CN116175275B

CN116175275B - Method, equipment and system for adjusting position degree of part

Info

Publication number: CN116175275B
Application number: CN202310497143.7A
Authority: CN
Inventors: 袁雨杰; 孙锦文
Original assignee: Jatco Suzhou Automatic Transmission Co ltd
Current assignee: Jatco Suzhou Automatic Transmission Co ltd
Priority date: 2023-05-05
Filing date: 2023-05-05
Publication date: 2023-08-04
Anticipated expiration: 2043-05-05
Also published as: CN116175275A

Abstract

The application relates to a method, equipment and a system for adjusting the position degree of a part, which belong to the technical field of part processing, and the method comprises the following steps: acquiring the coordinate positions of at least one group of reference target parts acquired under the intermediate coordinate system and the evaluation positions of at least one other target part under the corresponding evaluation coordinate system; based on the theoretical adjustment quantity of the reference target part, determining the theoretical rotation angle and the theoretical offset after adjustment of the evaluation coordinate system corresponding to the reference target part, and obtaining a first conversion relation; determining theoretical positions of other target parts evaluated by the evaluation coordinate system after adjustment of the evaluation coordinate system based on the evaluation positions and the first conversion relation; determining theoretical adjustment amounts of other target parts according to the theoretical positions; converting the theoretical adjustment quantity of each target part into a processing coordinate system based on the second conversion relation and the third conversion relation to obtain an actual adjustment quantity, and generating a position degree adjustment scheme of each target part; the adjustment efficiency of the positional degree of the target portion can be improved.

Description

Method, equipment and system for adjusting position degree of part

Technical Field

The application relates to a method, equipment and a system for adjusting the position degree of a part, and belongs to the technical field of part machining.

Background

Currently, it is often necessary to evaluate (or verify) the degree of location of a target portion on a part after the part is machined. Such as: for such a porous part of a transmission, it is necessary to evaluate the positional degree of each hole.

The traditional part position degree adjusting method comprises the following steps: establishing a 1 st evaluation coordinate system according to the positions of one surface and two target parts of the part, and evaluating the position degree of at least one other target part on the current surface and the position degree of at least one other target part on the other surface under the 1 st evaluation coordinate system; then, a 2 nd evaluation coordinate system is established between the 2 target portions evaluated by the 1 st evaluation coordinate system and one plane, and the other target portions which are not evaluated by the other portions are evaluated according to the evaluation requirements, and the positions of the corresponding target portions are evaluated by sequentially circulating to establish a plurality of evaluation coordinate systems. And when the position degree does not meet the processing requirements, adjusting the position degree of the target part which does not meet the processing requirements through processing equipment.

However, in the above-described positional adjustment method, the evaluation coordinate system does not coincide with the machining coordinate system used by the machining apparatus, and in this case, the adjustment error in adjusting the position of each target portion by the machining apparatus is large, and the position of the target portion needs to be adjusted a plurality of times, which results in a problem that the positional adjustment efficiency is low.

Disclosure of Invention

The application provides a method, equipment and a system for adjusting the position degree of a part, which can solve the problem of low efficiency of position degree adjustment. The application provides the following technical scheme:

in a first aspect, there is provided a position degree adjustment method of a part including a plurality of surfaces on which at least one target portion to be evaluated is provided; the method comprises the following steps:

acquiring coordinate positions of at least one group of reference target parts acquired under a pre-established intermediate coordinate system and evaluation positions of at least one other target part under a corresponding evaluation coordinate system; wherein the intermediate coordinate system is determined based on a positioning reference of the workpiece in the clamping process; each group of reference target parts comprises at least two target parts and is used for establishing an evaluation coordinate system corresponding to the reference target parts under the intermediate coordinate system; the evaluation coordinate system is used for evaluating the position degree of at least one other target part except for a corresponding group of reference target parts;

if the coordinate position does not accord with the preset size specification, determining a theoretical rotation angle and a theoretical offset after the evaluation coordinate system corresponding to the reference target portion is adjusted based on the theoretical adjustment amount of the reference target portion, and obtaining a first conversion relation; the first conversion relation indicates the relative position relation between before and after adjustment of the evaluation coordinate system so as to determine the theoretical positions of the other target parts in the adjusted evaluation coordinate system;

Determining theoretical positions of other target parts evaluated by the evaluation coordinate system after adjustment of the evaluation coordinate system based on the evaluation positions and the first conversion relation;

determining a theoretical adjustment amount of the other target portion under the condition that the theoretical position does not accord with the preset dimension specification;

according to a second conversion relation between the evaluation coordinate system and the intermediate coordinate system and a third conversion relation between the intermediate coordinate system and a processing coordinate system used by processing equipment, converting theoretical adjustment amounts of all target parts into the processing coordinate system to obtain actual adjustment amounts;

and generating a position degree adjustment scheme of each target part based on the actual adjustment amount.

In a second aspect, there is provided another method of adjusting a positional relationship of a part including a plurality of surfaces on which at least one target portion to be evaluated is provided; the method comprises the following steps:

displaying the coordinate position of at least one group of reference target parts under the middle coordinate system and the evaluation position of at least one other target part under the corresponding evaluation coordinate system; wherein the intermediate coordinate system is determined based on a positioning reference at the time of clamping the part; each group of reference target parts comprises at least two target parts and is used for establishing an evaluation coordinate system corresponding to the reference target parts under the intermediate coordinate system; the evaluation coordinate system is used for evaluating the position degree of at least one other target part except for a corresponding group of reference target parts;

Displaying theoretical adjustment amounts of the respective target portions in response to receiving the position adjustment operation; the theoretical adjustment amount of the reference target portion is determined based on the coordinate position, and the theoretical adjustment amounts of the other target portions are determined based on the evaluation position;

and in response to receiving the confirmation adjustment operation, displaying a position adjustment scheme corresponding to the actual adjustment amount obtained after the theoretical adjustment amount is converted into the processing coordinate system used by the processing equipment.

In a third aspect, a machining apparatus for a part is provided, the part comprising a plurality of surfaces, each surface comprising at least one target portion to be adjusted; the apparatus includes a processor and a memory; the memory stores therein a program loaded and executed by the processor to implement the positional adjustment method of the part provided in the first aspect or the second aspect.

In a fourth aspect, there is provided a computer-readable storage medium having stored therein a program for implementing the positional adjustment method of the part provided in the first aspect or the second aspect when executed by a processor.

In a fifth aspect, there is provided a position adjustment system for a part, the part comprising a plurality of surfaces, each surface comprising at least one target portion to be adjusted; the system comprises a measuring device and a processing device;

The measuring device is used for measuring the coordinate position of at least one group of reference target parts under an intermediate coordinate system and the evaluation position of at least one other target part under a corresponding evaluation coordinate system, and transmitting the coordinate position and the evaluation position to the processing device; wherein the intermediate coordinate system is determined based on a positioning reference at the time of clamping the part; each group of reference target parts comprises at least two target parts and is used for establishing an evaluation coordinate system corresponding to the reference target parts under the intermediate coordinate system; the evaluation coordinate system is used for evaluating the position degree of at least one other target part except for a corresponding group of reference target parts;

the machining apparatus includes the machining apparatus of the third aspect to adjust the positional degree of the part according to the coordinate position and the evaluation position.

The beneficial effects of this application include at least: by creating an intermediate coordinate system, establishing each evaluation coordinate system in the intermediate coordinate system, and evaluating a reference target portion for establishing the evaluation coordinate system in the intermediate coordinate system, on the one hand, since the evaluation coordinate system is established in the intermediate coordinate system, the relationship between the evaluation coordinate system and the intermediate coordinate system can be determined after the evaluation coordinate system is established, and then the theoretical adjustment amount determined in the evaluation coordinate system can be converted into the machining coordinate system by acquiring the relationship between the intermediate coordinate system and the machining coordinate system in advance, so that the machining equipment adjusts the target portion according to the actual adjustment amount in the machining coordinate system, the problem that the efficiency of adjusting the position degree of the target portion by the machining equipment is low due to the fact that the machining coordinate system is inconsistent with the evaluation coordinate system can be solved, and the adjustment efficiency of the target portion is improved. On the other hand, since the reference target portion can be evaluated in the intermediate coordinate system, the problem that the target portion cannot be determined by the evaluation coordinate system when the entire target portion is shifted can be avoided, and the accuracy of the positional adjustment can be improved. Meanwhile, after the reference target portion is adjusted, the theoretical adjustment amount of other target portions can be determined, and then the actual adjustment amount of other target portions is determined, at this time, the theoretical adjustment amount and the actual adjustment amount of other target portions can be determined only by acquiring the evaluation positions of the other target portions once before and after the reference target portion is adjusted, and the efficiency of determining the theoretical adjustment amount and the actual adjustment amount of other target portions is improved.

The foregoing description is only an overview of the technical solutions of the present application, and in order to make the technical means of the present application more clearly understood, it can be implemented according to the content of the specification, and the following detailed description of the preferred embodiments of the present application will be given with reference to the accompanying drawings.

