axis rotary platform 14 is positioned 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 mainly comprises T-shaped screws 151 and grooves 152, and four corners of the C-axis rotary platform 14 are respectively provided with one group, and the C-axis rotary platform 14 is locked by screwing the screws and the electromagnetic band-type brakes.
An attitude adjusting method based on a large-size three-axis automatic attitude adjusting tool is based on binocular vision measurement information and precise regulation and control of a servo motor, and automatic identification and automatic adjustment are achieved; the specific steps of the tool for automatically adjusting the posture are as follows:
first, detecting the attitude of the workpiece
Acquiring the posture of a workpiece through a binocular vision measuring unit, wherein two vision mark points are required to be arranged at two ends of the workpiece to be processed in advance, the binocular vision measuring unit is moved to one end of the workpiece and moved to a proper position to acquire coordinate information of a target point A, and then the target point A is horizontally moved to the other end to acquire coordinate information of another target point B on the same end face; then moving to the other end face, and acquiring the coordinate information of the other two target points C, D by the same method; simultaneously recording the position information of the camera at the four measuring points under the machine tool coordinate system;
second, the workpiece attitude is resolved
Automatically adjusting, converting coordinate system, and defining machine coordinate system as x 0 ，y 0 ，z 0 Tool coordinate system x 1 ，y 1 ，z 1 Visual coordinate system x 2 ，y 2 ，z 2 ；
Firstly, a visual coordinate system x is set 2 ，y 2 ，z 2 Conversion to machine coordinate system x 0 ，y 0 ，z 0 (ii) a Let the coordinate of the origin of the visual coordinate system, i.e. the position of the binocular vision measuring unit, in the machine tool coordinate system be a 1i ，b 1i ，c 1i Then, 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 (I), the compound is shown in the specification, A0 p is the coordinate of the point A in the machine tool coordinate system, A2 p is the coordinate of the point A in the visual coordinate system, a 1i ，b 1i ，c 1i Respectively are coordinates of the origin of the camera coordinate system under the coordinate system of the machine tool;
respectively calculating coordinates of four points, respectively calculating a point A, a point B, a point C and a point D according to a formula (1) and a formula (2), and converting to obtain new coordinates:
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 、c 12 Equal, c 13 、c 14 Is equal to a 11 、a 12 Is equal to a 13 、a 14 Equal;
machine tool coordinate system x 0 ，y 0 ，z 0 Conversion to tool coordinate system x 1 ，y 1 ，z 1 (ii) a The coordinate of the original point of the tool coordinate system in the machine tool coordinate system is a 2 ，b 2 ，c 2 By adopting the same method, the method has the advantages that,the new coordinates obtained by conversion:
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
the angle to be adjusted of each axis is solved through coordinate conversion, and the result is as follows:
c axis:
and a B axis:
an A axis:
wherein l is the length of the workpiece, h AC A, C is the height difference between;
thirdly, automatically adjusting the tool execution process
The communication between the binocular vision measuring unit and the tool is realized through an industrial personal computer, and the connection is established; firstly, adjusting C-axis error to a specified position, and fixing the C-axis error through a C-axis locking mechanism 15; secondly, B-axis error adjustment is carried out, the platform is adjusted to a proper angle through a lead screw 801 and a sliding block 802, and the platform is locked through a B-axis locking mechanism 9; finally, the error of the shaft A is adjusted, the shaft A is rotated to a proper position through the shaft A transmission mechanism 2, the hydraulic rod 501 extends out to lock the platform, and the tool is adjusted to a proper position.
The invention has the beneficial effects that: the three-axis automatic posture adjusting tool can realize automatic measurement and posture adjustment of the integral clamping posture of a large-size structural member, and is simple to operate, efficient and high in precision; the whole structure is compact, and the device is suitable for installing a numerical control machine tool with small available space; the high-rigidity structural design and the auxiliary locking mechanism improve the reliability and safety of numerical control machining.
Drawings
Fig. 1 is a schematic view of a large-size three-axis automatic posture adjustment tool.
Fig. 2 is a schematic view of an a-axis rotation unit.
