CN117206974A - Workpiece centering method, system and storage medium - Google Patents

Workpiece centering method, system and storage medium Download PDF

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Publication number
CN117206974A
CN117206974A CN202311150570.4A CN202311150570A CN117206974A CN 117206974 A CN117206974 A CN 117206974A CN 202311150570 A CN202311150570 A CN 202311150570A CN 117206974 A CN117206974 A CN 117206974A
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China
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workpiece
coordinate
position coordinates
acquiring
value
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彭新开
田东成
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Zhongshu Fuxin Intelligent Technology Shanghai Co ltd
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Zhongshu Fuxin Intelligent Technology Shanghai Co ltd
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Priority to CN202311150570.4A priority Critical patent/CN117206974A/en
Publication of CN117206974A publication Critical patent/CN117206974A/en
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The application provides a workpiece centering method, a workpiece centering system and a storage medium, wherein the workpiece centering method comprises the following steps: acquiring an included angle value between a workpiece and a horizontal coordinate axis in a machine tool coordinate system, judging whether the included angle value is a preset included angle value, if so, acquiring reference position coordinates of corresponding sides through the workpiece, and determining the midpoint position of the workpiece by calculating an average value based on the reference position coordinates; if not, acquiring a first position coordinate of the corresponding side face of the workpiece under a machine tool coordinate system, and determining a reference position coordinate by calculating an average value based on the first position coordinate; and taking the position corresponding to the reference position coordinate as an intermediate reference point, acquiring an initial workpiece coordinate system based on the intermediate reference point and the included angle value, acquiring second position coordinates of the corresponding side surface of the workpiece through the initial workpiece coordinate system, and calculating an average value based on the second position coordinates to determine the midpoint position of the workpiece. The application can improve the accuracy of the sorting result.

Description

Workpiece centering method, system and storage medium
Technical Field
The application relates to the technical field of machine tool machining, in particular to a workpiece centering method, a workpiece centering system and a storage medium.
Background
With the increasing demands on the machining precision of machine tool workpieces, it has been a long-sought goal to accomplish efficient and high-precision machining of workpieces. In the process of machining a workpiece by a machine tool, a series of operations such as workpiece separation, workpiece rough machining and repeated workpiece adjustment are required to realize workpiece fine machining. The workpiece is divided into a coordinate system of a machine tool and a coordinate system of the workpiece, so that the position of the workpiece in the coordinate system of the machine tool is found, subsequent processing operation is facilitated, and a qualified workpiece is obtained.
In an actual machining process, a workpiece to be machined is generally fixed on a machine tool through a tray in a manual mode, so that the workpiece to be machined and the tray are fixed in the machine tool in parallel, namely, a machine tool coordinate system is parallel to the workpiece coordinate system, then a corresponding centering rod or a corresponding measuring head is used for centering according to a parallel state, and subsequent machining operation is performed after the centering operation is completed. However, the tray is fixed in position by a fixed baffle in the machine tool, so that the tray can be accurately fixed on the machine tool. The tray is a flat plate without protrusions, and at the same time, at least one workpiece to be processed can be allowed to be placed, the workpiece to be processed needs to be manually fixed according to the working experience of a worker, thus the workpiece to be processed and the tray can be fixed in a machine tool in a non-parallel manner, namely, the machine tool coordinate system is not parallel to the workpiece coordinate system, if the workpiece is continuously divided according to the parallel relationship, the accuracy of the dividing result can be reduced, and the processing work of the subsequent workpiece is affected.
Disclosure of Invention
In order to improve accuracy of a centering result, the embodiment of the application provides a centering method, a centering system and a storage medium for workpieces.
In a first aspect, the present embodiment provides a workpiece separating method, including:
acquiring an included angle value between a workpiece and a horizontal coordinate axis in a machine tool coordinate system, judging whether the included angle value is a preset included angle value, if so, acquiring reference position coordinates of corresponding sides through the workpiece, and calculating an average value based on the reference position coordinates to determine the midpoint position of the workpiece;
if not, acquiring a first position coordinate of the corresponding side surface of the workpiece under a machine tool coordinate system, and determining a reference position coordinate by calculating an average value based on the first position coordinate;
and taking the position corresponding to the reference position coordinate as an intermediate reference point, acquiring an initial workpiece coordinate system based on the intermediate reference point and the included angle value, acquiring second position coordinates of the corresponding side surface of the workpiece through the initial workpiece coordinate system, and calculating an average value based on the second position coordinates to determine the midpoint position of the workpiece.
In some embodiments, the acquiring the angle value between the workpiece and the horizontal coordinate axis in the machine tool coordinate system includes:
acquiring angle position coordinates corresponding to two positions on any side surface of a workpiece, wherein a connecting line between the two positions is not parallel to a vertical direction coordinate axis in a machine tool coordinate system;
acquiring horizontal coordinate values in horizontal coordinate axes in each angular position coordinate from the angular position coordinates, and generating corresponding two-dimensional angular position coordinates based on the horizontal coordinate values;
and determining an included angle value between the workpiece and a horizontal coordinate axis in a machine tool coordinate system according to the two-dimensional angle position coordinate.