Drawings

FIG. 1 is a schematic diagram of an evaluation coordinate system provided by one embodiment of the present application;

FIG. 2 is a block diagram of a part position adjustment system provided in one embodiment of the present application;

FIG. 3 is a schematic diagram of establishing an intermediate coordinate system and an evaluation coordinate system based on a part provided in one embodiment of the present application;

FIG. 4A is a flow chart of a method for adjusting the position of a part provided in one embodiment of the present application;

FIG. 4B is a flowchart of a method for adjusting the position of a part according to another embodiment of the present application;

FIG. 4C is a schematic view of other targets provided in another embodiment of the present application under various coordinate systems;

FIG. 5 is a schematic diagram of a manner of establishing a coordinate system provided by one embodiment of the present application;

FIG. 6 is a schematic diagram of a method of establishing a coordinate system according to another embodiment of the present application;

FIG. 7 is a schematic diagram of determining theoretical angles and theoretical offsets of an evaluation coordinate system provided by one embodiment of the present application;

FIG. 8 is a schematic representation of an intermediate coordinate system provided in one embodiment of the present application rotated relative to a process coordinate system;

FIG. 9 is a schematic diagram of other target portion adjustment processes provided by one embodiment of the present application;

FIG. 10 is a flow chart of a method for adjusting the position of a part according to another embodiment of the present application;

FIG. 11 is a schematic diagram showing a measured position provided in one embodiment of the present application;

FIG. 12 is a schematic diagram showing theoretical adjustment amounts provided in one embodiment of the present application;

FIG. 13 is a schematic diagram showing actual adjustment amounts provided in one embodiment of the present application;

FIG. 14 is a schematic diagram showing simulated coordinate locations provided by one embodiment of the present application;

FIG. 15 is a schematic diagram of a position adjustment strategy provided by one embodiment of the present application;

FIG. 16 is a schematic diagram of a scheme save page provided by one embodiment of the present application;

FIG. 17 is a schematic diagram showing a saved position adjustment scheme provided by one embodiment of the present application;

FIG. 18 is a schematic diagram of a scheme output page provided by one embodiment of the present application.

Detailed Description

The detailed description of the present application is further described in detail below with reference to the drawings and examples. The following examples are illustrative of the present application, but are not intended to limit the scope of the present application.

The part in the present application comprises a plurality of surfaces on which at least one target portion to be evaluated is provided. The target portion may be a hole, a protruding portion, or a recessed portion on the part, which is not limited in implementation of the target portion in the present application.

Generally, when a part is clamped in a machining apparatus, clamping based on a positioning reference is required. The positioning reference is used for positioning when the part is installed and clamped, the positioning reference comprises a positioning part and a reference surface, the positioning part can be a positioning hole pin, and the implementation mode of the positioning reference is not limited in the embodiment.

The component may be a housing-like component, such as a gearbox. In the case of a gearbox, the locating portion on the part may be a locating pin hole, and the target portion may be a hole on the gearbox that needs to be evaluated. The gearbox can be wholly approximate to cuboid, and at this moment, the gearbox includes 6 surfaces, can carry out clamping location to the gearbox through locating surface and two location pinholes in 6 surfaces.

In a traditional evaluation mode of the target part, a 1 st three-dimensional evaluation coordinate system is established in the measuring equipment through one surface and two target parts according to drawing requirements, and the three-dimensional position of other corresponding target parts is evaluated under the 1 st evaluation coordinate system; after the 1 st evaluation coordinate system is established, a three-dimensional 2 nd evaluation coordinate system is established by using one surface and two unused target parts, the three-dimensional position degree of the corresponding other target parts is evaluated under the 2 nd evaluation coordinate system, a plurality of three-dimensional evaluation coordinate systems are established in a circulating mode, and the three-dimensional position degree of the corresponding target parts is evaluated under different evaluation coordinate systems.

In this application, two target portions for establishing an evaluation coordinate system are referred to as a set of reference target portions, that is, each set of reference target portions includes at least two target portions. When a set of reference target portions of an evaluation coordinate system is established and adjusted, the evaluation coordinate system determined by the reference target portions rotates and/or deviates, and evaluation data of three-dimensional positions of other target portions evaluated under the evaluation coordinate system changes.

The following description will be made taking as an example the evaluation of the position of a hole in a gearbox:

referring to fig. 1, it is assumed that an evaluation coordinate system 100 is established with a reference target portion constituted by the hole 11 and the hole 12 with one surface of the transmission case as an xoy plane, and the hole 13 and the hole 14 are evaluated under the evaluation coordinate system 100. Then, an evaluation coordinate system is established with the surface as the xoy plane and the reference target portion constituted by the holes 13 and 14, and the position of the hole 15 is evaluated in the evaluation coordinate system 200. At this time, when the set of reference targets of the hole 11 and the hole 12 is adjusted, the evaluation coordinate system 100 is rotated and/or translated (see the adjustment amount and the adjustment manner specifically). Specifically, the evaluation coordinate system 100 is changed to the evaluation coordinate system 100", and accordingly, the coordinate positions of the holes 13 and 14 in the evaluation coordinate system 100″ are changed, and may need to be adjusted, and the adjustment amount should be based on the evaluation coordinate system 100″.

Since the coordinate positions of the holes 13 and 14 in the evaluation coordinate system 100 "are unknown, it is also unknown how to adjust the holes 13 and 14 specifically. When the positions of the holes 13 and 14 are adjusted, the evaluation coordinate system 200 is changed to an evaluation coordinate system 200 "(not shown), and accordingly, the positions of the holes 15 are also changed, and the adjustment amount of the holes 15 is based on the evaluation coordinate system 200", at this time, 4 evaluation coordinate systems (i.e., the evaluation coordinate system 100", the evaluation coordinate system 200 and the evaluation coordinate system 200") are present before and after the adjustment, and the relation between the respective evaluation coordinate systems and the conversion of the adjustment amount are unknown.

If the processing apparatus determines the adjustment amount of each hole based on the adjustment amount of each hole=the actual measurement coordinate position in the evaluation coordinate system-the theoretical coordinate position in the evaluation coordinate system, on the one hand, after the reference target portion rotates, the measuring apparatus needs to redetermine each evaluation coordinate system related to the reference target portion according to the adjusted positions of each hole, for example: the evaluation coordinate systems 100 "and 200" are redetermined, and then the actual measurement coordinate positions of the respective holes under the evaluation coordinate systems 100 "and 200" are collected again to determine the adjustment amount of each hole, and as the number of holes increases, the operations of redefining the coordinate systems and redefining the actual measurement coordinate positions increase, and the efficiency of determining the adjustment amounts of the holes is low.

On the other hand, when the processing apparatus adjusts the position of the hole based on the adjustment amount, the processing coordinate system is adjusted based on the processing coordinate system, and the processing coordinate system is inconsistent with the evaluation coordinate system, and the adjustment amount is determined based on the evaluation coordinate system, at this time, the adjustment amount is not suitable for the processing coordinate system, and at this time, the position error adjusted according to the adjustment amount is large, which reduces the accuracy of adjusting the position of the processing apparatus, and the adjustment efficiency. And inaccurate position adjustment can produce workpiece waste products, so that the production line is stopped, the utilization rate of the production line is finally affected, and the production cost is increased.

Based on the technical problems, the application provides a technical scheme for adjusting the position degree of a part, which can automatically obtain the adjustment amount of other target parts after the reference target part is adjusted, and can improve the efficiency of determining the adjustment amount of a hole; meanwhile, the adjustment amounts are converted into a processing coordinate system, the accuracy and the adjustment efficiency of the adjustment of the hole positions are improved, the waste generated by adjustment and the loss of line stop of the production line are reduced, and therefore the utilization rate of the production line is improved.

Next, a system for adjusting the position of a part provided in the present application will be described.

FIG. 2 is a block diagram of a part position adjustment system provided in one embodiment of the present application, the system comprising at least: a measuring device 210 and a processing device 220.

The measurement device 210 is configured to establish a three-dimensional coordinate system based on a two-hole principle, and collect coordinate positions of each target point in the three-dimensional coordinate system. Illustratively, the measuring device 210 may be a three-coordinate measuring machine.

The conventional measuring apparatus 210 generally establishes an evaluation coordinate system based on one surface and two reference target portions on the surface, and then continues to establish an evaluation coordinate system after the established evaluation coordinate system.

In the present embodiment, the measurement device 210 establishes an intermediate coordinate system based on the positioning reference at the time of clamping the part; in the intermediate coordinate system, an evaluation coordinate system corresponding to each group of reference target portions is established based on the coordinate positions of at least one group of reference target portions.

When establishing the evaluation coordinate system, the 1 st evaluation coordinate system can be established by using the 1 st group of reference target parts under the intermediate coordinate system; then under the 1 st evaluation coordinate system, a 2 nd evaluation coordinate system is established by using a 2 nd group of reference target parts, and the steps are sequentially circulated; and establishing an ith evaluation coordinate system by using the ith group of reference target parts under the ith-1 evaluation coordinate system, wherein i is an integer greater than 1. Each evaluation coordinate system is used for evaluating the position degree of the corresponding target part according to the drawing requirements.

Taking a part as a transmission case and the transmission case as a whole being in a rectangular parallelepiped shape as an example, referring to fig. 3, the rectangular parallelepiped includes 6 surfaces, in which a surface 31 (front) and a surface 32 (back) are opposite surfaces, a surface 33 (top) and a surface 34 (bottom) are opposite surfaces, and a surface 35 (right side) and a surface 36 (left side) are opposite surfaces. If the intermediate coordinate system is determined based on the registration pin holes and the surface 31, and the positions of a set of reference target portions on the surface 31 are evaluated under the intermediate coordinate system, the set of reference target portions and the surface 31 are used to establish a three-dimensional evaluation coordinate system 301, the evaluation coordinate system 301 can evaluate the positions of any one set of reference target portions on any surface, and then the positions of any one set of reference target portions and the surface to which the reference target portions belong can establish a three-dimensional evaluation coordinate system 302, which is sequentially circulated.