Fig. 3 is a schematic view of the transmission mechanism of the a-axis rotating unit.
FIG. 4 is a cross-sectional view of a large-sized three-axis automatic posture adjustment tool.
In the figure: the base I, IIA axle rotating unit, IIIB axle rotating unit, IVC axle rotating unit, 1A axle servo motor, 2A axle drive mechanism, 3A axle rotary platform, 4 supporting mechanism, 5A axle locking mechanism, 6B axle motor mounting panel, 7B axle servo motor, 8B axle drive mechanism, 9B axle locking mechanism, 10 play to rise the platform, 11C axle servo motor, 12 ring flanges, 13 bearings, 14C axle rotary platform, 15C axle locking mechanism.
Detailed Description
The following describes embodiments of the present invention in detail with reference to the drawings and technical solutions, but the scope of the present invention is not limited thereto.
Fig. 1 is a schematic view of a large-size three-axis automatic posture adjustment tool. The automatic posture adjusting tool comprises a base I, an A-axis rotating unit II, a B-axis rotating unit III and a C-axis rotating unit IV. Wherein, base I is used for frock and lathe to be connected, realizes the fixed of frock.
Fig. 2 is a schematic view of an a-axis rotation unit, and fig. 3 is a schematic view of a transmission mechanism of the a-axis rotation unit. The A-axis rotating unit II comprises a servo motor 1, an A-axis transmission mechanism 2, an A-axis rotating platform 3, a supporting mechanism 4 and an A-axis locking mechanism 5. The servo motor 1 is horizontally arranged, and the transmission mechanism 2 consists of a worm 201, a worm wheel 202, a rolling bearing 203 and a driving gear 204. The worm 201 is connected with an output shaft of the servo motor through a coupler, and the direction of movement is changed through transmission of a worm gear and a worm. The worm gear 202, the rolling bearing 203 and the driving gear 204 are coaxially arranged to realize motion transmission, and the driving gear 204 is meshed with the rotary platform 3 through gear teeth to drive the platform to rotate around a shaft. The supporting mechanism 4 is composed of a pin 401 and a roller 402, and the roller 402 is used for supporting the rotary platform 3 to realize the stable rotation of the rotary platform 3. The A-axis locking mechanism 5 is composed of a hydraulic rod 501 and a hydraulic cylinder 502, two groups of locking mechanisms are respectively arranged at two ends of the rotary platform 3, when the rotary platform 3 is adjusted to a specified position, the hydraulic rod 501 extends out and the electromagnetic band-type brake locks the platform 3, and platform locking is achieved.
FIG. 4 is a cross-sectional view of a large-sized three-axis automatic posture adjustment tool. The B-axis rotating unit II comprises 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 arranged on the B-axis motor mounting frame 6 and provides driving force. The transmission system 8 consists of a lead screw 801 and a wedge-shaped sliding block 802, two ends of the lead screw 801 are fixed on the B-axis motor mounting plate 6 through bearings, the upper wedge-shaped sliding block 802 is connected with the lifting platform 10 through a pin shaft, and the lower wedge-shaped sliding block 802 moves along 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 a designated position, and the position of the lifting platform 10 is locked through the locking mechanisms and the electromagnetic band-type brakes.
The C-axis rotating unit IV comprises 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 and provides driving force. The flange plate 12 is connected with a motor shaft to realize the rotation of the rotary platform. C axle rotary platform on lie in I top of base, 3 belows on the A axle rotary platform link to each other through bearing 13 with base I. The locking mechanism 15 is composed of a T-shaped screw 151 and a groove 152, and four corners of the C-axis rotary platform 14 are respectively provided with a group, and the C-axis rotary platform 14 is locked by screwing the screw and the electromagnetic band-type brake.
First step of detecting workpiece attitude
The workpiece attitude is acquired through the binocular vision measuring unit, two vision mark points are required to be arranged at two ends of a machined workpiece in advance, the binocular vision measuring unit is moved to one end of the workpiece, moved to a proper position to acquire coordinate information of a target point A, and then moved to the other end along a B axis to acquire coordinate information of another target point B on the same end face. Then, the two end faces are moved to acquire coordinate information of the other two target points C, D in the same way. And simultaneously recording the position information of the camera at the four measuring points under the machine tool coordinate system.
