CN115235383A - A method for detecting and debugging the orthogonality of space cross guides - Google Patents

Abstract

The invention discloses a method for detecting and debugging the orthogonality of a space cross guide rail. The invention first measures a reference plane to establish a coordinate system by means of a laser tracker, measures A and B guide rails, and adjusts the straightness of the guide rails to be parallel to the reference plane; Use the laser tracker to measure the spatial coordinate points within the moving range of the A and B guide rails to fit the XY plane, move the A and B guide rails to the center to form an orthogonal, and use the laser tracker to measure the straight lines of the A and B guide rails and fit the A and B guide rails. The straightness of the guide rail and the intersection point, establish a space coordinate system through the XY plane, the intersection point and the A straight line, adjust the orthogonality of the B guide rail relative to the A guide rail according to the real-time position coordinates until the requirements are met, and finally re-check. The invention uses the space measurement accuracy of the laser tracker to perform on-site detection and debugging of the orthogonal relationship of the cross double guide rail in space, and has high detection accuracy and convenient operation.

Description

A detection and debugging method for the orthogonality of space cross guides

technical field

The invention belongs to the field of detection, and in particular relates to a detection and debugging method for the orthogonality of a space cross guide rail.

Background technique

At present, the fields of precision machinery, ships, aerospace and other fields are developing rapidly. The demand for large-scale precision two-dimensional and three-dimensional motion systems is increasing, and the geometric parameters of the motion systems are also getting higher and higher. However, it is also a huge challenge for the method of in-situ detection and debugging. The traditional method using standard ruler and dial gauge detection method can no longer meet the needs. Modern detection equipment laser tracker has the advantages of fast installation, high precision, high efficiency, and can be implemented. The advantages of in-situ detection and other advantages have been widely used in various industries. The measurement method of this equipment is to move the target ball continuously and contact the outline of the product under test. The laser head collects the space position coordinates of the target ball in real time, and calculates and analyzes it through powerful software. Geometric parameters.

By means of the space measurement technology of the laser tracker, the invention solves the in-situ detection and debugging of the movement straightness and the orthogonality of the cross guide rail, can ensure the detection precision and accuracy, effectively reduces the development cycle of the product at this stage, and saves time and cost .

SUMMARY OF THE INVENTION

In order to solve the problem that the 1.2m two-dimensional motion worktable is parallel to the reference plane when moving at any position in the XY plane, and the guide rails can be crossed and moved in the working range of the A and B guide rails to ensure that the guide rails are orthogonal to each other, the invention provides a The detection and debugging method of the orthogonality of the space cross guide.

The technical scheme adopted in the present invention is: a method for detecting and debugging the orthogonality of a space cross guide rail, which is realized according to the following steps:

Step 1: Install the A linear guide rail laterally on the reference surface, use the laser tracker combined with the target ball to measure the reference surface and establish the first Cartesian Cartesian coordinate system on the surface, and display the measured and Debug the straightness of the A linear guide, and the parallelism between the A linear guide and the reference plane;

Step 2: Install the B linear guide rail longitudinally on the reference plane, so that the A and B linear guide rails are in a crisscross state;

Step 3: According to the real-time display value of the first Cartesian coordinate system, the straightness of the slider stroke of the B linear guide rail is adjusted, and the B linear guide rail is parallel to the reference plane at the same time;

Step 4: Recheck and debug the A and B linear guides, so that the A and B linear guides are parallel to the reference plane within the two-dimensional motion range;

Step 5: Use the laser tracker to evenly distribute a plurality of measurement points on the XY plane formed by the motion of the A and B linear guides, and fit the XY flatness according to the measurement results; then use the laser tracker to measure the A and B straight lines in turn A plurality of measurement points 2 evenly distributed on the guide rail, and the straightness of the A and B linear guide rails, and the cross point of the center of the two linear guide rails are respectively fitted according to the measurement data; the number distribution of the measurement point 1 and measurement point 2 Determined according to the range and accuracy of the guide rail stroke;

Step 6: Determine the +Z axis perpendicular to the XY plane, where the cross point of the center of the A and B linear guide rails is the coordinate origin, determine the +X axis direction with the A linear guide rail direction, and establish a second Cartesian Cartesian coordinate system;

Step 7: Under the second Cartesian Cartesian coordinate system, continuously debug the position deviation value of the B linear guide rail so that it is orthogonal to the A linear guide rail;

Step 8: Check the orthogonality of the linear guide rails A and B.