After each coordinate system is established, the measuring device 210 is configured to measure a coordinate position of at least one set of reference target portions in the intermediate coordinate system and an evaluation position of at least one other target portion in the corresponding evaluation coordinate system, and send the coordinate position and the evaluation position to the processing device 220, so that the processing device 220 adjusts the position degree of the part according to the coordinate position and the evaluation position.

The measuring device 210 is communicatively connected to the processing device 220 for transmitting the coordinate locations and the evaluation locations.

In this embodiment, the processing device 220 is used to adjust the position of the currently located part. The processing tool 220 includes a processing platform 221, a control component 222 for controlling the processing platform 221, and a display component 223 communicatively coupled to the control component 222.

The processing platform 221 is used for fixing the part to be evaluated, and adjusting the position of the part according to a processing coordinate system.

The control assembly 222 may be implemented as a separate device from the processing platform 221 or integrated in the same device as the processing platform 221. The control component 222 is internally provided with an adjustment execution module 2221 and a scheme generation module 2222 for establishing communication connection, wherein the scheme generation module 2222 is used for generating a position degree adjustment scheme of the part and transmitting the position degree adjustment scheme to the adjustment execution module 2221; accordingly, the adjustment execution module 2221 is configured to control the processing platform 221 to adjust the position of the target portion on the part according to the position adjustment scheme after receiving the position adjustment scheme.

Illustratively, the adjustment execution module 2221 is a FANUC system, and a solution generation module 2222 is additionally developed in the present application, where the solution generation module 2222 communicates with the FANUC system through the FOCAS protocol. The coordinate position and the evaluation position measured by the measuring device 210 may be transmitted to the FANUC system through the FANUC system entering the scheme generating module 2222, and after the scheme generating module 2222 generates the position degree adjustment policy, the position degree adjustment policy may be sent to the FANUC system.

In this embodiment, the scheme generating module 2222 is configured to: acquiring coordinate positions of at least one group of reference target parts acquired under a pre-established intermediate coordinate system and evaluation positions of at least one other target part under a corresponding evaluation coordinate system; if the coordinate position does not accord with the preset size specification, determining a theoretical rotation angle and a theoretical offset after the adjustment of an evaluation coordinate system corresponding to the reference target part based on the theoretical adjustment amount of the reference target part, and obtaining a first conversion relation; the first conversion relation indicates the relative position relation between before and after the adjustment of the evaluation coordinate system so as to determine the theoretical positions of other target parts in the adjusted evaluation coordinate system; determining theoretical positions of other target parts evaluated by the evaluation coordinate system after adjustment of the evaluation coordinate system based on the evaluation positions and the first conversion relation; determining theoretical adjustment amounts of other target parts under the condition that the theoretical positions do not accord with the preset size specification; converting the theoretical adjustment amount of each target portion into the machining coordinate system to obtain an actual adjustment amount according to a second conversion relationship between the evaluation coordinate system and the intermediate coordinate system and a third conversion relationship between the intermediate coordinate system and the machining coordinate system used by the machining apparatus 220; a positional adjustment scheme of each target portion is generated based on the actual adjustment amount.

In order to enhance the effect of generating the position adjustment scheme, in this embodiment, the scheme generating module 2222 is further communicatively connected to the display component 223. The display component 223 may be a separate device from the control component 222 or may be integrated in the same device as the control component 222. Alternatively, the display component 223 may be a liquid crystal display, or may also be a touch display, or the like, which is not limited to the implementation of the display component 223 in this embodiment.

Accordingly, the scheme generation module 2222 is further configured to: displaying, by the display component 223, the coordinate positions of at least one set of reference target portions in the intermediate coordinate system, and the evaluation positions of at least one other target portion in the corresponding evaluation coordinate system; displaying theoretical adjustment amounts of the respective target portions in response to receiving the position adjustment operation; in response to receiving the confirmation adjustment operation, a positional adjustment scheme corresponding to the actual adjustment amount obtained after the theoretical adjustment amount is converted to the processing coordinate system used by the processing apparatus 220 is displayed.

In actual implementation, the processing tool 220 may also include more or fewer components, such as: the processing device 220 may further include a power source, a man-machine interaction device, and the like, and the embodiment does not list the component structures included in the processing device 220.

In this embodiment, after the reference target position is adjusted, the adjustment amount of each other target portion can be automatically obtained, and the efficiency of determining the adjustment amount of the target portion can be improved without re-determining the evaluation coordinate system and re-acquiring the coordinate positions under each evaluation coordinate system by the measuring device. Meanwhile, through converting each adjustment amount into a processing coordinate system, the processing equipment adjusts the position of the target part according to the actual adjustment amount under the processing coordinate system, so that the adjustment accuracy and the adjustment efficiency of the position of the target part can be improved, the waste generated by adjustment and the loss of line stop of the production line are reduced, and the utilization rate of the production line is improved.

The method for generating the position degree adjustment scheme by the scheme generating module will be described in detail. Fig. 4A is a flowchart of a method for adjusting the position of a part according to an embodiment of the present application, where the method is used in the processing device 220 shown in fig. 2 as an example, and the method may also be used in other devices communicatively connected to the processing device 220 in actual implementation, and the application scenario of the method is not limited in this embodiment. The method at least comprises the following steps:

Step 401 of acquiring coordinate positions of at least one set of reference target portions acquired under a pre-created intermediate coordinate system, and evaluation positions of at least one other target portion under a corresponding evaluation coordinate system.

Wherein the intermediate coordinate system is determined based on a positioning reference when the part is clamped; each group of reference target parts comprises at least two target parts and is used for establishing an evaluation coordinate system corresponding to the reference target parts under the intermediate coordinate system; the evaluation coordinate system is used to evaluate the degree of position of at least one other target portion other than the corresponding set of reference target portions.

In this embodiment, the intermediate coordinate system and the evaluation coordinate system are both three-dimensional coordinate systems established based on the principle of one-surface two-hole. The specific establishment mode can be determined based on drawing requirements. Illustratively, the manner of establishing the intermediate coordinate system and the evaluation coordinate system includes, but is not limited to, one of the following:

first kind: for each coordinate system, determining a reference plane of the coordinate system from a plurality of surfaces of the part according to drawing requirements to obtain an XOY plane of the coordinate system, wherein an axis perpendicular to the XOY plane is a Z axis; determining a pair of points in an XOY plane according to drawing requirements, and determining one of the points as an origin of a coordinate system; determining a circle taking another point as a circle center and taking a preset offset as a radius; the X axis of the coordinate system is defined as the tangent line of the origin and the circle, and the axis in the direction perpendicular to the X axis on the XOY plane is defined as the Y axis of the coordinate system.

Wherein, for the intermediate coordinate system, the pair of points may be the center points of the positioning portions; for an evaluation coordinate system, a pair of points may be center points corresponding to a set of reference target portions.

Referring to fig. 5, it is assumed that an XOY plane is determined based on one surface of the part, a circle 52 is made on the XOY plane with one point 51 as an origin, another point as a center, a preset offset as a radius in the XOY plane, a tangent line passing through the origin and the circle 52 is taken as an X-axis, an axis passing through the origin and perpendicular to the X-axis on the XOY plane is determined as a Y-axis, and an axis passing through the origin and perpendicular to the XOY plane is determined as a Z-axis.

In this way of establishing the coordinate system, if the intermediate coordinate system is established, the coordinate positions of the XOY plane of the group of reference target portions in the intermediate coordinate system are respectively: (X, Y) and (X1, Y1), the set of reference target portions determining an evaluation coordinate system having a preset offset R from the Y axis, the evaluation coordinate system being rotated at an XOY plane relative to the XOY plane of the intermediate coordinate system by the following equation:

(equation 1).

Based on the above rotation angle, a second conversion relationship between the intermediate coordinate system and the evaluation coordinate system can be obtained.

The rotation angle of the evaluation coordinate system with respect to the XOZ plane of the intermediate coordinate system and the rotation angle of the evaluation coordinate system with respect to the YOZ plane of the intermediate coordinate system are calculated in the same manner as in the above-described formula 1, and only the coordinate values in the formula need to be converted into the coordinate values in the corresponding coordinate system.

Second kind: for each coordinate system, determining a reference plane of the coordinate system from a plurality of surfaces of the part according to drawing requirements to obtain an XOY plane of the coordinate system, wherein an axis perpendicular to the XOY plane is a Z axis; determining a pair of points in an XOY plane according to drawing requirements, and determining one of the points as an origin of a coordinate system; determining a first circle taking an origin as a circle center and taking a theoretical distance between two points as a radius; determining the intersection point of the actual position connecting line of the two points and the first circle; determining a second circle taking the intersection point as a circle center and taking a preset offset as a radius; and determining a tangent line of the origin and the second circle, obtaining an X axis of an evaluation coordinate system, and determining an axis perpendicular to the X axis on the XOY plane as a Y axis of the coordinate system.

If the actual position connecting line of the two points is not intersected with the first circle, determining an intersection point of an extension line of the connecting line and the first circle, wherein the intersection point is the closest intersection point to the connecting line.