In some embodiments, the acquiring the angle value between the workpiece and the horizontal coordinate axis in the machine tool coordinate system further includes:
acquiring corresponding tray point position coordinates in each first preset area in the upper surface of the tray and corresponding workpiece point position coordinates in each second preset area in the upper surface of the workpiece;
and obtaining a tray flatness value according to the tray point position coordinates, and obtaining a workpiece flatness value according to the workpiece point position coordinates.
In some of these embodiments, the method further comprises:
judging whether the flatness value of the tray and the flatness value of the workpiece fall into a preset range, and if so, acquiring an included angle value between the workpiece and a horizontal coordinate axis in a machine tool coordinate system;
if at least one of the tray point position coordinates does not fall into the position, generating an early warning signal indicating that the preparation work does not reach the standard, receiving a standard reaching signal indicating that the preparation work reaches the standard, and acquiring the tray point position coordinates and the workpiece point position coordinates if the standard reaching signal is received.
In some of these embodiments, obtaining the tray flatness value from the tray site location coordinates includes:
and acquiring Z coordinate values in each tray point position coordinate based on the tray point position coordinate, and subtracting the minimum Z coordinate value from the maximum Z coordinate value in all the Z coordinate values to obtain a tray planeness value.
In some of these embodiments, obtaining second position coordinates of the respective sides of the workpiece from the initial workpiece coordinate system includes:
acquiring the side planeness of four sides of a workpiece, judging whether all the side planeness meets a preset tolerance, if so, selecting a detection point on each side of the workpiece, and acquiring a second position coordinate corresponding to each detection point under an initial workpiece coordinate system, wherein a connecting line between the detection points in the parallel sides is parallel or perpendicular to a horizontal plane coordinate axis of the initial workpiece coordinate system;
if at least one of the two target sides does not meet the requirement, two adjacent target sides with the smallest difference from the preset tolerance are selected from the four sides, two detection points symmetrical about the center point of the target sides are selected from each target side, and the second position coordinates corresponding to each detection point are obtained under the initial workpiece coordinate system.
In some of these embodiments, determining the midpoint location of the workpiece based on the second location coordinates comprises:
judging whether the number of the second position coordinates is four, if so, dividing the second position coordinates into two groups, wherein the two position coordinates in each group are symmetrical about a certain coordinate axis of an initial workpiece coordinate system;
adding and averaging the second position coordinates corresponding to each other to obtain coordinate values on the corresponding coordinate axes, and obtaining the midpoint position of the workpiece based on all the coordinate values;
if the coordinate values are not four, acquiring coordinate axes corresponding to each second position coordinate, acquiring coordinate values about the coordinate axes in the corresponding second position coordinates according to the coordinate axes, and acquiring the midpoint position of the workpiece based on all the coordinate values.
In a second aspect, the present embodiment provides a workpiece centering system, the system including: the device comprises an angle acquisition module, an angle judgment module, a non-deviation centering module and a deviation centering module; wherein,
the angle acquisition module is used for acquiring an included angle value between a workpiece and a horizontal coordinate axis in a machine tool coordinate system;
the angle judging module is used for judging whether the included angle value is a preset included angle value or not;
the unbiased centering module is used for acquiring reference position coordinates of corresponding sides through the workpiece if the included angle value is a preset included angle value, and determining the centering point position of the workpiece by calculating an average value based on the reference position coordinates;
the deviation dividing module is used for acquiring a first position coordinate of the corresponding side face under a machine tool coordinate system through the workpiece if the included angle value is not a preset included angle value, and calculating an average value based on the first position coordinate to determine a reference position coordinate; and taking the position corresponding to the reference position coordinate as an intermediate reference point, acquiring an initial workpiece coordinate system based on the intermediate reference point and the included angle value, acquiring second position coordinates of the corresponding side surface of the workpiece through the initial workpiece coordinate system, and calculating an average value based on the second position coordinates to determine the midpoint position of the workpiece.
In some of these embodiments, the system further comprises a flatness module; wherein,
the flatness module is used for acquiring the position coordinates of the corresponding tray point in each first preset area in the upper surface of the tray and the position coordinates of the corresponding workpiece point in each second preset area in the upper surface of the workpiece; and obtaining a tray flatness value according to the tray point position coordinates, and obtaining a workpiece flatness value according to the workpiece point position coordinates.
In a third aspect, the present embodiment provides a computer readable storage medium having stored thereon a computer program executable on a processor, the computer program implementing a method of splitting a workpiece according to the first aspect when executed by the processor.
By adopting the method, the included angle value between the workpiece and the horizontal coordinate axis in the machine tool coordinate system is firstly obtained, whether the workpiece is in a parallel state with the machine tool coordinate system is determined by comparing the included angle value with the preset included angle value, if the workpiece is in the parallel state, the reference position coordinates of the corresponding side face of the workpiece are directly obtained, and the average value of the reference position coordinates is obtained to determine the midpoint position of the workpiece. If the coordinate system is not in a parallel state, firstly acquiring a plurality of first position coordinates under a machine tool coordinate system, and averaging the first position coordinates to preliminarily obtain a reference position coordinate representing the approximate midpoint position; and then, an initial workpiece coordinate system is obtained based on the intermediate reference point and the included angle value, a second position coordinate is obtained under the initial workpiece coordinate system, and an accurate centering point position is obtained by averaging the second position coordinate, so that corresponding centering methods are adopted for different states, and the accuracy of centering results is improved.
Drawings
Fig. 1 is a schematic diagram of a machine coordinate system direction in a triaxial vertical numerical control machine according to an embodiment of the present application.