Further, in step 1, install the laser tracker on the side of the A linear guide, fix the target base on the slider of the A linear guide and place the target ball, scan and measure the datum plane and the straightness of the A linear guide, and according to the established The first Cartesian Cartesian coordinate information sequentially performs rough adjustment and fine adjustment on the straightness of the A linear guide rail and the parallelism of the reference plane until the requirements are met.

Further, in step 2, the cross drive grooves at the bottom of the slider are respectively connected to the A and B linear guide rails, and the A and B linear guide rails are driven by the air float to drive the slider to perform single-axis linear motion or two-axis two-dimensional linkage.

Further, in step 5, the XY plane of the two-dimensional motion range is obtained as the reference plane, specifically: evenly distributing three measurement lines on the A linear guide rail and the B linear guide rail respectively to form a rectangular grid measurement path, the uniform measurement is more Point and fit the XY plane, move the two guide rails at the center of the XY plane and form a cross state, measure the A and B linear guide rails in this state and project the fitted two guide rail lines and intersection points to the reference plane vertically In order to ensure the correct fitting and analysis of the measurement parameters, and the correct establishment of the normal, direction and origin of the coordinate system, and ensure the repeatability and validity of the parameter measurement under the unified coordinates.

Further, the first measurement point is 32; the measurement point two is 11 measurement points for the A and B linear guide rails respectively.

Further, in step 6, the established second Cartesian Cartesian coordinate system is the coordinates established under the actual use state of the A and B linear guide rails, wherein the A linear guide rail direction can be interchanged with the B linear guide rail direction, and the +X The axis directions are interchanged to the +Y axis direction.

Further, in step 7, the real-time XYZ position coordinate display value is called up by the laser tracker, and the yaw lock nut of the B linear guide rail is debugged until the offset of the coordinate value of the B linear guide rail is corrected so that the B linear guide rail is orthogonal to the A linear guide rail. .

Further, in step 8, the XY plane, straightness, and intersection formed by the two-dimensional motion of A and B linear guide rails are re-collected to establish a third Cartesian right-angle system, and step 7 is repeated to detect and debug until A, B straight line. The guide rail moves orthogonally in the XY plane.

The advantages of the present invention compared with the prior art are:

1. Since the large-size linear motion guide rail is installed inside the narrow equipment as a moving table, and it is necessary to solve the geometric parameters and positional accuracy between the mutual two-dimensional table motions, the traditional standard ruler, angle ruler and dial indicator are used. It is very difficult to carry out adjustment and inspection in place by traditional means such as laser straightness, autocollimator, laser interferometer and other precision measurement equipment and operators if professional equipment is used, so the inspection procedure is cumbersome and the cost is high;

2. The method of the present invention effectively solves the problem of in-situ detection and real-time dynamic monitoring and debugging of the geometric parameters and positional accuracy of the guide rail (such as the straightness of the guide rail, mutual perpendicularity, mobile positioning accuracy and repeated positioning) by means of the spatial coordinate detection technology of the laser tracker. Accuracy) improves the detection, debugging accuracy and work efficiency of the entire guide rail motion system;

3. The method of the present invention is to debug the geometric accuracy of the single linear guide and then to the orthogonal accuracy of the double rails in turn by the two-dimensional linear guide motion system, so that the double guides can have good linearity when moving at any position in the XY plane space. with quadrature precision.

Description of drawings

1 is a schematic diagram of a method for detecting and debugging the orthogonality of a space cross guide;

FIG. 2 is a detection diagram of a method for detecting and debugging the orthogonality of a space cross guide.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings and specific implementation manners. Implementation process: By using the method of the present invention, the in-situ detection and debugging process of the straightness and orthogonality of the 1.2m×1.2m linear motion guide rail is described in detail.