Referring to fig. 6, it is assumed that an XOY plane on which a first circle 62 is determined with one point 61 as an origin and a theoretical distance between a pair of points within the XOY plane with the origin as a center is determined based on one surface of the part; the intersection point 63 of the pair of points of the actual position connection line and the first circle 62 is used as a center, the preset offset is used as a radius to form a second circle 64, the tangent line passing through the origin and the second circle 64 is used as an X axis, an axis passing through the origin and perpendicular to the X axis on the XOY plane is determined as a Y axis, and an axis passing through the origin and perpendicular to the XOY plane is determined as a Z axis.

In this way of establishing the coordinate system, if the intermediate coordinate system is established, the coordinate positions of the XOY plane of the group of reference target portions in the intermediate coordinate system are respectively: (a, b) and (l, k), the preset offset is r. At this time, the theoretical distance of the pair of points is determined according to the part drawing, and the actual distance of the pair of points is expressed by the following formula:

；

the center distance difference τ is: actual distance-theoretical distance;

angle of a pair of point connection lines；

The offset P1 of the intersection point with respect to the point (l, k) in the X-axis direction is:；

the offset P2 of the intersection point with respect to the point (l, k) in the Y-axis direction is:；

the X-axis coordinate of the intersection point p=l-P1; the Y-axis coordinate q=k-P2 of the intersection point, i.e., the coordinate position of the intersection point is (l-P1, k-P2).

At this time, the rotation angle of the XOY plane of the evaluation coordinate system with respect to the XOY plane of the intermediate coordinate system can be expressed by the following expression:

(equation 2).

The rotation angle of the evaluation coordinate system with respect to the XOZ plane of the intermediate coordinate system and the rotation angle of the evaluation coordinate system with respect to the YOZ plane of the intermediate coordinate system are calculated in the same manner as in the above-described formula 2, and only the coordinate values in the formula need to be converted into the coordinate values in the corresponding coordinate system.

Based on the above principle, if the other evaluation coordinate system is continuously established based on the established evaluation coordinate system, the conversion relation between the other evaluation coordinate system and the established evaluation coordinate system can be determined, and at this time, the coordinate position in the intermediate coordinate system in the above formula is replaced by the coordinate position in the established evaluation coordinate system.

In practical implementation, the coordinate system may be established in other manners, for example: the connection between a pair of points is defined as the X-axis, and the present embodiment will not be described in detail herein.

In any of the above-described methods, since the evaluation coordinate system is established under the intermediate coordinate system, the second conversion relationship between the intermediate coordinate system and the evaluation coordinate system can be determined based on the coordinate position under the intermediate coordinate system, and the conversion relationship between the evaluation coordinate system and the other evaluation coordinate system can be determined based on the coordinate position under the evaluation coordinate system for the other evaluation coordinate system established under the certain evaluation coordinate system, so that when the position of the target portion under one coordinate system changes, the position of the changed target portion can be associated with each conversion relationship.

Step 402, if the coordinate position does not meet the preset dimension specification, determining a theoretical rotation angle and a theoretical offset after adjustment of the evaluation coordinate system corresponding to the reference target portion based on the theoretical adjustment amount of the reference target portion, so as to obtain a first conversion relationship.

Wherein the first conversion relationship indicates a relative positional relationship between before and after adjustment of the evaluation coordinate system to determine a theoretical position of the other target portion in the adjusted evaluation coordinate system.

In this embodiment, the intermediate coordinate system is used to evaluate the degree of position of at least one set of reference target portions. Specifically, the intermediate coordinate system may be used to evaluate the position degree of a set of reference target portions, such as: evaluating a position degree of a set of reference target portions for determining a 1 st evaluation coordinate system; alternatively, the intermediate coordinate system may be used to evaluate the position degree of the reference target portion corresponding to each evaluation coordinate system, and the present embodiment does not limit the reference target portion evaluated by the intermediate coordinate system.

Theoretical adjustment amount of the reference target portion in the intermediate coordinate system=specification value in the intermediate coordinate system-actual measurement value in the intermediate coordinate system. Illustratively, the specification value may be a desired coordinate position of the center point of the reference target portion in the intermediate coordinate system; accordingly, the actual measurement value is the coordinate position measured in the intermediate coordinate system of the center point of the reference target portion, that is, the coordinate position acquired in step 401. At this time, the theoretical adjustment amount includes the amounts of shift of the center point of the reference target portion in the respective axis directions in the intermediate coordinate system.

The preset dimension specification is at least used for indicating a specification value of the reference target portion evaluated by the intermediate coordinate system in the intermediate coordinate system. At this time, if the theoretical adjustment amount exceeds the preset allowable offset amount, determining that the coordinate position does not meet the preset size specification, and executing step 402; if the theoretical adjustment amount does not exceed the allowable offset amount, it is determined that the coordinate position meets the preset size specification, and the evaluation positions of the other target portions are taken as the theoretical positions, and step 404 is executed.

In one example, determining the theoretical rotation angle and the theoretical offset after adjustment of the evaluation coordinate system corresponding to the reference target portion based on the theoretical adjustment amount of the reference target portion, to obtain the first conversion relationship includes: determining a first rotation angle of an evaluation coordinate system corresponding to the reference target part before adjustment relative to the intermediate coordinate system based on the coordinate position of each group of reference target parts; adjusting the coordinate positions according to the theoretical adjustment quantity to obtain the adjusted coordinate positions of each group of reference target parts under the intermediate coordinate system; determining a second rotation angle of an evaluation coordinate system corresponding to the reference target parts after adjustment relative to the intermediate coordinate system based on the adjusted coordinate positions of each group of the reference target parts; determining a theoretical rotation angle after the adjustment of the evaluation coordinate system based on the difference value between the second rotation angle and the first rotation angle; and determining the theoretical offset after the evaluation coordinate system is adjusted based on the first rotation angle and the theoretical adjustment amount.

The theoretical rotation angle refers to the rotation angle of the adjusted evaluation coordinate system relative to the evaluation coordinate system before adjustment for the same evaluation coordinate system; the theoretical offset is an offset of the same evaluation coordinate system in each coordinate axis direction of the evaluation coordinate system after adjustment relative to the evaluation coordinate system before adjustment.

The calculation manners of the first rotation angles corresponding to different establishment manners of the coordinate system are different, for example: establishing a coordinate system in the first mode, and determining a first rotation angle according to a formula 1; the coordinate system is established in the second manner described above, and the first rotation angle is determined in equation 2.

The coordinate position and the theoretical adjustment amount of the reference target portion are assumed to be acquired as follows:

the coordinate positions of the first target portion in the group of reference target portions on the XOY plane of the intermediate coordinate system are: (a, b), the theoretical adjustment amount on the XOY plane is: theoretical adjustment amount c in the X direction and theoretical adjustment amount d in the Y direction;

the coordinate positions of the second target portion in the group of reference target portions on the XOY plane of the intermediate coordinate system are: (p, q), the theoretical adjustment amount on the XOY plane is: theoretical adjustment amount e in X direction and theoretical adjustment amount f in Y direction.

The coordinate positions of the first target part and the second target part after adjustment can be determined based on the theoretical adjustment amount and the coordinate positions, namely, the coordinate position of the first target part is changed to (a+c, b+d); the coordinate position of the second target portion is changed to (p+e, q+f), and the adjusted coordinate position is obtained.

Referring to fig. 7, a first rotation angle θ1 of the evaluation coordinate system XOY plane before adjustment with respect to the intermediate coordinate system XOY plane is determined from the coordinate positions before adjustment of each set of reference target portions. Based on the calculation principle of the first rotation angle, the adjusted coordinate position can be calculated according to the adjusted coordinate position of the group of reference target parts, and a second rotation angle theta 2 of the adjusted evaluation coordinate system XOY plane relative to the middle coordinate system XOY plane is determined, and accordingly, the theoretical rotation angle theta 3 = theta 2-theta 1 is calculated.

Taking the first coordinate establishing method as an example, substituting the coordinate positions (a, b) and (p, q) of the XOY plane before adjustment into formula 1 to obtain a first rotation angle θ1 as follows:

；

substituting the coordinate positions (a ', b') and (p ', q') of the adjusted XOY plane into formula 1 to obtain a second rotation angle θ2 as follows:

；

where a '=a+c, b' =b+d, p '=p+e, q' =q+f.

The calculation principle of the rotation angle of the XOZ plane of the evaluation coordinate system before and after adjustment relative to the intermediate coordinate system and the rotation angle of the YOZ plane of the evaluation coordinate system before and after adjustment relative to the intermediate coordinate system is the same as the above principle, and the embodiment is not described herein again.

Taking the second coordinate establishing method as an example, assume that the obtained coordinate position and theoretical adjustment amount of the reference target portion are as follows:

the coordinate positions of the second target portion in the group of reference target portions on the XOY plane of the intermediate coordinate system are: (l, k), the theoretical adjustment amount on the XOY plane is: theoretical adjustment amount e in X direction and theoretical adjustment amount f in Y direction.

The coordinate positions of the first target part and the second target part after adjustment can be determined based on the theoretical adjustment amount and the coordinate positions, namely, the coordinate position of the first target part is changed to (a+c, b+d); the coordinate position of the second target portion is changed to (l+e, k+f), and the adjusted coordinate position is obtained.

The actual distance between the first target portion and the second target portion is expressed by:

；

where a '=a+c, b' =b+d, l '=l+e, k' =k+f.