Fig. 2 is a block diagram of a method for centering a workpiece according to an embodiment of the application.
Fig. 3 is a block diagram of obtaining an included angle value between a workpiece and a horizontal coordinate axis in a machine coordinate system according to an embodiment of the present application.
Fig. 4 is a schematic diagram of obtaining reference position coordinates according to an embodiment of the present application.
FIG. 5 is a block diagram of a second position coordinate of a corresponding side of a workpiece acquired through an initial workpiece coordinate system, provided by an embodiment of the application.
FIG. 6 is a block diagram of determining a midpoint location of a workpiece based on averaging of second location coordinates, provided by an embodiment of the present application.
Fig. 7 is a diagram of a system frame for dividing a workpiece according to an embodiment of the application.
Detailed Description
The present application will be described and illustrated with reference to the accompanying drawings and examples for a clearer understanding of the objects, technical solutions and advantages of the present application. However, it will be apparent to one of ordinary skill in the art that the present application may be practiced without these specific details. It will be apparent to those having ordinary skill in the art that various changes can be made to the disclosed embodiments of the application and that the general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of the application. Thus, the present application is not limited to the embodiments shown, but is to be accorded the widest scope consistent with the scope of the application as claimed.
Embodiments of the application are described in further detail below with reference to the drawings.
The workpiece in the embodiment of the application refers to a blank workpiece to be processed, and is generally rectangular. The workpiece is automatically divided and processed by a machine tool to obtain a final processed finished product. The machine tool can be any one of a three-axis horizontal numerical control machine tool, a three-axis vertical numerical control machine tool, a five-axis horizontal numerical control machine tool and a five-axis vertical numerical control machine tool. The embodiment of the application is preferably a triaxial vertical numerical control machine tool. Fig. 1 is a schematic diagram of a machine coordinate system direction in a triaxial vertical numerical control machine according to an embodiment of the present application. As shown in fig. 1, in the three-axis vertical type numerical control machine tool, the Z axis is the direction from the center of rotation of the chuck to the tool, parallel to the main axis, and the direction in which the tool leaves the workpiece is positive. The Z axis is that the direction of the chuck pointing to the tool is vertical to the Z axis, and the tool rotates, so that the direction to the right is positive when seen in the direction of the main shaft upright of the tool. The Y axis is the direction vertical to the XZ plane, and after Z, X coordinates are determined, the Y axis can be obtained by using a right-hand rectangular coordinate system.
Fig. 2 is a block diagram of a method for centering a workpiece according to an embodiment of the application. As shown in fig. 2, a method for centering a workpiece includes the steps of:
and S100, acquiring an included angle value between the workpiece and a horizontal coordinate axis in a machine tool coordinate system, judging whether the included angle value is a preset included angle value, if so, acquiring reference position coordinates of corresponding sides through the workpiece, and determining the midpoint position of the workpiece by calculating an average value based on the reference position coordinates.
Before the machine tool performs the centering and processing operation on the workpiece, the workpiece needs to be fixed on the machine tool by means of the tray, and finally the tray is positioned between the workpiece and the machine tool. The shape of the tray is matched with the workbench of the machine tool, so that the tray can be accurately fixed at a certain fixed position on the machine tool every time, and the tray and the machine tool coordinate system are in parallel positions. The tray is a large planar sheet relative to the workpieces, and comprises a plurality of placement areas, each placement area can be used for placing one workpiece, all the workpieces placed in the tray are workpieces which only need to use the same tool, and a certain distance is arranged between each two workpieces, so that the tool or the measuring head can be used for measuring or processing one workpiece without touching other workpieces on the periphery of the workpiece. In this case, since the workpieces may be different in blank size, there is no specific mark in the tray to determine the placement position of each workpiece, and a worker is required to place and fix the workpiece on the tray according to actual situations, thereby achieving fixation on the machine tool. Therefore, after the workpiece is fixed on the tray, whether the workpiece and the machine tool coordinate system are in a parallel state cannot be guaranteed, and therefore an included angle between the workpiece and a horizontal coordinate axis in the machine tool coordinate system needs to be acquired. The machine tool coordinate system is fixed by the machine tool manufacturer before the machine tool leaves the factory.
The flatness of the tray and the workpiece can influence the subsequent operations such as workpiece centering and processing, and the like, so that errors occur in the workpiece centering and processing process, and the processed product is influenced. Therefore, after the tray and the workpiece are fixed on the machine tool and before the included angle between the workpiece and the horizontal coordinate axis in the coordinate system of the machine tool is obtained, whether the flatness of the tray and the workpiece meets the standard needs to be detected. Detecting whether the flatness of the tray and the workpiece meets the standards or not comprises the following steps:
and S0-1, acquiring corresponding tray point position coordinates in each first preset area in the upper surface of the tray and corresponding workpiece point position coordinates in each second preset area in the upper surface of the workpiece.
And S0-2, obtaining a tray flatness value according to the position coordinates of the tray points, and obtaining a workpiece flatness value according to the position coordinates of the workpiece points.
And S0-3, judging whether the flatness value of the tray and the flatness value of the workpiece fall into a preset range, and if so, acquiring an included angle value between the workpiece and a horizontal coordinate axis in a machine tool coordinate system.