Do it as follows:

Step 1: Install the A linear guide rail on the reference surface horizontally as shown in Figure 1, use the laser tracker combined with the target ball to measure the reference surface and establish the first Cartesian Cartesian coordinate system on the surface, and use the laser tracker to measure the reference surface according to the coordinate system. Real-time display value to measure and debug the straightness of the A linear guide, as well as the parallelism of the A linear guide and the reference plane;

Among them, the laser tracker is installed on the side of the A linear guide, the target base is fixed on the slider of the A linear guide and the target ball is placed, the datum plane and the straightness of the A linear guide are scanned and measured, and according to the established first Cartesian Cartesian coordinates The information sequentially adjusts the straightness of the linear guide A and the parallelism of the reference plane roughly and finely until the requirements are met.

Step 2: Install the B linear guide rail longitudinally on the reference plane, so that the A and B linear guide rails are in a crisscross state;

Among them, the cross drive slots at the bottom of the slider are respectively connected to the A and B linear guide rails, and the A and B linear guide rails are driven by the air-floating drive slider to perform single-axis linear motion or two-axis two-dimensional linkage.

Step 3: According to the displayed value of the coordinate system, adjust the straightness of the full stroke of the B linear guide slider and make it parallel to the reference plane;

Step 4: The two-dimensional motion range of the linear guide rails A and B is parallel to the reference plane for re-inspection and debugging;

Step 5: As shown in Figure 2, 32 measurement points are evenly distributed on the XY plane formed by the motion of the A and B linear guide rails by the laser tracker, and the XY flatness is fitted according to the measurement results; A and B linear guides are evenly distributed with 11 points for each measurement, and the straightness of A and B linear guides, as well as the cross point of the center of the two linear guides, are fitted according to the measurement data respectively;

Wherein, the XY plane and the distribution of the number of measurement points on the A and B linear guide rails are determined according to the travel range and accuracy of the guide rail; the XY plane for obtaining the two-dimensional motion range is used as the reference plane, specifically: respectively A and B On the plane formed by the motion range of the linear guide, three lines are evenly distributed to form a rectangular grid measurement path. When moving the two guides at the center of the XY plane, they need to be in a crisscross state. The straight line and intersection point of the two guide rails are vertically projected onto the reference plane to ensure the correct fitting and analysis of the measurement parameters, and the correct establishment of the normal, direction, and origin of the coordinate system, and to ensure the repeatability of the parameter measurement under the unified coordinates sex and effectiveness.

Step 6: Determine the +Z axis perpendicular to the XY plane, where the cross point of the center of the A and B linear guide rails is the coordinate origin, determine the +X axis direction with the A linear guide rail direction, and establish a second Cartesian Cartesian coordinate system;

Among them, the established second Cartesian Cartesian coordinate system is the coordinate established under the simulation of the actual use state of the A and B linear guides. The direction of the A linear guide can be interchanged with the direction of the B linear guide, and the +X axis direction can be exchanged as +Y-axis direction.

Step 7: Under the second Cartesian Cartesian coordinate system, continuously debug the position deviation value of the B linear guide rail so that it is orthogonal to the A linear guide rail;

Among them, the real-time XYZ position coordinate display value is called out through the laser tracker, and the yaw lock nut of the B linear guide rail is debugged until the offset of the coordinate value of the B linear guide rail is corrected so that the B linear guide rail is orthogonal to the A linear guide rail;

Step 8: Check the orthogonality of the linear guide rails A and B.

Among them, in the third Cartesian Cartesian coordinate system established by re-collecting the XY plane, straightness, and intersection point formed by the two-dimensional motion of the A and B linear guides, repeat step 7 to detect and debug until the A and B linear guides are in the XY plane. The range of motion is orthogonal.

The well-known technologies in the art involved in the present invention are not described in detail.

Claims (8)

1. A method for detecting and debugging orthogonality of a spatial cross guide rail is characterized by comprising the following steps:

the method comprises the following steps: transversely installing the linear guide rail A on a datum plane, measuring the datum plane by using a laser tracker combined with a target ball and establishing a first Cartesian rectangular coordinate system on the datum plane, and measuring and debugging the straightness of the linear guide rail A and the parallelism of the linear guide rail A and the datum plane according to a real-time display value of the coordinate system by using the laser tracker;

step two: longitudinally installing the linear guide rail B on the reference surface to enable the linear guide rails A and B to be in a cross state;

step three: debugging the stroke straightness of the sliding block of the linear guide rail B according to the real-time display value of the first Cartesian rectangular coordinate system, and simultaneously debugging that the linear guide rail B is parallel to a reference surface;