Second step workpiece attitude resolution
Take an oil tank cabin with a length of 3000mm and a diameter of 600mm as an example.
Before settlement, a unified coordinate system is needed, and a machine coordinate system (x) is defined 0 ，y 0 ，z 0 ) Tool coordinate System (x) 1 ，y 1 ，z 1 ) Visual coordinate system (x) 2 ，y 2 ，z 2 )。
Firstly, a visual coordinate system (x) 2 ，y 2 ，z 2 ) Conversion to machine coordinate system (x) 0 ，y 0 ，z 0 ). Let the coordinate of the origin of the vision coordinate system (i.e. the position of the binocular vision measuring unit) in the machine tool coordinate system be (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 vision coordinate system (i.e. the position of the binocular vision measuring unit) in the machine tool coordinate system are:
A′(100，100，300)，B′(100，500，300)
C′(4000，200，200)，D′(4000，400，200)
and (3) converting and calculating coordinates of four points, calculating the point A, the point B, the point C and the point D according to a formula (1) and a formula (2), and converting to obtain new coordinates: 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 required to be adjusted can be solved according to the formula (3), the formula (4) and the formula (5), and the result is as follows:
c axis α is 0.057 °, B axis β is 0.19 °, a axis γ is 0.76 °
Thirdly, automatically adjusting the tool execution process
The binocular vision measuring unit is communicated with the posture adjusting tool to establish connection. Firstly, adjusting C-axis error to a specified position, and fixing the C-axis error through a locking mechanism; secondly, adjusting the error of the B axis, adjusting the platform to a proper angle through a lead screw and a sliding block, and locking the platform through a locking mechanism; and finally, adjusting the error of the shaft A, rotating the shaft A to a proper position through the transmission of a worm gear and a gear, locking the platform by extending the hydraulic rod, and adjusting the tool to the proper position.
The large-size three-axis automatic posture adjusting tool provided by the invention solves the problems of low precision and poor reliability of manually clamping complex components, and realizes automatic identification and automatic adjustment of workpieces. The device has the characteristics of high precision, high rigidity, good reliability, compact structure and the like.
Claims (1)
1. A posture adjusting method based on a large-size three-axis automatic posture adjusting tool is characterized in that the large-size three-axis automatic posture adjusting tool comprises a base (I), an A-axis adjusting unit (II), a B-axis adjusting unit (III) and a C-axis rotating unit (IV);
the base (I) is used for connecting the large-size three-axis automatic posture adjusting tool with a machine tool to realize the fixation of the tool;
the A-axis adjusting unit (II) comprises an A-axis servo motor (1), an A-axis transmission mechanism (2), an A-axis rotating platform (3), a supporting mechanism (4) and an A-axis locking mechanism (5);
the A-axis servo motor (1) is horizontally arranged; the A-axis transmission mechanism (2) mainly comprises a worm (201), a worm wheel (202), a rolling bearing (203) and a driving gear (204), wherein the worm (201) is connected with an output shaft of the A-axis servo motor (1) through a coupler, and the worm wheel (202) and the worm (201) are used for transmission to realize movement direction change; the worm gear (202), the rolling bearing (203) and the driving gear (204) are coaxially arranged to realize motion transmission; the driving gear (204) is meshed with the shaft A rotating platform (3) through gear teeth to drive the shaft A rotating platform (3) to rotate; the supporting mechanism (4) mainly comprises a pin shaft (401) and a roller (402), and the roller (402) is used for supporting the A-axis rotating platform (3) to realize the stable rotation of the A-axis rotating platform (3); the A-axis locking mechanism (5) consists of a hydraulic rod (501) and a hydraulic cylinder (502), two groups of locking mechanisms are respectively arranged at two ends of the A-axis rotating platform (3), when the A-axis rotating platform (3) is adjusted to a specified position, the hydraulic rod (501) extends out and the electromagnetic band-type brake locks the A-axis rotating platform (3), so that the locking of the A-axis rotating platform (3) is realized;