And S0-4, if at least one of the signals does not fall into the standard, generating an early warning signal representing that the preparation work does not reach the standard, receiving a standard reaching signal representing that the preparation work reaches the standard, and if the standard reaching signal is received, acquiring the position coordinates of the tray point and the position coordinates of the workpiece point.
The tool holder in the machine tool is provided with a plurality of mounting portions, each of which can be used for mounting a different tool or for a measuring head for a centering operation. The machine tool coordinate system is used for taking the positive direction of the Y axis as a reference view angle, a plurality of first preset areas are arranged in the upper surface of the tray, no overlapping exists among the first preset areas, and in the embodiment, four first preset areas are preferably arranged in the upper surface of the tray and are respectively located at four vertex angles of the upper surface of the tray. Therefore, the measuring head arranged in the tool rest of the machine tool can respectively select one position in each first preset area for measurement, so that pallet point position coordinates corresponding to four different positions under the coordinate system of the machine tool are obtained. Similarly, the workpiece is placed in an area of the tray so that the machine tool can know the approximate location of the workpiece. Four second preset areas are arranged in the upper surface of the workpiece and are respectively positioned at four vertex angles of the upper surface of the workpiece. And the measuring head selects one position in each second preset area to measure, so that the coordinates of the corresponding workpiece points of the four different positions under the machine tool coordinate system can be obtained. Each pallet point location coordinate and each workpiece point location coordinate are three-dimensional coordinates.
Wherein, obtaining the tray flatness value according to the tray point position coordinates includes: and obtaining Z coordinate values in the point position coordinates of each tray based on the position coordinates of the tray points, and subtracting the minimum Z coordinate value from the maximum Z coordinate value in all the Z coordinate values to obtain the tray planeness value. Thus, the maximum value and the minimum value of the upper surface of the tray in the Z-axis direction, namely in the vertical direction, can be obtained, and the difference value can be obtained by subtracting the minimum value from the maximum value, namely the tray flatness value of the tray in the vertical direction. Similarly, the Z coordinate value in each workpiece point position coordinate is obtained based on the workpiece point position coordinate, and the minimum Z coordinate value is subtracted from the maximum Z coordinate value in all the Z coordinate values to obtain a difference value, namely the workpiece flatness value of the workpiece in the vertical direction.
The method comprises the steps that a tray and a workpiece are corresponding to respective preset ranges related to flatness, the obtained tray flatness values are sequentially compared with the minimum value and the maximum value of the corresponding preset ranges to determine whether the tray flatness values fall into the preset ranges, and if the tray flatness values are not smaller than the minimum value of the corresponding preset ranges and not larger than the maximum value of the corresponding preset ranges, the tray flatness values are indicated to fall into the preset ranges; otherwise, the tray flatness value does not fall within the preset range. Similarly, if the workpiece flatness value is not smaller than the minimum value corresponding to the preset range and is not larger than the maximum value corresponding to the preset range, the workpiece flatness value is indicated to fall into the preset range; otherwise, the workpiece flatness value does not fall within the preset range. If the flatness value of the tray and the flatness value of the workpiece fall within the preset range, the flatness of the tray and the workpiece reach the standard, and the included angle between the workpiece and the horizontal coordinate axis in the machine tool coordinate system can be directly obtained.
If at least one of the flatness value of the tray and the flatness value of the workpiece does not fall within the preset range, the problem of the tray or the workpiece is indicated, and an early warning signal needs to be generated, wherein the early warning signal comprises three types, namely a first early warning signal of which only the flatness value of the tray does not fall within the preset range, a second early warning signal of which only the flatness value of the workpiece does not fall within the preset range, and a third early warning signal of which both the flatness value of the tray and the flatness value of the workpiece do not fall within the preset range. Thus, the staff can conveniently adjust correspondingly according to the early warning signal. For example, for the second warning signal, the worker only needs to perform work of adjusting the workpiece. After the staff completes corresponding adjustment according to the early warning signal, a standard reaching signal is sent to the machine tool, so that the machine tool continues to execute the step S0-1 to acquire the position coordinates of the tray point and the position coordinates of the workpiece point again after the standard reaching signal is obtained, and whether the flatness of the tray and the workpiece reach the standard is detected again. And acquiring an included angle value between the workpiece and a horizontal coordinate axis in a machine tool coordinate system until the flatness of the detection tray and the workpiece reach the standard. Thus, the accuracy of the subsequent acquisition of the included angle value is improved.
Fig. 3 is a block diagram of obtaining an included angle value between a workpiece and a horizontal coordinate axis in a machine coordinate system according to an embodiment of the present application. As shown in fig. 3, the method for obtaining the included angle value between the workpiece and the horizontal coordinate axis in the machine tool coordinate system includes the following steps:
step S101, acquiring the corresponding angular position coordinates of two positions on any one side surface of the workpiece, wherein the connecting line between the two positions is not parallel to the vertical coordinate axis in the machine tool coordinate system.
Step S102, horizontal coordinate values in the horizontal coordinate axes in each angle position coordinate are obtained from the angle position coordinates, and corresponding two-dimensional angle position coordinates are generated based on the horizontal coordinate values.
And step S103, determining an included angle value between the workpiece and a horizontal coordinate axis in a machine tool coordinate system according to the two-dimensional angle position coordinate.