Center distance differenceThe method comprises the following steps: actual distance-theoretical distance;

angle of line connecting center points of first target portion and second target portion；

The offset P1' of the intersection point with respect to the second target portion (l, k) in the X-axis direction is:；

the offset amount P2' of the intersection point relative to the second target portion (l, k) in the Y-axis direction is: ；

The intersection point adjusted X-axis coordinate P ' =l ' -P1'; the Y-axis coordinate q ' =k ' -P2' after the intersection adjustment, that is, the coordinate position of the intersection is (l ' -P1', k ' -P2 ').

substituting the coordinate position (a, b) of the first target portion of the XOY plane and the coordinate position (p, q) of the intersection point before adjustment into formula 2 to obtain a first rotation angle θ1 as:

；

substituting the coordinate positions (a ', b') and (p ', q') of the adjusted XOY plane into formula 2 to obtain a second rotation angle θ2 as follows:

。/>

referring to fig. 7, after determining the first rotation angle of the XOY plane, the adjusted theoretical offset amount of the evaluation coordinate system is determined based on the first rotation angle and the theoretical adjustment amount on the XOY plane, which is expressed by the following formula:

x-direction offset d1:；

y-direction offset d2:。

wherein θ1 is a first rotation angle, c is a theoretical adjustment amount of the first target portion in the X direction, and d is a theoretical adjustment amount of the first target portion in the Y direction.

The principle of the calculation mode of the theoretical offset of the XOZ face and the YOZ face is the same as the above formula, and the theoretical offset is only required to be modified into the rotation angle and the theoretical adjustment quantity on the corresponding face.

By calculating the theoretical adjustment amount and the theoretical offset amount (i.e., the first conversion relation) after adjustment of each evaluation coordinate system, the amount of change in the evaluation position of each target portion can be calculated. If the drawing is required to be that the point A is evaluated by the evaluation coordinate system, an intermediate coordinate system is required to be established according to the reference surface of the part to evaluate and determine the position of a group of reference target parts of the evaluation coordinate system, so that the evaluation coordinate system is established in the intermediate coordinate system, and then the position of the point A in the evaluation coordinate system is required to be established, although the drawing does not require to establish the intermediate coordinate system, the point A only needs to meet the processing standard in the evaluation coordinate system, but if the intermediate coordinate system is not established by the positioning reference, the relative relation between the evaluation coordinate system and the intermediate coordinate system is ensured by the intermediate coordinate system, and if the target parts on the part deviate or rotate integrally and cannot be confirmed by the evaluation result, the quality hidden danger exists at this time. Therefore, in the application, the middle coordinate system is established through the positioning reference, so that the integral deviation or rotation of the target part on the part can be detected and timely adjusted. That is, when the coordinate positions of a set of reference target portions in the intermediate coordinate system, which establish the evaluation coordinate system, have exceeded the dimensional specification (i.e., do not meet the machining standard), it is necessary to adjust the set of reference target portions. When the set of reference target portions is adjusted, the evaluation coordinate system determined by the set of reference target portions is rotated and/or shifted, and accordingly, the position of the target portion a evaluated using the evaluation coordinate system is changed, and then the amount of change in the position needs to be calculated.

Step 403, determining the theoretical position of other target parts evaluated by the evaluation coordinate system after the adjustment of the evaluation coordinate system based on the evaluation position and the first conversion relation.

For the coordinate values (a, B) of the evaluation position on the XOY plane, the coordinate values (a ', B') of the theoretical position on the XOY plane in the adjusted evaluation coordinate system are determined by the following formula:

A’=(equation 3);

B’=(equation 4);

where θ3 represents a theoretical rotation angle on the XOY plane, d1 represents an X-direction offset amount on the XOY plane, and d2 represents a Y-direction offset amount on the XOY plane.

The coordinate values of the adjusted theoretical position on the XOZ plane and the coordinate values on the YOZ plane are calculated in the same manner as in the above formulas 3 and 4, and only the theoretical rotation angle and the offset on the corresponding plane need to be substituted, which is not described in detail here.

In step 404, if the theoretical position does not meet the preset size specification, determining the theoretical adjustment amount of the other target portion.

Theoretical adjustment amount of other target portion in corresponding evaluation coordinate system = specification value in evaluation coordinate system-theoretical value in evaluation coordinate system. Illustratively, the specification value may be a desired coordinate position of the center point of the other target portion in the evaluation coordinate system; accordingly, the actual measurement value is the adjusted theoretical position estimated by the center point of the other target portion in the evaluation coordinate system, that is, the adjusted theoretical position determined in step 403. At this time, the theoretical adjustment amount includes the amounts of shift of the center point of the other target portion in the respective axis directions in the adjusted evaluation coordinate system.

The preset dimension specification is at least used for indicating specification values of other target parts evaluated by the evaluation coordinate system under the evaluation coordinate. At this time, if the theoretical adjustment amount exceeds the preset allowable offset amount, determining that the adjusted theoretical position does not meet the preset size specification, and executing step 405; if the theoretical adjustment amount does not exceed the allowable offset amount, determining that the adjusted theoretical position meets the preset size specification, ending the flow if the theoretical position of each target portion meets the preset size specification, and executing step 405 if the theoretical position of at least one target portion does not meet the preset size specification.

In step 405, the theoretical adjustment amounts of the respective target portions are converted into the machining coordinate system to obtain the actual adjustment amounts according to the second conversion relation between the evaluation coordinate system and the intermediate coordinate system, and the third conversion relation between the intermediate coordinate system and the machining coordinate system used by the machining apparatus.

In this embodiment, after the reference target portion is adjusted, the actual adjustment amount of the other target portion to be evaluated based on the evaluation coordinate system established by the reference target portion needs to be determined.

Such as: referring to fig. 4C, an intermediate coordinate system 42 is determined based on the positioning reference 41. In the intermediate coordinate system 42, an evaluation coordinate system 44 is determined based on a set of reference target portions 43, and the evaluation coordinate system 44 is used to evaluate other target portions 45. After the reference target portion 43 is adjusted to the position 43', the evaluation coordinate system 44 is changed to the adjusted evaluation coordinate system 44'. At this time, the coordinate positions of the other target portions 45 in the evaluation coordinate system 44' are different from the coordinate positions of the other target portions 45 in the evaluation coordinate system 44. Therefore, it is first necessary to determine the theoretical position of the other target portion 45 in the evaluation coordinate system 44'; then, calculating a theoretical adjustment amount through the difference value between the theoretical position and the dimension specification; finally, the relative positional relationship between the adjusted evaluation coordinate system 44' and the machining coordinate system is found to obtain the actual adjustment amount.

Wherein the theoretical position of the other target portion 45 in the evaluation coordinate system 44' is determined based on the first conversion relation, which includes the theoretical rotation angle and the theoretical offset determined in the above step 402; then, the theoretical positions of other target portions after adjustment of the evaluation coordinate system are determined through the step 403. Thereafter, a theoretical adjustment of the other target portion may be determined based on the theoretical position, via step 404. Next, a relationship between the post-adjustment evaluation coordinate system and the processing coordinate system is determined to determine an actual adjustment amount.

In this embodiment, the relative positional relationship between the evaluation coordinate system and the processing coordinate system includes: evaluating the relative position relation between the coordinate system after adjustment and the intermediate coordinate system, namely a second conversion relation; the relative positional relationship between the intermediate coordinate system and the processing coordinate system, i.e., the third conversion relationship.

Next, a manner of determining the actual adjustment amount based on the second conversion relationship and the third conversion relationship will be described.

Since the theoretical adjustment amount of the other target portion is determined based on the evaluation coordinate system, the adjustment is required to be performed under the processing coordinate system of the processing apparatus at the time of actual adjustment. Therefore, in order to improve the adjustment accuracy, it is necessary to convert each theoretical adjustment amount into the processing coordinate system. In the case of converting the coordinate system, it is necessary to find the relationship between the evaluation coordinate system and the machining coordinate system. According to the principle of calculating the rotation angle and the offset of the coordinate system in step 402, a second conversion relationship between the evaluation coordinate system and the intermediate coordinate system can be obtained. Specifically, based on the coordinate positions of the first target portion and the second target portion in each group of reference target portions, the rotation angle of the evaluation coordinate system corresponding to the reference target portion with respect to the intermediate coordinate system is determined to obtain the second conversion relationship. The first target portion is used for determining an origin of an evaluation coordinate system corresponding to the reference target portion, and the second target portion is used for assisting the first target portion in establishing the evaluation coordinate system corresponding to the reference target portion. The second conversion relationship further includes an offset amount determined based on the rotation angle and the coordinate position of the first target portion.

Alternatively, in the case where the evaluation coordinate system is at least two, the second conversion relationship may be determined by calculating the rotation angle and the offset of the 1 st evaluation coordinate system with respect to the intermediate coordinate system based on the 1 st evaluation coordinate established by the intermediate coordinate system; the second conversion relation can be obtained by calculating the rotation angle i+1 and the offset i+1 of the i+1-th evaluation coordinate system relative to the i-th evaluation coordinate system based on the i+1-th evaluation coordinate established based on the i-th evaluation coordinate, and then obtaining the rotation angle and the offset between the i+1-th evaluation coordinate system and the i-1-th evaluation coordinate based on the rotation angle i and the offset i and the rotation angle i+1 and the offset i+1 between the i+1-th evaluation coordinate system and the i-1-th evaluation coordinate system, and then carrying out reverse pushing in sequence to obtain the rotation angle and the offset between the i+1-th evaluation coordinate system and the intermediate coordinate system. In the case where there are at least two evaluation coordinate systems, the rotation angle and the offset amount of each evaluation coordinate system with respect to the intermediate coordinate system may be determined based on the coordinate position of the reference target portion under the intermediate coordinate system corresponding to each evaluation coordinate system, and the determination method of the second conversion relationship is not limited in this embodiment.