the B-axis adjusting unit (III) comprises 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 arranged on the B-axis motor mounting plate (6) and provides driving force; the B-axis transmission mechanism (8) mainly comprises a lead screw (801) and two wedge-shaped sliding blocks (802), two ends of the lead screw (801) are fixed on a B-axis motor mounting plate (6) through bearings, the upper wedge-shaped sliding block (802) is connected with the lifting platform (10) through a pin shaft, the lower wedge-shaped sliding block (802) moves along with the lead screw (801), and the two wedge-shaped sliding blocks (802) are matched to realize the rotation of the lifting platform (10); two sets of B-axis locking mechanisms (9) are arranged at one end of the lifting platform (10), the lifting platform (10) is adjusted to a specified position, and the position of the lifting platform (10) is locked through the B-axis locking mechanisms (9) and the electromagnetic band-type brake;
the C-axis rotating unit (IV) comprises a C-axis servo motor (11), a flange plate (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 arranged on the C-axis rotary platform (14) and provides driving force; the flange plate (12) is connected with a motor shaft to realize the rotation of the C-axis rotary platform (14); the C-axis rotary platform (14) is positioned 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) mainly comprises T-shaped screws (151) and grooves (152), four corners of the C-axis rotary platform (14) are respectively provided with one group, and the C-axis rotary platform (14) is locked by screwing the screws and the electromagnetic band-type brakes;
the posture adjusting method is based on binocular vision measurement information and precise regulation and control of a servo motor, and automatic identification and automatic adjustment are achieved; the specific steps of the tool for automatically adjusting the posture are as follows:
first, detecting the attitude of the workpiece
Acquiring the posture of a workpiece through a binocular vision measuring unit, wherein two vision mark points are required to be arranged at two ends of the workpiece to be processed in advance, the binocular vision measuring unit is moved to one end of the workpiece and moved to a proper position to acquire coordinate information of a target point A, and then the target point A is horizontally moved to the other end to acquire coordinate information of another target point B on the same end face; then moving to the other end face, and acquiring the coordinate information of the other two target points C, D by the same method; simultaneously recording the position information of the camera at the four measuring points under the machine tool coordinate system;
second, the workpiece attitude is resolved
Automatically adjusting, converting coordinate system, and defining machine coordinate system (x) 0 ，y 0 ，z 0 ) Tool coordinate system (x) 1 ，y 1 ，z 1 ) Visual coordinate system (x) 2 ，y 2 ，z 2 )；
Firstly, a visual coordinate system (x) 2 ，y 2 ，z 2 ) Conversion to machine coordinate system (x) 0 ，y 0 ，z 0 ) (ii) a Let the origin of the vision coordinate system, i.e. the coordinate of the position of the binocular vision measuring unit in the machine tool coordinate system be (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 (I), the compound is shown in the specification, A0 p is the coordinate of the point A in the machine tool coordinate system, A2 p is the coordinate of the point A in the visual coordinate system, a 1i ，b 1i ，c 1i Respectively are coordinates of the origin of the camera coordinate system under the coordinate system of the machine tool;
respectively calculating coordinates of four points, respectively calculating a point A, a point B, a point C and a point D according to a formula (1) and a formula (2), and converting to obtain new coordinates:
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 、c 12 Equal, c 13 、c 14 Is equal to a 11 、a 12 Equal, a 13 、a 14 Equal;
machine coordinate system (x) 0 ，y 0 ，z 0 ) Conversion to tool coordinate system (x) 1 ，y 1 ，z 1 ) (ii) a The coordinate of the origin of the tool coordinate system in the machine tool coordinate system is (a) 2 ，b 2 ，c 2 ) And by adopting the same method, converting the obtained 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 )