The horizontal coordinate axes are the X axis and the Y axis of the machine coordinate system. The workpiece is provided with four side surfaces, two positions which are not parallel to the Z-axis direction of a machine tool coordinate system are selected from any one of the four side surfaces, and angle position coordinates corresponding to the two positions are obtained by using a measuring needle. And selecting coordinate values in the X axis and coordinate values in the Y axis from the angular position coordinates, so that the coordinate values in the X axis and the coordinate values in the Y axis are combined together to obtain two-dimensional angular position coordinates, namely two-dimensional coordinates. The two-dimensional coordinates correspond to the projection coordinates of the two positions in the horizontal direction, specifically (x) 1 ,y 1 ) And (x) 2 ,y 2 ) By using the formulaTo obtain the angle value between the workpiece and the X coordinate axis in the machine tool coordinate system, or by using the formula +.>To obtain the included angle value between the workpiece and the Y coordinate axis in the machine tool coordinate system.
If the included angle value is the included angle value between the workpiece and the X coordinate axis in the machine tool coordinate system, the preset included angle value is 0. If the included angle value is the included angle value between the workpiece and the Y coordinate axis in the machine tool coordinate system, the preset included angle value is 90. Therefore, an included angle difference value is obtained by subtracting the corresponding preset included angle value from the included angle value, and if the included angle difference value is zero, the included angle value is indicated to be the preset included angle value, and the workpiece is parallel to the coordinate system of the machine tool. And if the flatness values of the four sides of the workpiece meet corresponding preset tolerances, indicating that the four sides of the workpiece are smooth, selecting a four-side point taking mode, namely selecting one position in each side by the measuring head for measurement, obtaining four corresponding reference position coordinates altogether, dividing two reference position coordinates from the vertical plane of the X coordinate axis in the four reference position coordinates into a group, and obtaining an average value of the X coordinate values in the two reference position coordinates in the group to obtain the X coordinate value corresponding to the point dividing position under the coordinate system of the machine tool. The other two reference position coordinates are automatically divided into another group, and the Y coordinate values in the two reference position coordinates in the group are averaged to obtain the Y coordinate value corresponding to the midpoint position under the machine tool coordinate system. The Z coordinate value of any one of the four reference position coordinates is the Z coordinate value of the midpoint position corresponding to the machine tool coordinate system. The coordinate value of the center point in the machine tool coordinate system can be obtained, so that the relation between the workpiece coordinate system and the machine tool coordinate system is established, and the position of the center point of the workpiece is determined.
If at least one of the flatness values of the four side surfaces does not meet the corresponding preset tolerance, the side surface which does not meet the corresponding preset tolerance is rough, a single-side point taking mode is selected, namely two adjacent target side surfaces with the smallest difference from the preset tolerance are selected from the four side surfaces, a midpoint position point of the side surface is selected from each target side surface, and an X coordinate value of the midpoint position point of the side surface which is in a parallel state with the X axis is taken as an X coordinate value of the midpoint position corresponding to a machine tool coordinate system. Similarly, the Y coordinate value of the center point of the side surface parallel to the Y axis is set as the Y coordinate value of the midpoint position in the machine coordinate system. The Z coordinate value of any midpoint position point in the two midpoint position points is the Z coordinate value of the midpoint position corresponding to the machine tool coordinate system. The coordinate value of the center point in the machine tool coordinate system can be obtained, so that the association between the workpiece and the machine tool coordinate system is established, and the position of the center point of the workpiece is determined.
In step S200, if not, the first position coordinates of the corresponding side surface in the machine tool coordinate system are obtained through the workpiece, and the reference position coordinates are determined by averaging based on the first position coordinates.
If the difference value of the included angles is not zero, the included angle value is not a preset included angle value, the workpiece is not parallel to the machine tool coordinate system, and the midpoint position cannot be determined according to the method under the condition that the workpiece is parallel to the machine tool coordinate system. It is necessary to first acquire the first position coordinates of the corresponding side of the workpiece in the machine tool coordinate system. Acquiring the first position coordinates includes: acquiring the side flatness of four sides of a workpiece, judging whether all the side flatness meet preset tolerance, if so, selecting a detection point on each side of the workpiece, and acquiring a first position coordinate corresponding to each detection point under a machine tool coordinate system, wherein connecting lines between the detection points in the parallel sides are parallel or perpendicular to the side of the workpiece. If at least one of the two detection points does not meet the requirement, selecting two opposite target side surfaces with the smallest difference from the preset tolerance from the four side surfaces, selecting two detection points which are symmetrical about the center point of the target side surface from each target side surface, and acquiring a first position coordinate corresponding to each detection point under a machine tool coordinate system.
If the side flatness of the four sides of the workpiece meets the preset tolerance, a detection point is selected from each side, and the four first position coordinate values under the machine tool coordinate system are obtained by using the measuring head and can be divided into two groups of coordinate values. Wherein each group of coordinate values comprises two first position coordinate values belonging to opposite sides. The connecting line between the positions corresponding to the first group of coordinate values is parallel to the side surface of the workpiece, which is close to the X axis in the machine tool coordinate system, and the connecting line between the positions corresponding to the second group of coordinate values is parallel to the side surface of the workpiece, which is close to the Y axis in the machine tool coordinate system. And averaging two first position coordinate values in the first group of coordinate values to obtain a first average coordinate value, wherein the X coordinate value in the first average coordinate value is the X coordinate value of the reference position coordinate. Similarly, the two first position coordinate values in the second group of coordinate values are averaged to obtain a second average coordinate value, and the Y coordinate value in the second average coordinate value is the Y coordinate value of the reference position coordinate. Any one of the four first position coordinates is the Z coordinate value of the reference position coordinate. Thereby obtaining reference position coordinates. Since the workpiece is again fixed to the machine tool, the machine tool has already known the approximate position of the workpiece, and there is only a small deviation when the workpiece is installed by the worker, and no deviation which is obvious to the naked eye.