step four: the linear guide rails A and B are rechecked and debugged, so that the linear guide rails A and B are parallel to the reference surface in a two-dimensional motion range;

step five: uniformly distributing a plurality of first measurement points on an XY plane formed by the movement of the linear guide rails A and B through a laser tracker, and fitting the XY plane degree according to the measurement result; sequentially measuring a plurality of second measuring points uniformly distributed on the linear guide rails A and B by using a laser tracker, and respectively fitting the straightness of the linear guide rails A and B and the cross point of the centers of the two linear guide rails according to the measured data; the number distribution of the first measuring points and the second measuring points is determined according to the range and the precision of the guide rail stroke;

step six: determining a + Z axis by taking the X-axis direction perpendicular to the XY plane, wherein a central cross point of the A linear guide rail and the B linear guide rail is taken as a coordinate origin, determining the + X axis direction by taking the A linear guide rail direction, and establishing a second Cartesian rectangular coordinate system;

step seven: continuously debugging the position deviation value of the linear guide rail B under the second Cartesian rectangular coordinate system to enable the position deviation value to be orthogonal to the linear guide rail A;

step eight: and detecting the orthogonality of the linear guide rails A and B of the retest.

2. The method for detecting and debugging the orthogonality of the spatial cross guide rails according to claim 1, wherein: in the first step, the laser tracker is arranged beside the linear guide rail A, a target seat is fixed on a sliding block of the linear guide rail A, a target ball is placed on the sliding block of the linear guide rail A, a measuring reference surface and the straightness of the linear guide rail A are scanned, and the straightness of the linear guide rail A and the parallelism of the reference surface are subjected to coarse adjustment and fine adjustment in sequence according to the established first Cartesian rectangular coordinate information until the requirements are met.

3. The method for detecting and debugging the orthogonality of the spatial cross guide rail according to claim 1, wherein: and in the second step, the cross-shaped driving grooves at the bottoms of the sliding blocks are respectively connected to the linear guide rails A and B, and the sliding blocks are driven by air floatation to drive the linear guide rails A and B to do single-axis linear motion or double-axis two-dimensional linkage.

4. The method for detecting and debugging the orthogonality of the spatial cross guide rails according to claim 1, wherein: and step five, acquiring an XY plane of the two-dimensional motion range as a reference plane, specifically: three measuring lines are uniformly distributed on the linear guide rail A and the linear guide rail B respectively to form a rectangular grid measuring path, multiple points are uniformly distributed and measured, XY planeness is fitted, the two guide rails are moved to the center positions of an XY plane and are in a cross state, the linear guide rail A and the linear guide rail B are measured in the state, the straight line and the cross point of the two guide rails which are fitted are vertically projected onto the reference plane, so that correct fitting analysis of measured parameters is ensured, the normal direction, the direction and the original point of a coordinate system are correctly established, and the measuring repeatability and the effectiveness of the parameters are ensured under the unified coordinate.

5. The method for detecting and debugging the orthogonality of the spatial cross guide rail according to claim 1, wherein: the number of the first measuring points is 32; and the second measuring point is 11 for the linear guide rails A and B respectively.

6. The method for detecting and debugging the orthogonality of the spatial cross guide rail according to claim 1, wherein: and sixthly, establishing a second Cartesian rectangular coordinate system which is a coordinate established under the condition of simulating the practical use state of the linear guide rails A and B, wherein the direction of the linear guide rail A can be interchanged with the direction of the linear guide rail B, namely, the direction of the + X axis can be interchanged into the direction of the + Y axis.

7. The method for detecting and debugging the orthogonality of the spatial cross guide rail according to claim 1, wherein: and seventhly, calling out a real-time XYZ position coordinate display value through a laser tracker, and debugging the B linear guide rail deflection locking nut until the coordinate value deviation of the B linear guide rail is corrected so that the B linear guide rail is orthogonal to the A linear guide rail.

8. The method for detecting and debugging the orthogonality of the spatial cross guide rails according to claim 1, wherein: and step eight, repeating the step seven under the condition that a third Cartesian right-angle coordinate system is established by re-collecting XY planes, straightness and intersection points formed by the two-dimensional motion of the linear guide rails A and B, and detecting and debugging until the linear guide rails A and B move orthogonally in the XY plane range.

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