In the case that the second conversion relation between the evaluation coordinate system and the intermediate coordinate system is known, the theoretical adjustment amount in the evaluation coordinate system can be converted into the machining coordinate system only by acquiring the third conversion relation between the intermediate coordinate system and the machining coordinate system.

The following describes the way in which the third conversion relationship is obtained.

First, the fixture positioning of the parts (such as gearbox housing type parts) is generally divided into two steps: the first step is a rough machining positioning reference, and the second step is a finish machining positioning reference. In either positioning mode, the degree of freedom in three directions of the part XYZ needs to be limited. In the first step, one datum plane is used as a positioning datum plane to limit one degree of freedom, and then two holes in two rough materials or one hole is used for limiting the other two degrees of freedom to clamp a workpiece. The first step is to locate the rough part, so the fluctuation of the position of the machined hole is larger, and the first step is to machine two locating parts (such as locating pin holes in gearbox shell parts) and a plane. The fixture positioning in the second step is to clamp with two positioning parts and three seating surfaces, the positioning pins are inserted in the positioning parts, the three seating surfaces are attached to the machined plane, the clamping positioning of the part is realized, and the size of the machined part after the positioning parts and the reference surfaces are positioned and clamped is stable. Therefore, in the present embodiment, the intermediate coordinate system is established with the positioning references (2 positioning portions and one reference surface), and assuming that the positioning references machined with the rough machining positioning references are all at the theoretical value without any deviation, the part will be in a posture without any rotation after the finish machining positioning references are clamped, in which case the intermediate coordinate system and the machining coordinate system coincide.

However, since the positioning references are both rough-reference positioning processing, the dimensional fluctuation of the component is large at the time of fine-reference positioning processing. After the parts are positioned and clamped by the fine datum, the parts can generate a certain rotation amount. At this time, the intermediate coordinate system and the machining coordinate system do not overlap. As shown in fig. 8, the solid line represents the attitude without any offset or rotation, and the broken line represents the rotation or offset that would occur if the position of the positioning portion were changed so that the part is clamped. And misalignment of the machining coordinate system and the intermediate coordinate system may affect the accuracy of the actual adjustment amount determination.

Based on the above-described problems, the present embodiment provides at least two ways to determine the third conversion relationship between the intermediate coordinate system and the processing coordinate system.

First kind: determining the theoretical position of a positioning part of the part placed at the rear of the processing equipment according to the part drawing; acquiring the actual position of a positioning part of a part placed behind processing equipment; a third conversion relationship between the intermediate coordinate system and the processing coordinate system is determined based on a rotation angle between the line angle of the actual position relative to the line angle of the theoretical position.

Second kind: the allowable tolerance of the two positioning parts is set so as to ensure that the actual position of the positioning parts is within the allowable tolerance. In this case, since the influence of the rotation amount of the part due to the tolerance within the allowable tolerance on the adjustment accuracy is very small, it is only necessary to ensure that the position of the positioning portion is within the allowable tolerance, and it can be regarded that the machining coordinate system and the intermediate coordinate system overlap each other, that is, the third conversion relationship indicates that the machining coordinate system and the intermediate coordinate system overlap each other.

In one example, converting the theoretical adjustment amount of each target portion to the machining coordinate system to obtain the actual adjustment amount in accordance with a second conversion relationship between the evaluation coordinate system and the intermediate coordinate system, and a third conversion relationship between the intermediate coordinate system and the machining coordinate system used by the machining apparatus, includes: determining the theoretical adjustment quantity of each target part to be converted into the actual adjustment quantity required under the processing coordinate system based on the second conversion relation and the third conversion relation; and processing the actual adjustment quantity according to the equipment precision of the processing equipment to obtain the actual adjustment quantity.

Referring to fig. 9, taking the example of the coincidence of the machining coordinate system and the intermediate coordinate system, other target portions in the evaluation coordinate system need to be adjusted from the evaluation position 91 to the theoretical position 92. The adjustment manner based on the theoretical adjustment amount is shown by a broken line. However, the actual adjustment amount is the adjustment process shown by the solid line, and the adjustment process needs to be switched between the actual adjustment amount and the adjustment process.

For a two-dimensional coordinate system (for example, a two-dimensional coordinate system formed by an X-axis and a Y-axis) formed by each two coordinate axes in the evaluation coordinate system, if the second conversion relationship indicates that the rotation angle of the two-dimensional coordinate system with respect to the two-dimensional coordinate system corresponding to the intermediate coordinate system is θ2 and the theoretical adjustment amount of the X-axis of the two-dimensional coordinate system is α, the actual required adjustment amount δ of the X-axis converted to the intermediate coordinate system is represented by the following formula:

(equation 5);

the theoretical adjustment amount of the Y axis of the two-dimensional coordinate system is α1, and the actual adjustment amount δ1 of the Y axis converted to the intermediate coordinate system is represented by the following formula:

(equation 6).

The actual adjustment amount calculated may have a plurality of decimal places, and the decimal places may exceed the equipment accuracy of the processing equipment. Therefore, the actual adjustment amount needs to be processed according to the equipment precision, and the processing modes include but are not limited to: rounding to take value according to the equipment precision, or rounding up or rounding down according to the equipment precision, or taking only decimal digits of the equipment precision, etc., the embodiment does not limit the processing mode of the actually needed adjustment amount.

In other embodiments, if the decimal number of the actual adjustment required amount does not exceed the equipment accuracy of the processing equipment, the actual adjustment required amount may be directly determined as the actual adjustment amount without performing the step of processing the actual adjustment required amount.

In step 406, a positional adjustment scheme for each target portion is generated based on the actual adjustment amounts.

Since the actual adjustment amount may be obtained by processing the actual adjustment amount, the actual adjustment amount is approximately equal to the actual adjustment amount. In order to reduce the error as much as possible, it is necessary to calculate the actual variation of other target portions in the evaluation coordinate system based on the actual adjustment amount to estimate the simulation coordinate value of the adjusted target portion in the corresponding evaluation coordinate system.

At this time, referring to fig. 4B, a positional adjustment scheme of each target portion is generated based on the actual adjustment amount, including: based on the second conversion relation and the third conversion relation, converting the actual adjustment quantity of each target part into a corresponding evaluation coordinate system to obtain the actual change quantity of the target part under the corresponding evaluation coordinate system; displaying the simulated coordinate position of each target part after the change according to the actual change amount in the corresponding evaluation coordinate system so as to evaluate the position degree of each target part after the change according to the actual change amount; in response to receiving the confirmation adjustment operation, a position adjustment scheme is generated based on the actual adjustment amount.

From the above, it is known that the actual adjustment amount is realized by the processing apparatus under the processing coordinate system, and the actual variation amount needs to be embodied in the evaluation coordinate system. Therefore, the actual adjustment amount needs to be converted to the intermediate coordinate system and then converted back from the intermediate coordinate system to the evaluation coordinate system. Taking the superposition of the intermediate coordinate system and the processing coordinate system as an example, when the intermediate coordinate system and the processing coordinate system do not coincide, the actual adjustment amount is only required to be converted back to the intermediate coordinate system according to the rotation angle between the intermediate coordinate system and the processing coordinate system, and the implementation is not repeated here. The conversion process is as follows:

For a two-dimensional coordinate system (for example, a two-dimensional coordinate system formed by an X-axis and a Y-axis) formed by two coordinate axes in the intermediate coordinate system, if the second conversion relationship indicates that the rotation angle of the two-dimensional coordinate system with respect to the two-dimensional coordinate system corresponding to the evaluation coordinate system is- θ2 and the actual adjustment amount of the X-axis of the two-dimensional coordinate system is β, the actual change amount γ of the X-axis converted to the evaluation coordinate system is expressed by the following expression:

(equation 7);

accordingly, the coordinate value of the analog coordinate position in the X-axis=the coordinate value of the X-axis of the evaluation coordinate+γ.

The actual adjustment amount of the Y axis of the two-dimensional coordinate system is β1, and the actual change amount γ1 of the Y axis converted to the evaluation coordinate system is expressed by the following expression:

(equation 8).

Accordingly, the coordinate value of the simulated coordinate position in the Y-axis=the coordinate value of the Y-axis of the evaluation coordinate+γ1.

Referring to fig. 3, if a set of reference target portions on the surface 31 is evaluated in the intermediate coordinate system, an evaluation coordinate system 301 is established with the set of target portions, and at this time, the evaluation coordinate system 301 can evaluate the positional degrees of other target portions on 6 surfaces. When the reference target portion of the evaluation coordinate system 301 is adjusted, the evaluation coordinate system 301 rotates and/or shifts, and the evaluation positions (X, Y, Z) of the other target portions on the 6 surfaces change following the evaluation coordinate system 301.