Since the workpiece is not parallel to the machine coordinate system but has a certain angular deviation, the midpoint position cannot be directly obtained through step S200. It is necessary to move the probe head mounted in the tool head of the machine tool to the vicinity of four sides of the workpiece in the machine tool coordinate system, and then gradually approach the workpiece to obtain a corresponding detection point for each side. Then, the obtained detection points are averaged to obtain the approximate position of the midpoint. Fig. 4 is a schematic plan view of obtaining a reference position coordinate according to an embodiment of the present application. As shown in fig. 4, one vertex of the workpiece is located at the origin of the machine coordinate system, O is the midpoint of the workpiece, the included angle value is w, the coordinates of the point a of the workpiece are (a, B), the coordinates of the point B are (C, d), and then the coordinates of the point C are (a-C, b+d). The X coordinate value of the reference position coordinate obtained from the B point and the C point is (a-c+c)/2, namely a/2. It is apparent that a/2 is not the X coordinate value of O in the X axis direction.
In order to obtain the midpoint position of the score further accurately, adjustment is also required on the basis of the coordinates of the reference position. Step S300 is executed, in which the position corresponding to the reference position coordinate is taken as an intermediate reference point, an initial workpiece coordinate system is obtained based on the intermediate reference point and the included angle value, the second position coordinate of the corresponding side of the workpiece is obtained through the initial workpiece coordinate system, and the midpoint position of the workpiece is determined by averaging based on the second position coordinate.
And (2) taking the point corresponding to the reference position coordinate obtained in the step (S200) as an intermediate reference point, obtaining an included angle between the workpiece and an X axis in a machine tool coordinate system in the anticlockwise direction through an included angle value, taking the central reference point as a coordinate origin, taking the direction of the X axis in the machine tool coordinate system after the X axis rotates the included angle in the anticlockwise direction as the X axis direction, taking the direction of the X axis in the machine tool coordinate system after the X axis rotates the included angle in the anticlockwise direction plus 90 degrees as the Y axis direction, and taking the Z axis direction in the machine tool coordinate system as the Z axis direction, thereby obtaining an initial workpiece coordinate system.
FIG. 5 is a block diagram of a second position coordinate of a corresponding side of a workpiece acquired through an initial workpiece coordinate system, provided by an embodiment of the application. As shown in fig. 5, acquiring the second position coordinates of the corresponding side of the workpiece by the initial workpiece coordinate system includes the steps of:
step S301, obtaining the side flatness of four sides of the workpiece, judging whether all the side flatness meet the preset tolerance, and if all the side flatness meet the preset tolerance, selecting a detection point on each side of the workpiece, and obtaining a second position coordinate corresponding to each detection point under an initial workpiece coordinate system, wherein a connecting line between the detection points in the parallel sides is parallel or perpendicular to a horizontal plane coordinate axis of the initial workpiece coordinate system.
Step S302, if at least one of the two target sides does not meet the requirement, two adjacent target sides with the smallest difference from the preset tolerance are selected from the four target sides, two detection points symmetrical about the center point of the target sides are selected from each target side, and the second position coordinates corresponding to each detection point are obtained under the initial workpiece coordinate system.
The second position coordinates are continuously obtained in the initial workpiece coordinate system obtained in the manner described above for obtaining the reference position coordinates and the first position coordinates. That is, the dot selection mode needs to be determined according to the side flatness of the four sides, and detailed description is omitted here. But differs in that the second position coordinates are coordinates in the initial workpiece coordinate system and the reference position coordinates and the first position coordinates are coordinates in the machine coordinate system. In addition, the corresponding relation between the machine tool coordinate system and the initial workpiece coordinate system can be obtained through reference to the position coordinates and the included angle value.
FIG. 6 is a block diagram of determining a midpoint location of a workpiece based on averaging of second location coordinates, provided by an embodiment of the present application. As shown in fig. 6, determining the midpoint position of the workpiece based on the second position coordinates includes the steps of: in step S303, it is determined whether the number of the second position coordinates is four, and if so, the second position coordinates are divided into two groups, wherein two position coordinates in each group are symmetrical with respect to a coordinate axis of the initial workpiece coordinate system.
Step S304, adding two corresponding position coordinates to obtain an average value to obtain coordinate values on the corresponding coordinate axes, and obtaining the midpoint position of the workpiece based on all coordinate values.
In step S305, if there are not four coordinate axes corresponding to each second position coordinate, coordinate values about the coordinate axes in the corresponding second position coordinates are obtained according to the coordinate axes, and the midpoint position of the workpiece is obtained based on all the coordinate values.
If the number of the second position coordinates is four, the position coordinates between the two opposite side surfaces can be averaged according to the symmetry principle, so that two new coordinate values are obtained. Wherein, the X coordinate value of the new coordinate value obtained by the side surface parallel to the Y axis in the initial workpiece coordinate system is taken as the X coordinate value of the midpoint position, the Y coordinate value of the new coordinate value obtained by the side surface parallel to the X axis in the initial workpiece coordinate system is taken as the Y coordinate value of the midpoint position, and the Z coordinate value of any new coordinate value is taken as the Z coordinate value of the midpoint position.