the angle to be adjusted of each axis is solved through coordinate conversion, and the result is as follows:
c axis:
and a B shaft:
an A axis:
wherein l is the length of the workpiece, h AC A, C;
thirdly, automatically adjusting the tool execution process
The communication between the binocular vision measuring unit and the tool is realized through an industrial personal computer, and the connection is established; firstly, adjusting the error of the C axis to a specified position, and fixing the C axis through a C axis locking mechanism (15); secondly, adjusting the error of the B axis, adjusting the platform to a proper angle through a lead screw (801) and a wedge-shaped sliding block (802), and locking through a B axis locking mechanism (9); and finally, adjusting the error of the shaft A, rotating the shaft A to a proper position through the shaft A transmission mechanism (2), locking the platform by extending the hydraulic rod (501), and adjusting the tool to the proper position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110972993.9A CN113714829B (en) | 2021-08-24 | 2021-08-24 | Large-size three-axis automatic posture adjustment tool design and operation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110972993.9A CN113714829B (en) | 2021-08-24 | 2021-08-24 | Large-size three-axis automatic posture adjustment tool design and operation method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113714829A CN113714829A (en) | 2021-11-30 |
| CN113714829B true CN113714829B (en) | 2022-09-06 |
Family
ID=78677536
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110972993.9A Active CN113714829B (en) | 2021-08-24 | 2021-08-24 | Large-size three-axis automatic posture adjustment tool design and operation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113714829B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116616696A (en) * | 2022-02-14 | 2023-08-22 | 北京鹰瞳科技发展股份有限公司 | Three-coordinate supporting platform of fundus camera and fundus camera |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5972727A (en) * | 1982-10-19 | 1984-04-24 | Matsushita Electric Ind Co Ltd | Positioning table |
| JPH10138075A (en) * | 1996-09-13 | 1998-05-26 | Fuji Seiki Kk | Work attitude adjusting device, adjusting tool, and adjusting method |
| JP2003005811A (en) * | 2001-06-26 | 2003-01-08 | Mori Seiki Co Ltd | Method and program for generating 6-axis control nc program, generating device and computer readable recording medium with the program stored therein |
| KR20060076731A (en) * | 2004-12-28 | 2006-07-04 | 도요다 지도샤 가부시끼가이샤 | Attitude control device and precision machining apparatus |
| JP2006305651A (en) * | 2005-04-26 | 2006-11-09 | Olympus Corp | Workpiece holding device and adjustment method for workpiece holding position |
| JP2012014335A (en) * | 2010-06-30 | 2012-01-19 | Fanuc Ltd | Numerical controller for multi-spindle processing machine |
| JP2012033203A (en) * | 2011-11-14 | 2012-02-16 | Makino Milling Mach Co Ltd | Numerical control machine tool |
| CN103204249A (en) * | 2013-03-25 | 2013-07-17 | 大连理工大学 | Multi-shaft posture adjusting platform for airplane engine mounting |
| CN205394043U (en) * | 2016-03-10 | 2016-07-27 | 华中科技大学 | Four degree of freedom milling fixtures |
| CN106425531A (en) * | 2016-12-07 | 2017-02-22 | 深圳市策维科技有限公司 | Position adjusting device |
| CN109531205A (en) * | 2018-12-28 | 2019-03-29 | 中国科学院宁波材料技术与工程研究所 | The double rotary table bases of orthogonal formula can be rotated numerical control clamp system and its regulation method |
| CN111571171A (en) * | 2020-06-04 | 2020-08-25 | 哈尔滨理工大学 | Automatic flexible assembling device and method for barrel type cabin sections |
| CN111618611A (en) * | 2020-06-03 | 2020-09-04 | 北京汉飞航空科技有限公司 | Automatic alignment machining turntable of machine tool and machining method |
-
2021
- 2021-08-24 CN CN202110972993.9A patent/CN113714829B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5972727A (en) * | 1982-10-19 | 1984-04-24 | Matsushita Electric Ind Co Ltd | Positioning table |
| JPH10138075A (en) * | 1996-09-13 | 1998-05-26 | Fuji Seiki Kk | Work attitude adjusting device, adjusting tool, and adjusting method |