Specifically, for other target portions on the surface 31, the simulated coordinate positions after the XY-axis coordinate value adjustment may be calculated according to formulas 7 and 8. Since the other target portion is located on the surface 31 with respect to the Z-axis coordinate value, the Z-axis coordinate value is 0, and the actual amount of change does not change.

For other targets on the surface 32, the simulated coordinate positions after the XY-axis coordinate values are adjusted can be calculated according to equations 7 and 8. The amount of change in Z is related to the depth of the surface 31 relative to the positioning reference, and corresponds to the measured value-adjustment amount, which is the actual amount of change in the Z axis if the surface 31 is adjusted in the Z direction, and the adjustment amount=the specification value-measured value.

For other targets on the surface 33, the simulated coordinate positions after the XZ-axis coordinate values are adjusted may be calculated according to equations 7 and 8. The amount of change in Y is related to the depth of the surface 31 relative to the positioning reference, and corresponds to the measured value-adjustment amount, which is the actual amount of change in the Y axis if the surface 31 is adjusted in the Y direction, and the adjustment amount=the specification value-measured value.

The principle of the actual amount of change and the actual amount of adjustment needed for other targets on the surface 34 corresponds to the surface 33.

For other targets on the surface 35, the simulated coordinate positions adjusted by the YZ-axis coordinate values may be calculated according to equations 7 and 8. The amount of change in X, which corresponds to the amount of change in the surface 31 relative to the depth of the positioning reference, corresponds to the measured value-the adjustment amount, the adjustment amount=the specification value-the measured value, if the surface 31 is adjusted in the X direction.

The principle of the actual amount of change and the actual amount of adjustment required for other targets on the surface 36 corresponds to the surface 35.

In this embodiment, by visualizing the simulated coordinate position, the user can determine whether the actual adjustment amount is accurate, and if so, the position adjustment scheme can be directly generated; if the actual adjustment amount of the target part is inaccurate, the modified actual adjustment amount of the target part is obtained in response to receiving the modification operation of the actual adjustment amount of the target part; based on the second conversion relation and the third conversion relation, converting the modified actual adjustment quantity into an evaluation coordinate system corresponding to the target part, and obtaining the actual change quantity of the target part under the corresponding evaluation coordinate system; and displaying the simulated coordinate position of each target part after the change according to the actual change amount in the corresponding evaluation coordinate system.

In one example, generating a positional adjustment scheme for each target portion based on the actual adjustment amount includes: a positional adjustment scheme is generated based on the theoretical offset of the evaluation coordinate system and the actual adjustment amount of the target portion corresponding to the evaluation coordinate system.

In this case, the processing apparatus does not need to generate a positional adjustment scheme for each target portion, but adjusts the entire evaluation coordinate system first, and then adjusts the positional adjustment of the target portion in the adjusted evaluation coordinate system.

In summary, in the position adjustment method for a part provided in this embodiment, by creating an intermediate coordinate system, creating each evaluation coordinate system in the intermediate coordinate system, and evaluating a reference target portion for creating the evaluation coordinate system in the intermediate coordinate system, on the one hand, since the evaluation coordinate system is created in the intermediate coordinate system, it is possible to determine a relationship between the evaluation coordinate system and the intermediate coordinate system after the evaluation coordinate system is created, and then, by acquiring the relationship between the intermediate coordinate system and the machining coordinate system in advance, it is possible to convert a theoretical adjustment amount determined in the evaluation coordinate system into a machining coordinate system, so that the machining device adjusts the target portion according to an actual adjustment amount in the machining coordinate system, and it is possible to solve the problem that the efficiency of the machining device to adjust the position of the target portion is low, thereby improving the adjustment efficiency of the target portion. On the other hand, since the reference target portion can be evaluated in the intermediate coordinate system, the problem that the target portion cannot be determined by the evaluation coordinate system when the entire target portion is shifted can be avoided, and the accuracy of the positional adjustment can be improved. Meanwhile, after the reference target portion is adjusted, the theoretical adjustment amount of other target portions can be determined, and then the actual adjustment amount of other target portions is determined, at this time, the theoretical adjustment amount and the actual adjustment amount of other target portions can be determined only by acquiring the evaluation positions of the other target portions once before and after the reference target portion is adjusted, and the efficiency of determining the theoretical adjustment amount and the actual adjustment amount of other target portions is improved.

In addition, after the actual adjustment amount of each target part is obtained, the actual adjustment amount is converted into a corresponding evaluation coordinate system, so that a user confirms the adjustment scheme, and the position degree adjustment scheme is generated after confirmation by the user, thereby improving the accuracy of the position degree adjustment scheme.

Based on the above embodiments, the present embodiment can also visualize the position adjustment method. Specifically, referring to fig. 10, fig. 10 is a flowchart of a method for adjusting the position of a part according to another embodiment of the present application, where the method is used in the processing device 220 shown in fig. 2 as an example, and the method may also be used in other devices communicatively connected to the processing device 220 during actual implementation, and the application scenario of the method is not limited in this embodiment. The method at least comprises the following steps:

step 1001 displays the coordinate positions of at least one set of reference target portions in the intermediate coordinate system and the evaluation positions of at least one other target portion in the corresponding evaluation coordinate system.

The process of establishing the intermediate coordinate system and the evaluation coordinate system refers to the embodiment shown in fig. 4, and this embodiment is not described herein.

Assume that a set of reference target portions establishing the 1 st evaluation coordinate system is #101 and #102. Other target portions evaluated by the 1 st evaluation coordinate system include #104A, #104B, #104C, #106, #107, #109, #201, #202. The other target portions #201, #202 are used as a set of reference target portions to establish a 2 nd evaluation coordinate system, and the other target portions evaluated by the 2 nd evaluation coordinate system include #105.

Wherein, the distribution condition of each target part is: #101, #102, #104A, #104B, #104C, #104D, #106, #107, #109, #105 on the front face of the part; #202, #201 on the opposite side.

In other words, the measuring apparatus uses the target portions #101, #102 on the front side to establish the 1 st evaluation coordinate system, and evaluates the position coordinates of the target portions #201, #202 on the rear side under this evaluation coordinate system, thereby establishing the 2 nd evaluation coordinate system, and then evaluates the position coordinates of the target portion #105 on the front side with the 2 nd evaluation coordinate system.

Assuming that the coordinate positions and evaluation positions of the respective target portions are shown in fig. 11, it is apparent from fig. 11 that the desired positions (specification values) corresponding to the respective target portions are indicated by circular centers, the actual measurement positions are indicated by circular black dots, and the positional degrees of the target portions are indicated by connecting lines between the desired positions and the actual measurement positions.

Step 1002, in response to receiving the position adjustment operation, displaying the theoretical adjustment amounts of the respective target portions; the theoretical adjustment amount of the reference target portion is determined based on the coordinate position, and the theoretical adjustment amounts of the other target portions are determined based on the evaluation position.

In one example, a display page of the measured position (including the coordinate position and the evaluation position) of each target portion is provided with an adjustment control, and in the case where a trigger operation acting on the adjustment control is received, it is determined that the position adjustment operation is received.

In another example, an adjustment button is mounted on the machining apparatus, and when a trigger operation acting on the adjustment button is received, it is determined that a position adjustment operation is received.

In other embodiments, the implementation of the position adjustment operation may be other manners, such as: operations of receiving the position adjustment instruction sent by other devices, etc., the implementation of the position adjustment operation is not limited in this embodiment.

The theoretical adjustment amounts of the other target portions are obtained after the reference target portion is adjusted according to the theoretical adjustment amounts, and reference is made to the above steps 402-404 for determining the theoretical adjustment amounts of the other target portions, which is not described herein in detail.

Referring to fig. 11, the display page of the measured position displays an adjustment control, that is, a "position adjustment" button in fig. 11, and when a trigger operation acting on the adjustment control is received, the processing apparatus automatically determines and displays a corresponding theoretical adjustment amount based on the measured position of each target portion, specifically referring to the theoretical adjustment amount shown in fig. 12.

In fig. 12, the theoretical adjustment amount for each target portion is shown in the form of a table as an example, and in actual implementation, the theoretical adjustment amount may be represented by a bar chart, a line chart, or the like, and the present embodiment is not limited to the display form of the theoretical adjustment amount.

In step 1003, in response to receiving the confirmation adjustment operation, a positional adjustment scheme corresponding to the actual adjustment amount obtained after the theoretical adjustment amount is converted into the processing coordinate system used by the processing apparatus is displayed.

Since the theoretical adjustment amount is determined under the evaluation coordinate system and the processing apparatus adjusts the position of the target portion under the processing coordinate system, in order to improve the accuracy of the adjustment position of the processing apparatus, the processing apparatus needs to convert the theoretical adjustment amount into the processing coordinate system to obtain the actual adjustment amount corresponding to the theoretical adjustment. The specific conversion manner is referred to step 405, and this embodiment is not described herein.

It is assumed that the actual adjustment amount corresponding to the theoretical adjustment amount shown in fig. 12 is the X adjustment amount shown in column 4 and the Y adjustment amount shown in column 5 in fig. 13.

In one example, the processing device may directly generate the positional adjustment scheme based on the actual adjustment amount.

In another example, in order to improve accuracy of the position adjustment scheme, before the position adjustment scheme is generated, the simulated coordinate positions of each target portion after the corresponding evaluation coordinate system is adjusted may be displayed, so that a user can confirm whether the current actual adjustment amount meets the processing requirement, and if so, the position adjustment scheme is generated. At this time, before generating the positional adjustment scheme based on the actual adjustment amount in response to receiving the confirmation adjustment operation, it further includes: and in response to the simulation adjustment operation, displaying the simulation coordinate position of each target part after the actual change amount corresponding to the actual adjustment amount is changed in the corresponding evaluation coordinate system so as to evaluate the position degree of the target part after the actual change amount is changed.

Optionally, the position adjustment scheme may further include an actual variation of each target portion under the corresponding evaluation coordinate system.

The calculation manner of the simulated coordinate position is referred to the embodiment shown in fig. 4, and this embodiment is not described herein.

Such as: referring to fig. 13, when the display page of the actual adjustment amount displays a simulated adjustment control, that is, the "adjustment" button in fig. 13, and when a trigger operation acting on the simulated adjustment control is received, it is determined that the simulated adjustment operation is received, and at this time, the processing equipment background calculates an actual change amount corresponding to the actual adjustment amount for each target portion, and then adds the actual change amount to the actual measurement position to obtain a simulated coordinate position, and displays the simulated coordinate position. The simulated coordinate positions of the respective target portions are shown with reference to fig. 14. The display page of the simulated coordinate position displays a confirmation adjustment control, that is, a "part adjustment" button in fig. 14, and after determining that the current adjustment scheme is feasible, generates a positional adjustment scheme shown in fig. 15 based on the actual adjustment amounts of the respective target parts and the rotation angles and offset amounts of the respective evaluation coordinate systems.

In the conventional positional adjustment scheme, the positional adjustment scheme is generated based on the theoretical adjustment amount of each target portion. Such as: other target portions to be evaluated by the determination evaluation coordinate system G55 include #101, #102, #104, #105, and #106. The evaluation positions and corresponding specification values of the respective other target portions are shown in the following table one.

In the conventional position adjustment scheme, the position adjustment scheme needs to be generated according to the evaluation position and the corresponding specification value. At this time, the positional adjustment scheme including the theoretical adjustment amount for each target portion is shown with reference to the following table two. And then, when the processing personnel adjusts according to the traditional position degree adjustment scheme, the target parts need to be adjusted one by one according to the theoretical adjustment quantity, and the adjustment precision and the adjustment efficiency are low.

In this embodiment, the position adjustment scheme includes: the theoretical offset of the coordinate system G55, and the actual adjustment amounts of other target portions are evaluated. The adjustment amounts under the evaluation coordinate system obtained according to the positional adjustment scheme are shown in the following table three, and it is understood from the table three that the processing apparatus only needs to adjust the positions of the evaluation coordinate systems G55 and #101, #102, #106 as a whole, and the adjustment times can be saved, and the adjustment efficiency can be improved.

Table one:

and (II) table:

table three:

after the processing device generates the position adjustment scheme, the position adjustment scheme may be saved. Such as: the display page of the position adjustment scheme shown in fig. 15 displays a "save" control, and when the processing device receives a trigger operation acting on the "save" control, the processing device displays a scheme save page shown in fig. 16, where the scheme save page includes a device identifier corresponding to a processing platform, where the device identifier may be an IP address corresponding to the processing platform, and in other embodiments, the device identifier may also be a device number, and the implementation manner of the device identifier is not limited in this embodiment. Upon receiving a trigger operation of a confirmation save control acting on the scheme save page, that is, the "scheme save" button shown in fig. 16, a position adjustment scheme corresponding to the processing platform is stored.

Then, if the processing platform needs to adjust the position degree of the part according to the corresponding position degree adjustment scheme, the device communication control displayed by the visual page receives the trigger operation, displays the saved position degree adjustment schemes shown in fig. 17, and displays the scheme output page shown in fig. 18 when receiving the selection operation acting on the target position degree adjustment scheme, wherein the scheme output page comprises specific content (numerical value displayed in the table) of the position degree adjustment scheme and an output control, and the processing device sends the target position degree adjustment scheme to the adjustment execution module of the corresponding processing platform when receiving the trigger operation acting on the output control so as to enable the processing platform to adjust according to the target position adjustment scheme. In addition, the scheme output page also displays a 'recovery' control, and when the trigger operation acting on the 'recovery' control is received, the original data before the processing equipment is not adjusted can be recovered.

In summary, in this embodiment, the position of each target portion before and after adjustment in the evaluation coordinate system can be simulated by visually displaying the position adjustment process, so that the accuracy of position adjustment is further improved.

Optionally, the present application further provides a computer readable storage medium having a program stored therein, the program being loaded and executed by a processor to implement the method for adjusting the position of a part according to the above method embodiment.

Optionally, the present application further provides a computer product, where the computer product includes a computer readable storage medium, where a program is stored, where the program is loaded and executed by a processor to implement the method for adjusting the position of a part according to the above method embodiment.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.

Claims

1. A method of adjusting the position of a part, the part comprising a plurality of surfaces on which at least one target portion to be evaluated is provided; the method comprises the following steps:

acquiring coordinate positions of at least one group of reference target parts acquired under a pre-established intermediate coordinate system and evaluation positions of at least one other target part under a corresponding evaluation coordinate system; wherein the intermediate coordinate system is determined based on a positioning reference at the time of clamping the part; each group of reference target parts comprises at least two target parts and is used for establishing an evaluation coordinate system corresponding to the reference target parts under the intermediate coordinate system; the evaluation coordinate system is used for evaluating the position degree of at least one other target part except for a corresponding group of reference target parts;

generating a position degree adjustment scheme of each target part based on the actual adjustment amount;

the generating a positional adjustment scheme of each target portion based on the actual adjustment amount includes:

converting the actual adjustment quantity of each target part into a corresponding evaluation coordinate system based on the second conversion relation and the third conversion relation to obtain the actual change quantity of the target part under the corresponding evaluation coordinate system;

displaying the simulated coordinate position of each target part after being changed according to the actual change amount in a corresponding evaluation coordinate system so as to evaluate the position degree of each target part after being changed according to the actual change amount;

In response to receiving a confirmation adjustment operation, the positional adjustment scheme is generated based on the actual adjustment amount.

2. The method according to claim 1, wherein the displaying the simulated coordinate position of each target portion after the change according to the actual change amount in the corresponding evaluation coordinate system further comprises:

in response to receiving a modification operation of an actual adjustment amount of a target portion, obtaining a modified actual adjustment amount of the target portion;

based on the second conversion relation and the third conversion relation, converting the modified actual adjustment quantity into an evaluation coordinate system corresponding to the target part, and obtaining an actual change quantity of the target part under the corresponding evaluation coordinate system;

and displaying the simulated coordinate position of each target part after the change according to the actual change amount in the corresponding evaluation coordinate system.

3. The method according to claim 1, wherein the generating a positional adjustment scheme of each target portion based on the actual adjustment amount includes:

the positional adjustment scheme is generated based on the theoretical offset of the evaluation coordinate system and the actual adjustment amount of the target portion corresponding to the evaluation coordinate system.

4. The method according to claim 1, wherein determining the theoretical rotation angle and the theoretical offset after adjustment of the evaluation coordinate system corresponding to the reference target portion based on the theoretical adjustment amount of the reference target portion, to obtain the first conversion relationship, includes:

determining a first rotation angle of an evaluation coordinate system corresponding to the reference target part before adjustment relative to the intermediate coordinate system based on the coordinate position of each group of reference target parts;

the coordinate positions are adjusted according to the theoretical adjustment quantity, and adjusted coordinate positions of each group of reference target parts under the intermediate coordinate system are obtained;

determining a second rotation angle of an evaluation coordinate system corresponding to the reference target parts after adjustment relative to the intermediate coordinate system based on the adjusted coordinate positions of each group of reference target parts;

determining a theoretical rotation angle after the evaluation coordinate system is adjusted based on a difference value between the second rotation angle and the first rotation angle;

and determining a theoretical offset after the evaluation coordinate system is adjusted based on the first rotation angle and the theoretical adjustment amount.

5. The method according to any one of claims 1 to 4, wherein before converting the theoretical adjustment amount of each target portion to the processing coordinate system to obtain the actual adjustment amount in accordance with the second conversion relationship between the evaluation coordinate system and the intermediate coordinate system and the third conversion relationship between the intermediate coordinate system and the processing coordinate system used by the processing apparatus, further comprising:

Determining a rotation angle of an evaluation coordinate system corresponding to each reference target part relative to the intermediate coordinate system based on the coordinate positions of the first target part and the second target part in each group of reference target parts, and obtaining the second conversion relation;

the first target portion is used for determining an origin of an evaluation coordinate system corresponding to the reference target portion, and the second target portion is used for assisting the first target portion in establishing the evaluation coordinate system corresponding to the reference target portion.

6. The method according to any one of claims 1 to 4, wherein before converting the theoretical adjustment amount of each target portion to the processing coordinate system to obtain the actual adjustment amount in accordance with the second conversion relationship between the evaluation coordinate system and the intermediate coordinate system and the third conversion relationship between the intermediate coordinate system and the processing coordinate system used by the processing apparatus, further comprising:

determining the theoretical position of a positioning part of the positioning reference after the part is placed in processing equipment according to a part drawing;

acquiring the actual position of the positioning reference after the part is placed in processing equipment;

a third conversion relationship between the intermediate coordinate system and the machining coordinate system is determined based on a rotation angle between the line angle of the actual position relative to the line angle of the theoretical position.