If the number of the second position coordinates is two, the X coordinate value of the second position coordinate on the side surface parallel to the X axis in the initial workpiece coordinate system is taken as the X coordinate value of the midpoint position, the Y coordinate value of the second position coordinate on the side surface parallel to the Y axis in the initial workpiece coordinate system is taken as the Y coordinate value of the midpoint position, and the Z coordinate value of any one of the second position coordinates is taken as the Z coordinate value of the midpoint position.
After the accurate midpoint position under the initial workpiece coordinate system is obtained, the midpoint position under the machine coordinate system can be obtained through the corresponding relation between the machine coordinate system and the initial workpiece coordinate system. In other words, the embodiment compares the included angle value with the preset included angle value to determine whether the workpiece is in a parallel state with the machine tool coordinate system, and adopts a corresponding centering method aiming at different states to improve the accuracy of centering results.
A plurality of workpieces can be placed in the tray at the same time, so that after the workpieces are fixed on a machine tool, the flatness of the tray and the workpieces needs to be detected only when the first workpiece is divided into the workpieces, and the flatness of the workpieces needs to be detected only when the subsequent workpiece is divided into the workpieces for working, thereby omitting the flatness of the tray, reducing repeated operation, reducing labor intensity and error rate and improving working efficiency.
In addition, the tool rest of the machine tool can be provided with the measuring head and a plurality of cutters simultaneously, so that in the whole machining process of the current workpiece, the measuring head can be used for measuring the machining precision of the workpiece on line according to actual needs under the condition of not disassembling the workpiece and the tray, and the measuring head can be adjusted in time according to measured error values when the machining precision does not reach the standard, so that the workpiece can be machined again on line, and continuous machining of the workpiece is realized. The condition that the workpiece is assembled and disassembled back and forth is reduced, so that the machining precision is improved, and the effective utilization of working hours is facilitated.
Fig. 7 is a diagram of a system frame for dividing a workpiece according to an embodiment of the application. As shown in fig. 7, a workpiece centering system includes: the device comprises an angle acquisition module, an angle judgment module, a deviation-free centering module, a deviation centering module and a flatness module.
The angle acquisition module is used for acquiring an included angle value between a workpiece and a horizontal coordinate axis in a machine tool coordinate system. The angle judging module is used for judging whether the included angle value is a preset included angle value. The unbiased centering module is used for acquiring reference position coordinates of corresponding sides through the workpiece if the included angle value is a preset included angle value, and determining the centering point position of the workpiece by calculating an average value based on the reference position coordinates. The deviation dividing module is used for acquiring a first position coordinate of the corresponding side face under a machine tool coordinate system through the workpiece if the included angle value is not a preset included angle value, and calculating an average value based on the first position coordinate to determine a reference position coordinate; and taking the position corresponding to the reference position coordinate as an intermediate reference point, acquiring an initial workpiece coordinate system based on the intermediate reference point and the included angle value, acquiring second position coordinates of the corresponding side surface of the workpiece through the initial workpiece coordinate system, and calculating an average value based on the second position coordinates to determine the midpoint position of the workpiece. The flatness module is used for acquiring the corresponding position coordinates of the tray point in each first preset area in the upper surface of the tray and the corresponding position coordinates of the workpiece point in each second preset area in the upper surface of the workpiece; and obtaining a tray flatness value according to the tray point position coordinates, and obtaining a workpiece flatness value according to the workpiece point position coordinates.
The other functions executed by the angle acquisition module, the angle judgment module, the unbiased centering module, the biased centering module and the flatness module and the technical details of the functions are the same as or similar to the corresponding features in the workpiece centering method described above, so that the description thereof is omitted herein.
The embodiments of the present application also provide a computer storage medium having a computer program stored thereon, which when run on a computer, enables the computer to perform the steps of the method of separating workpieces described above.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein.
The foregoing is only a partial embodiment of the present application, and it should be noted that it will be apparent to those skilled in the art that modifications and adaptations can be made without departing from the principles of the present application, and such modifications and adaptations are intended to be comprehended within the scope of the present application.

Claims (10)

1. A method of separating a workpiece, the method comprising:
acquiring an included angle value between a workpiece and a horizontal coordinate axis in a machine tool coordinate system, judging whether the included angle value is a preset included angle value, if so, acquiring reference position coordinates of corresponding sides through the workpiece, and calculating an average value based on the reference position coordinates to determine the midpoint position of the workpiece;
if not, acquiring a first position coordinate of the corresponding side surface of the workpiece under a machine tool coordinate system, and determining a reference position coordinate by calculating an average value based on the first position coordinate;
and taking the position corresponding to the reference position coordinate as an intermediate reference point, acquiring an initial workpiece coordinate system based on the intermediate reference point and the included angle value, acquiring second position coordinates of the corresponding side surface of the workpiece through the initial workpiece coordinate system, and calculating an average value based on the second position coordinates to determine the midpoint position of the workpiece.
2. The method of claim 1, wherein the obtaining an angle between the workpiece and a horizontal coordinate axis in a machine coordinate system comprises:
acquiring angle position coordinates corresponding to two positions on any side surface of a workpiece, wherein a connecting line between the two positions is not parallel to a vertical direction coordinate axis in a machine tool coordinate system;
acquiring horizontal coordinate values in horizontal coordinate axes in each angular position coordinate from the angular position coordinates, and generating corresponding two-dimensional angular position coordinates based on the horizontal coordinate values;
and determining an included angle value between the workpiece and a horizontal coordinate axis in a machine tool coordinate system according to the two-dimensional angle position coordinate.
3. The method of claim 1, wherein the step of obtaining the value of the angle between the workpiece and the horizontal coordinate axis in the machine coordinate system further comprises:
acquiring corresponding tray point position coordinates in each first preset area in the upper surface of the tray and corresponding workpiece point position coordinates in each second preset area in the upper surface of the workpiece;
and obtaining a tray flatness value according to the tray point position coordinates, and obtaining a workpiece flatness value according to the workpiece point position coordinates.
4. A method according to claim 3, characterized in that the method further comprises:
judging whether the flatness value of the tray and the flatness value of the workpiece fall into a preset range, and if so, acquiring an included angle value between the workpiece and a horizontal coordinate axis in a machine tool coordinate system;
if at least one of the tray point position coordinates does not fall into the position, generating an early warning signal indicating that the preparation work does not reach the standard, receiving a standard reaching signal indicating that the preparation work reaches the standard, and acquiring the tray point position coordinates and the workpiece point position coordinates if the standard reaching signal is received.
5. A method according to claim 3, wherein obtaining a tray flatness value from the tray site location coordinates comprises:
and acquiring Z coordinate values in each tray point position coordinate based on the tray point position coordinate, and subtracting the minimum Z coordinate value from the maximum Z coordinate value in all the Z coordinate values to obtain a tray planeness value.
6. The method of claim 1, wherein obtaining second position coordinates of respective sides of the workpiece from the initial workpiece coordinate system comprises:
acquiring the side planeness of four sides of a workpiece, judging whether all the side planeness meets a preset tolerance, if so, selecting a detection point on each side of the workpiece, and acquiring a second position coordinate corresponding to each detection point under an initial workpiece coordinate system, wherein a connecting line between the detection points in the parallel sides is parallel or perpendicular to a horizontal plane coordinate axis of the initial workpiece coordinate system;
if at least one of the two target sides does not meet the requirement, two adjacent target sides with the smallest difference from the preset tolerance are selected from the four sides, two detection points symmetrical about the center point of the target sides are selected from each target side, and the second position coordinates corresponding to each detection point are obtained under the initial workpiece coordinate system.
7. The method of claim 6, wherein determining the midpoint location of the workpiece based on the second location coordinates comprises:
judging whether the number of the second position coordinates is four, if so, dividing the second position coordinates into two groups, wherein the two position coordinates in each group are symmetrical about a certain coordinate axis of an initial workpiece coordinate system;
adding and averaging the second position coordinates corresponding to each other to obtain coordinate values on the corresponding coordinate axes, and obtaining the midpoint position of the workpiece based on all the coordinate values;
if the coordinate values are not four, acquiring coordinate axes corresponding to each second position coordinate, acquiring coordinate values about the coordinate axes in the corresponding second position coordinates according to the coordinate axes, and acquiring the midpoint position of the workpiece based on all the coordinate values.
8. A workpiece centering system, the system comprising: the device comprises an angle acquisition module, an angle judgment module, a non-deviation centering module and a deviation centering module; wherein,
the angle acquisition module is used for acquiring an included angle value between a workpiece and a horizontal coordinate axis in a machine tool coordinate system;
the angle judging module is used for judging whether the included angle value is a preset included angle value or not;
the unbiased centering module is used for acquiring reference position coordinates of corresponding sides through the workpiece if the included angle value is a preset included angle value, and determining the centering point position of the workpiece by calculating an average value based on the reference position coordinates;
the deviation dividing module is used for acquiring a first position coordinate of the corresponding side face under a machine tool coordinate system through the workpiece if the included angle value is not a preset included angle value, and calculating an average value based on the first position coordinate to determine a reference position coordinate; and taking the position corresponding to the reference position coordinate as an intermediate reference point, acquiring an initial workpiece coordinate system based on the intermediate reference point and the included angle value, acquiring second position coordinates of the corresponding side surface of the workpiece through the initial workpiece coordinate system, and calculating an average value based on the second position coordinates to determine the midpoint position of the workpiece.
9. The system of claim 8, further comprising a flatness module; wherein,
the flatness module is used for acquiring the position coordinates of the corresponding tray point in each first preset area in the upper surface of the tray and the position coordinates of the corresponding workpiece point in each second preset area in the upper surface of the workpiece; and obtaining a tray flatness value according to the tray point position coordinates, and obtaining a workpiece flatness value according to the workpiece point position coordinates.
10. A computer readable storage medium on which a computer program is stored which can be run on a processor, characterized in that the computer program, when executed by the processor, implements a method of separating workpieces according to any one of claims 1 to 7.
CN202311150570.4A 2023-09-07 2023-09-07 Workpiece centering method, system and storage medium Pending CN117206974A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311150570.4A CN117206974A (en) 2023-09-07 2023-09-07 Workpiece centering method, system and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311150570.4A CN117206974A (en) 2023-09-07 2023-09-07 Workpiece centering method, system and storage medium

Publications (1)

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