| JP2003005811A (en) * | 2001-06-26 | 2003-01-08 | Mori Seiki Co Ltd | Method and program for generating 6-axis control nc program, generating device and computer readable recording medium with the program stored therein |
| KR20060076731A (en) * | 2004-12-28 | 2006-07-04 | 도요다 지도샤 가부시끼가이샤 | Attitude control device and precision machining apparatus |
| JP2006305651A (en) * | 2005-04-26 | 2006-11-09 | Olympus Corp | Workpiece holding device and adjustment method for workpiece holding position |
| JP2012014335A (en) * | 2010-06-30 | 2012-01-19 | Fanuc Ltd | Numerical controller for multi-spindle processing machine |
| JP2012033203A (en) * | 2011-11-14 | 2012-02-16 | Makino Milling Mach Co Ltd | Numerical control machine tool |
| CN103204249A (en) * | 2013-03-25 | 2013-07-17 | 大连理工大学 | Multi-shaft posture adjusting platform for airplane engine mounting |
| CN205394043U (en) * | 2016-03-10 | 2016-07-27 | 华中科技大学 | Four degree of freedom milling fixtures |
| CN106425531A (en) * | 2016-12-07 | 2017-02-22 | 深圳市策维科技有限公司 | Position adjusting device |
| CN109531205A (en) * | 2018-12-28 | 2019-03-29 | 中国科学院宁波材料技术与工程研究所 | The double rotary table bases of orthogonal formula can be rotated numerical control clamp system and its regulation method |
| CN111618611A (en) * | 2020-06-03 | 2020-09-04 | 北京汉飞航空科技有限公司 | Automatic alignment machining turntable of machine tool and machining method |
| CN111571171A (en) * | 2020-06-04 | 2020-08-25 | 哈尔滨理工大学 | Automatic flexible assembling device and method for barrel type cabin sections |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113714829A (en) | 2021-11-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20230250501A1 (en) | Robot machining system and control method for ultrasonic surface rolling process of aircraft engine blade | |
| CN110103116B (en) | Active and passive compliant grinding and polishing device adaptive to postures and grinding and polishing robot | |
| WO2021135425A1 (en) | Multi-degree-of-freedom numerical control turntable | |
| CN100534701C (en) | Flexible locating cramping apparatus controlled by servo | |
| CN1562557A (en) | Elevated platform type automatic processing center of lathe and milling machine of five shafts | |
| CN113714829B (en) | Large-size three-axis automatic posture adjustment tool design and operation method | |
| CN111438676B (en) | Mirror image machining auxiliary supporting robot for thin-wall component and following supporting method thereof | |
| CN102757186B (en) | High-precision five-axis ion beam machining device with high dynamic performance and control method thereof | |
| CN111085703A (en) | High-precision rapid hole making equipment and hole making method for metal shell structure | |
| CN109291051B (en) | Angle sensor-based closed-loop control method for tail end attitude of series-parallel robot | |
| CN113695646A (en) | Machining device for full-surface micro-pit structure of thin-wall spherical shell type micro component | |
| CN112317776A (en) | Novel numerical control polyhedron center | |
| CN213561298U (en) | Five-freedom-degree series-parallel machine tool for machining large-area workpieces | |
| CN113386015B (en) | Multi-axis motion and series manipulator compound drive four-mirror polishing machine tool | |
| CN215093568U (en) | Automatic industrial robot based on single flexible track | |
| TWI544982B (en) | A multi-axis hybrid machine tool capable of maintaining operation at an optimum operating plane and a spherical joint | |
| CN115647235A (en) | Multi-degree-of-freedom radial envelope forming equipment for thin-wall high-rib ring cylinder | |
| CN115673788A (en) | Double-fork AB swing double-arm structure with W shaft and double-fork AB swing | |
| CN215942330U (en) | Robot system for machining hole series of large-size steel plate | |
| CN111844071B (en) | Mobile deep hole in-situ machining robot | |
| CN112318183B (en) | Large-stroke five-degree-of-freedom series-parallel machine tool | |
| CN114769686A (en) | Mirror image milling equipment and method for large-scale rotary spherical thin-walled part | |
| CN111571336B (en) | Surface grinding machine and numerical control four-corner base plate machining device thereof | |
| CN113173500A (en) | Lifting lodging mechanism and control method thereof | |
| CN115401448B (en) | Flexible butt joint device and method for spline shaft and spline hole |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |