CN118189873A - Device and method for measuring distance from equipment engraving point to axis of A shaft - Google Patents

Device and method for measuring distance from equipment engraving point to axis of A shaft Download PDF

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Publication number
CN118189873A
CN118189873A CN202410323256.XA CN202410323256A CN118189873A CN 118189873 A CN118189873 A CN 118189873A CN 202410323256 A CN202410323256 A CN 202410323256A CN 118189873 A CN118189873 A CN 118189873A
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CN
China
Prior art keywords
engraving
axis
point
position parameter
nozzle
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Pending
Application number
CN202410323256.XA
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Chinese (zh)
Inventor
李斌
王飞
蔡明�
佘剑
叶春瑶
刘峰
申少泽
赵毅
温红舸
黄丹萍
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Chengdu Aircraft Industrial Group Co Ltd
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Chengdu Aircraft Industrial Group Co Ltd
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Application filed by Chengdu Aircraft Industrial Group Co Ltd filed Critical Chengdu Aircraft Industrial Group Co Ltd
Priority to CN202410323256.XA priority Critical patent/CN118189873A/en
Publication of CN118189873A publication Critical patent/CN118189873A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C59/00—Surface shaping of articles, e.g. embossing; Apparatus therefor
    • B29C59/002—Component parts, details or accessories; Auxiliary operations

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Perforating, Stamping-Out Or Severing By Means Other Than Cutting (AREA)

Abstract

The invention discloses a device and a method for measuring the distance from a carving point of equipment to an axis A, which can quickly and accurately obtain the distance from the carving point of equipment to the axis A of an end effector, which is generated on a skin, provide necessary key data for the accurate calibration of the precision of the equipment, and are beneficial to improving the precision of the combined motion of all motion axes of the equipment, further improving the carving precision of chemical milling of the skin, avoiding the occurrence of out-of-tolerance or scrapping of the skin part, and further saving the processing cost of the skin part; the method is simple, easy to operate and implement, does not need special and expensive measuring instruments, and is low in manpower and material resource cost.

Description

Device and method for measuring distance from equipment engraving point to axis of A shaft
Technical Field
The invention belongs to the technical field of digital engraving processing, and relates to a device and a method for measuring the distance from an engraving point of equipment to an axis of an A shaft.
Background
In the digital engraving process of the aircraft skin chemical milling, relevant technological processes are generally realized by adopting engraving equipment, and the equipment mainly comprises a three-coordinate equipment main body and a processing end effector, wherein the end effector comprises an AC head, and the AC head comprises a rotary A shaft and a rotary C shaft. During processing, energy beams are emitted by the engraving equipment to etch the skin surface adhesion material to form engraving points, and then the engraving points are formed through the combined movement of the equipment shaft. Since the accuracy of the engraving device is calibrated, the data of the distance from the engraving point to the axis of the A axis needs to be provided first. Unlike conventional contact processing, the etching equipment is non-contact processing, and no actual etching point exists, so that the position of the etching point cannot be directly measured as in the contact processing process, and the distance from the etching point to the axis of the A shaft cannot be directly measured in the skin processing process of the etching equipment, so that the calibration work of the precision of the etching equipment is difficult to realize.
Therefore, the invention discloses a device and a method for measuring the distance from a carving point to an axis of an A shaft, aiming at the problem that the distance from the carving point to the axis of the A shaft, which exists in the non-contact skin processing process of the existing carving equipment, cannot be directly measured, so that the calibration work of the precision of the carving equipment is difficult to realize.
Disclosure of Invention
The invention aims to provide a device and a method for measuring the distance from a carving point of equipment to an axis of an A shaft, which can be used for creating the carving point and measuring the distance from the carving point to the axis of the A shaft so as to accurately calibrate the precision of the carving equipment.
The invention is realized by the following technical scheme:
The device for measuring the axial distance from the equipment engraving point to the A shaft is used for measuring an end effector comprising the A shaft, wherein an engraving equipment nozzle is arranged on the A shaft and comprises a measuring tool, the left side and the right side of the measuring tool are sequentially symmetrically provided with an inclined plane, a groove structure and a vertical plane from top to bottom, and the vertical plane is perpendicular to the end face of the bottom of the measuring tool; an initial position positioning reference point is formed between the bottom end of the inclined plane and the top end of the groove structure; the inclined planes on the left side and the right side are stuck with a paper sticking adhesive tape.
In order to better realize the invention, further, the distance between the initial position locating reference points on the left side and the right side is equal to the distance between the vertical planes on the left side and the right side.
In order to better realize the invention, the groove structure is a square groove.
The method for measuring the distance from the equipment engraving point to the axis of the A shaft is realized based on the measuring device and comprises the following steps of:
Step1, adjusting the position of a measuring tool based on an O-XYZ coordinate system of an end effector, so that the bottom end face of the measuring tool is parallel to an XY plane of the O-XYZ coordinate system, and the vertical plane is parallel to an XZ plane of the O-XYZ coordinate system;
Step 2, ensuring that the end effector is positioned at a limiting position that an A axis is parallel to a vertical plane and the axis of a nozzle of the engraving equipment is perpendicular to the vertical plane;
Step 3, maintaining the limiting position in the step 2, moving the carving device nozzle to enable the end face axis of the carving device nozzle to be in contact with the left initial position positioning reference point, and recording the first position parameter of the end effector at the moment; moving a nozzle of the engraving equipment upwards along the Z axis of the O-XYZ coordinate system to ablate the sticker adhesive tape on the inclined plane at the left side to form a left engraving point, so that the axis of the end face of the nozzle of the engraving equipment is equal to the left engraving point in height, and recording a second position parameter of the end effector at the moment;
Step 4, maintaining the limiting position in the step 2, moving the carving device nozzle to enable the end face axis of the carving device nozzle to be in contact with the initial position positioning reference point on the right side, and recording a third position parameter of the end effector at the moment; moving a nozzle of the engraving equipment along the Z axis of the O-XYZ coordinate system to ablate the sticker tape on the inclined plane on the right side to form an engraving point on the right side, so that the axis of the end face of the nozzle of the engraving equipment is equal to the engraving point on the right side in height, and recording a fourth position parameter of the end effector at the moment;
Step 5, calculating the reference distance between the engraving points on the left side and the right side in the Y-axis direction of the O-XYZ coordinate system based on the first position parameter, the second position parameter, the third position parameter and the fourth position parameter;
and 6, calculating the distance between the engraving point and the A axis of the end effector based on the first position parameter, the second position parameter, the third position parameter, the fourth position parameter and the reference distance.
In order to better implement the present invention, further, the formula for calculating the reference distance in step 5 is as follows:
Wherein: k represents the reference spacing of the engraving points on the left side and the right side in the Y-axis direction of an O-XYZ coordinate system; h represents the distance between the initial position locating reference points on the left side and the right side in the Y-axis direction of an O-XYZ coordinate system; alpha represents an included angle between the inclined plane and the bottom end surface of the measuring tool; z 1 represents the Z-axis coordinate in the first position parameter; z 2 represents the Z-axis coordinate in the second position parameter; z 3 represents the Z-axis coordinate in the third position parameter; z 4 denotes the Z-axis coordinate in the fourth position parameter.
In order to better implement the present invention, further, the formula for solving the distance between the engraving point (12) and the a axis of the end effector in the step 6 is as follows:
Wherein: l represents the spacing between the scribe point and the A-axis of the end effector; k represents the reference spacing of the engraving points on the left side and the right side in the Y-axis direction of an O-XYZ coordinate system; y f denotes a Y-axis coordinate in the first position parameter; y t denotes the Y-axis coordinate in the third position parameter.
In order to better implement the present invention, further, the step 3 specifically includes:
Step 3.1, keeping the limiting position in the step 2, placing the movable engraving equipment nozzle on the left side of the measuring tool, moving the engraving equipment nozzle along the Z axis of the O-XYZ coordinate system, so that after the end face axis of the movable engraving equipment nozzle is equal to the left initial position positioning reference point in height, moving the movable engraving equipment nozzle along the Y axis of the O-XYZ coordinate system, and enabling the end face axis of the movable engraving equipment nozzle to be in contact with the left initial position positioning reference point;
Step 3.2, recording a first position parameter of the end effector at the moment, wherein the first position parameter comprises coordinates (x=x1, y=yf, z=z1);
Step 3.3, moving the nozzle of the engraving equipment upwards along the Z axis of the O-XYZ coordinate system, maintaining the state of lowest power of the nozzle of the moving engraving equipment so as to ablate the adhesive tape on the inclined plane at the left side to form a notch, and taking the point with the minimum notch width as the engraving point at the left side;
Step 3.4, moving the engraving equipment nozzle to enable the end face axle center of the engraving equipment nozzle to be equal to the engraving point on the left side, and enabling the end face axle center of the engraving equipment nozzle to be aligned with the initial position positioning reference point on the left side in the Y-axis direction of the O-XYZ coordinate system;
Step 3.5, recording a second position parameter of the end effector at the time, wherein the second position parameter comprises coordinates (x=x1, y=yf, z=z2).
In order to better implement the present invention, further, the step 4 specifically includes:
Step 4.1, keeping the limiting position in the step 2, placing the movable engraving equipment nozzle on the right side of the measuring tool, moving the engraving equipment nozzle along the Z axis of the O-XYZ coordinate system, so that after the end face axis of the movable engraving equipment nozzle is equal to the initial position positioning reference point on the right side, moving the movable engraving equipment nozzle along the Y axis of the O-XYZ coordinate system, and enabling the end face axis of the movable engraving equipment nozzle to be in contact with the initial position positioning reference point on the right side;
Step 4.2, recording a third position parameter of the end effector at the moment, wherein the third position parameter comprises coordinates (x=x1, y=yt, z=z3);
Step 4.3, moving the nozzle of the engraving equipment upwards along the Z axis of the O-XYZ coordinate system, maintaining the state of lowest power of the nozzle of the moving engraving equipment so as to ablate the adhesive tape on the inclined plane on the right side to form a notch, and taking the point with the minimum notch width as the engraving point on the right side;
Step 4.4, moving the engraving equipment nozzle to enable the end face axle center of the engraving equipment nozzle to be equal to the engraving point on the right side, and enabling the end face axle center of the engraving equipment nozzle to be aligned with the initial position positioning reference point on the right side in the Y-axis direction of the O-XYZ coordinate system;
step 4.5, recording a fourth position parameter of the end effector at the time, wherein the fourth position parameter comprises coordinates (x=x1, y=yt, z=z4).
Compared with the prior art, the invention has the following advantages:
The method can quickly and accurately obtain the distance from the engraving point generated by the engraving equipment on the skin to the axis of the A shaft of the end effector, provides necessary key data for the correct calibration of the accuracy of the engraving equipment, is beneficial to improving the accuracy of the joint movement of each movement shaft of the engraving equipment, further improves the engraving accuracy of the chemical milling of the skin, avoids the occurrence of engraving out-of-tolerance or scrapping of the skin part, and saves the processing cost of the skin part; the method is simple, easy to operate and implement, does not need special and expensive measuring instruments, and is low in manpower and material resource cost.
Drawings
FIG. 1 is a flow chart of a method for measuring the distance from a device engraving point to an axis of an A shaft;
FIG. 2 is a schematic structural diagram of a measurement tool;
FIG. 3 is a schematic diagram of the relative positions of a nozzle of a mobile engraving device and a measuring tool;
FIG. 4 is a schematic diagram of a state of the measurement tool when the first position parameter is valued;
FIG. 5 is a schematic diagram of the state of the measuring tool when the second position parameter is valued;
FIG. 6 is a schematic diagram of a state of the measurement tool when the third position parameter is valued;
FIG. 7 is a schematic diagram of a state of the measurement tool when the fourth position parameter is valued;
FIG. 8 is a schematic diagram of a dimensional relationship;
fig. 9 is a schematic diagram of a scribe line point.
Wherein: 5-measuring a tool; 6-inclined plane; 12-engraving points; 13-positioning a reference point at an initial position; 14-engraving device nozzle; 15-vertical plane.
Detailed Description
The following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the invention clearly indicates otherwise, and it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
For convenience of description, the words "upper", "lower", "left" and "right" in the present invention, if they mean only that the directions are consistent with the upper, lower, left, and right directions of the drawings per se, and do not limit the structure, only for convenience of description and simplification of the description, but do not indicate or imply that the apparatus or element to be referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
The terms "mounted," "connected," "secured," and the like are to be construed broadly and refer to either a fixed connection, a removable connection, or an integral body, for example; the terms are used herein as specific meanings as understood by those of ordinary skill in the art, and are not limited to the following terms.
Example 1:
The device for measuring the axial distance from the equipment engraving point to the axis A of the embodiment is used for measuring an end effector comprising the axis A, as shown in fig. 2 and 3, wherein an engraving equipment nozzle 14 is arranged on the axis A and comprises a measuring tool 5, inclined planes 6, a groove structure and a vertical plane 15 are sequentially and symmetrically arranged on the left side and the right side of the measuring tool 5 from top to bottom, and the vertical plane 15 is perpendicular to the end face of the bottom of the measuring tool 5; an initial position positioning reference point 13 is formed between the bottom end of the inclined surface 6 and the top end of the groove structure; the left and right inclined surfaces 6 are stuck with adhesive tape.
The end effector comprises a C-axis, an a-axis, a engraving device nozzle 14, an O-XYZ coordinate system being established with the axis of the C-axis as the Z-axis, the axis of the a-axis as the X-axis and the axis perpendicular to the vertical plane 15 as the Y-axis. The measuring tool 5 is prepared from a metal material, the measuring tool 5 is of a bilateral symmetry structure, the left side and the right side of the measuring tool 5 are sequentially provided with an inclined surface 6, a groove structure and a vertical plane 15 from top to bottom, and the groove structure is arranged between the bottom end of the inclined surface 6 and the top end of the vertical plane 15. The bottom end face of the measuring tool 5 is horizontal, and the vertical plane 15 is perpendicular to the bottom end face of the measuring tool 5. The inclined planes 6 on the left side and the right side of the measuring tool 5 are the same as the adhesive tape, and the included angle between the inclined planes 6 and the top end face of the measuring tool 5 is alpha.
The bottom ends of the inclined planes 6 on the left side and the right side are provided with initial position positioning reference points 13, and the initial position positioning reference points 13 on the left side and the right side are used for initially positioning the end surface axes of the engraving device nozzles 14 in the end effector. Since the distance between the initial position reference points 13 on the left and right sides needs to be measured in the subsequent measurement process, it is inconvenient to directly measure the distance between the initial position reference points 13 on the left and right sides. The distance between the initial position locating reference points 13 on the left and right sides is thus equal to the distance between the vertical planes 15 on the left and right sides by measuring the distance between the vertical planes 15 on the left and right sides, that is, the distance between the initial position locating reference points 13 on the left and right sides.
Further, the groove structure is a square groove.
Other portions of this embodiment are the same as those of embodiment 1, and thus will not be described in detail.
Example 2:
the method for measuring the distance from the equipment engraving point to the axis of the A shaft as shown in fig. 1 comprises the following steps:
Step 1, based on an O-XYZ coordinate system of an end effector, adjusting the position of a measuring tool 5 so that the bottom end surface of the measuring tool 5 is parallel to an XY plane of the O-XYZ coordinate system and so that a vertical plane 15 is parallel to an XZ plane of the O-XYZ coordinate system;
Step 2, ensuring that the end effector is in a limiting position that the A axis is parallel to the vertical plane 15 and the axis of the engraving device nozzle 14 is perpendicular to the vertical plane 15;
Step3, maintaining the limiting position in the step 2, moving the engraving device nozzle 14 as shown in fig. 4, so that the end surface axis of the engraving device nozzle 14 contacts with the initial position positioning reference point 13 on the left side, and recording the first position parameter of the end effector at the moment;
As shown in fig. 5, the engraving device nozzle 14 is moved upwards along the Z axis of the O-XYZ coordinate system to ablate the sticker tape on the left inclined plane 6 to form a left engraving point 12, so that the axis of the end face of the engraving device nozzle 14 is equal to the left engraving point 12 in height, and a second position parameter of the end effector at the moment is recorded;
step 4, maintaining the limiting position in the step 2, as shown in fig. 6, moving the engraving device nozzle 14 so that the end surface axis of the engraving device nozzle 14 contacts with the initial position positioning reference point 13 on the right side, and recording a third position parameter of the end effector at the moment;
As shown in fig. 7, the engraving device nozzle 14 is moved upwards along the Z axis of the O-XYZ coordinate system to ablate the sticker tape on the right inclined plane 6 to form the right engraving point 12, so that the axis of the end face of the engraving device nozzle 14 is equal to the right engraving point 12 in height, and a fourth position parameter of the end effector at the moment is recorded;
step 5, calculating the reference distance between the engraving points 12 on the left side and the right side in the Y-axis direction of the O-XYZ coordinate system based on the first position parameter, the second position parameter, the third position parameter and the fourth position parameter;
step6, resolving the distance between the engraving point 12 and the A axis of the end effector based on the first position parameter, the second position parameter, the third position parameter, the fourth position parameter and the reference distance.
The step 3 specifically includes:
Step 3.1, keeping the limiting position in the step 2, placing the movable engraving device nozzle 14 on the left side of the measuring tool 5, moving the engraving device nozzle 14 along the Z axis of the O-XYZ coordinate system, so that after the end face axis of the movable engraving device nozzle 14 is equal to the left initial position positioning reference point 13 in height, moving the movable engraving device nozzle 14 along the Y axis of the O-XYZ coordinate system, so that the end face axis of the movable engraving device nozzle 14 is in contact with the left initial position positioning reference point 13;
Step 3.2, recording a first position parameter of the end effector at the moment, wherein the first position parameter comprises coordinates (x=x 1,y＝yf,z＝z1);
step 3.3, moving the engraving device nozzle 14 upwards along the Z axis of the O-XYZ coordinate system, and keeping the state of the lowest power of the moving engraving device nozzle 14 to ablate the sticker tape on the left inclined plane 6 to form a notch, wherein the point with the minimum notch width is taken as the left engraving point 12 as shown in fig. 9;
Step 3.4, moving the engraving device nozzle 14 so that the end face axis of the engraving device nozzle 14 is equal to the engraving point 12 on the left side, and the end face axis of the engraving device nozzle 14 is aligned with the initial position positioning reference point 13 on the left side in the Y-axis direction of the O-XYZ coordinate system;
Step 3.5, recording a second position parameter of the end effector at the moment, wherein the second position parameter comprises coordinates (x=x 1,y＝yf,z＝z2).
The step 4 specifically includes:
step 4.1, keeping the limiting position in the step 2, placing the movable engraving device nozzle 14 on the right side of the measuring tool 5, moving the engraving device nozzle 14 along the Z axis of the O-XYZ coordinate system, so that after the end face axis of the movable engraving device nozzle 14 is equal to the right initial position positioning reference point 13 in height, moving the movable engraving device nozzle 14 along the Y axis of the O-XYZ coordinate system, so that the end face axis of the movable engraving device nozzle 14 is in contact with the right initial position positioning reference point 13;
Step 4.2, recording a third position parameter of the end effector at the moment, wherein the third position parameter comprises coordinates (x=x 1,y＝yt,z＝z3);
Step 4.3, moving the engraving device nozzle 14 upwards along the Z axis of the O-XYZ coordinate system, keeping the state of the lowest power of the moving engraving device nozzle 14 so as to ablate the sticker adhesive tape on the inclined plane 6 on the right side to form a notch, and taking the point with the minimum notch width as the engraving point 12 on the right side;
Step 4.4, moving the engraving device nozzle 14 so that the end face axis of the engraving device nozzle 14 is equal to the engraving point 12 on the right side, and the end face axis of the engraving device nozzle 14 is aligned with the initial position positioning reference point 13 on the right side in the Y-axis direction of the O-XYZ coordinate system;
step 4.5, recording a fourth position parameter of the end effector at the moment, wherein the fourth position parameter comprises coordinates (x=x 1,y＝yt,z＝z4).
The formula for calculating the reference distance in the step 5 is as follows:
Wherein: as shown in fig. 8, K represents the reference pitch of the scribe points on the left and right sides in the Y-axis direction of the O-XYZ coordinate system; h represents the distance between the initial position locating reference points on the left side and the right side in the Y-axis direction of an O-XYZ coordinate system; alpha represents an included angle between the inclined plane and the bottom end surface of the measuring tool; z 1 represents the Z-axis coordinate in the first position parameter; z 2 represents the Z-axis coordinate in the second position parameter; z 3 represents the Z-axis coordinate in the third position parameter; z 4 denotes the Z-axis coordinate in the fourth position parameter.
The formula for calculating the distance between the engraving point 12 and the a axis of the end effector in the step 6 is as follows:
Wherein: l represents the spacing between the scribe point and the A-axis of the end effector; k represents the reference spacing of the engraving points on the left side and the right side in the Y-axis direction of an O-XYZ coordinate system; y f denotes a Y-axis coordinate in the first position parameter; y t denotes the Y-axis coordinate in the third position parameter.
Other portions of this embodiment are the same as those of embodiment 1, and thus will not be described in detail.
The above is only a preferred embodiment of the present invention, and the present invention is not limited in any way, and any simple modification and equivalent changes of the above embodiments according to the technical substance of the present invention fall within the protection scope of the present invention.

Claims (8)

1. The device for measuring the axial distance from the equipment engraving point to the A shaft is used for measuring an end effector comprising the A shaft, and an engraving equipment nozzle (14) is arranged on the A shaft, and is characterized by comprising a measuring tool (5), wherein inclined planes (6), a groove structure and a vertical plane (15) are sequentially and symmetrically arranged on the left side and the right side of the measuring tool (5) from top to bottom, and the vertical plane (15) is perpendicular to the bottom end face of the measuring tool (5); an initial position positioning reference point (13) is formed between the bottom end of the inclined surface (6) and the top end of the groove structure; the inclined planes (6) on the left side and the right side are stuck with a paper sticking adhesive tape.
2. A device for measuring the distance from a point of engraving to the axis of the a-axis according to claim 1, characterized in that the distance between the positioning reference points (13) of the initial position on the left and right sides is equal to the distance between the vertical planes (15) on the left and right sides.
3. The apparatus of claim 2, wherein the groove structure is a square groove.
4. A method for measuring the distance from a device engraving point to an axis of an a-axis, based on the measuring device according to any one of claims 1-3, characterized by comprising the steps of:
step 1, based on an O-XYZ coordinate system of an end effector, adjusting the position of a measuring tool (5) so that the bottom end surface of the measuring tool (5) is parallel to an XY plane of the O-XYZ coordinate system and so that a vertical plane (15) is parallel to an XZ plane of the O-XYZ coordinate system;
step 2, ensuring that the end effector is in a limiting position in which the A axis is parallel to the vertical plane (15) and the axis of the engraving device nozzle (14) is perpendicular to the vertical plane (15);
Step 3, maintaining the limiting position in the step 2, moving the engraving equipment nozzle (14) to enable the end face axle center of the engraving equipment nozzle (14) to be in contact with the left initial position positioning reference point (13), and recording the first position parameter of the end effector at the moment; moving the engraving equipment nozzle (14) upwards along the Z axis of the O-XYZ coordinate system to ablate the sticker adhesive tape on the inclined plane (6) at the left side to form the engraving point (12) at the left side, so that the axis of the end face of the engraving equipment nozzle (14) is equal to the engraving point (12) at the left side in height, and recording the second position parameter of the end effector at the moment;
Step 4, maintaining the limiting position in the step 2, moving the engraving equipment nozzle (14) to enable the end face axle center of the engraving equipment nozzle (14) to be in contact with the initial position positioning reference point (13) on the right side, and recording a third position parameter of the end effector at the moment; moving the engraving equipment nozzle (14) upwards along the Z axis of the O-XYZ coordinate system to ablate the sticker tape on the inclined plane (6) on the right side to form the engraving point (12) on the right side, so that the axis of the end face of the engraving equipment nozzle (14) is equal to the engraving point (12) on the right side in height, and recording a fourth position parameter of the end effector at the moment;
Step 5, calculating the reference distance between the engraving points (12) on the left side and the right side in the Y-axis direction of the O-XYZ coordinate system based on the first position parameter, the second position parameter, the third position parameter and the fourth position parameter;
and 6, resolving the distance between the engraving point (12) and the A axis of the end effector based on the first position parameter, the second position parameter, the third position parameter, the fourth position parameter and the reference distance.
5. The method for measuring the distance from the engraving point of the equipment to the axis of the A-axis according to claim 4, wherein the formula for calculating the reference distance in the step 5 is as follows:
Wherein: k represents the reference spacing of the engraving points on the left side and the right side in the Y-axis direction of an O-XYZ coordinate system; h represents the distance between the initial position locating reference points on the left side and the right side in the Y-axis direction of an O-XYZ coordinate system; alpha represents an included angle between the inclined plane and the bottom end surface of the measuring tool; z 1 represents the Z-axis coordinate in the first position parameter; z 2 represents the Z-axis coordinate in the second position parameter; z 3 represents the Z-axis coordinate in the third position parameter; z 4 denotes the Z-axis coordinate in the fourth position parameter.
6. The method according to claim 5, wherein the formula for calculating the distance between the engraving point (12) and the axis a of the end effector in the step 6 is:
Wherein: l represents the spacing between the scribe point and the A-axis of the end effector; k represents the reference spacing of the engraving points on the left side and the right side in the Y-axis direction of an O-XYZ coordinate system; y f denotes a Y-axis coordinate in the first position parameter; y t denotes the Y-axis coordinate in the third position parameter.
7. The method for measuring the axial distance from the engraving point of the equipment to the A axis according to claim 6, wherein the step 3 specifically comprises:
Step 3.1, keeping the limiting position in the step 2, placing the movable engraving equipment nozzle (14) on the left side of the measuring tool (5), moving the engraving equipment nozzle (14) along the Z axis of the O-XYZ coordinate system, so that after the end face axis of the movable engraving equipment nozzle (14) is equal to the left initial position positioning reference point (13), moving the movable engraving equipment nozzle (14) along the Y axis of the O-XYZ coordinate system, and enabling the end face axis of the movable engraving equipment nozzle (14) to be in contact with the left initial position positioning reference point (13);
Step 3.2, recording a first position parameter of the end effector at the moment, wherein the first position parameter comprises coordinates (x=x1, y=yf, z=z1);
3.3, moving the engraving equipment nozzle (14) upwards along the Z axis of the O-XYZ coordinate system, keeping the state of the lowest power of the moving engraving equipment nozzle (14) so as to ablate the paster adhesive tape on the inclined plane (6) at the left side to form a nick, and taking the point with the minimum nick width as the engraving point (12) at the left side;
Step 3.4, moving the engraving device nozzle (14) so that the end face axle center of the engraving device nozzle (14) is equal to the engraving point (12) on the left side, and the end face axle center of the engraving device nozzle (14) is aligned with the initial position positioning reference point (13) on the left side in the Y-axis direction of the O-XYZ coordinate system;
Step 3.5, recording a second position parameter of the end effector at the time, wherein the second position parameter comprises coordinates (x=x1, y=yf, z=z2).
8. The method for measuring the axial distance from the engraving point of the equipment to the A axis according to claim 6, wherein the step 4 specifically comprises:
Step 4.1, keeping the limiting position in the step 2, placing the movable engraving equipment nozzle (14) on the right side of the measuring tool (5), moving the engraving equipment nozzle (14) along the Z axis of the O-XYZ coordinate system, so that after the end face axis of the movable engraving equipment nozzle (14) is equal to the height of the initial position positioning reference point (13) on the right side, moving the movable engraving equipment nozzle (14) along the Y axis of the O-XYZ coordinate system, so that the end face axis of the movable engraving equipment nozzle (14) is in contact with the initial position positioning reference point (13) on the right side;
Step 4.2, recording a third position parameter of the end effector at the moment, wherein the third position parameter comprises coordinates (x=x1, y=yt, z=z3);
Step 4.3, moving the engraving equipment nozzle (14) upwards along the Z axis of the O-XYZ coordinate system, keeping the state of the lowest power of the moving engraving equipment nozzle (14) so as to ablate the paster adhesive tape on the inclined plane (6) on the right side to form a nick, and taking the point with the minimum nick width as the engraving point (12) on the right side;
Step 4.4, moving the engraving device nozzle (14) so that the end face axle center of the engraving device nozzle (14) is equal to the engraving point (12) on the right side, and the end face axle center of the engraving device nozzle (14) is aligned with the initial position positioning reference point (13) on the right side in the Y-axis direction of the O-XYZ coordinate system;
step 4.5, recording a fourth position parameter of the end effector at the time, wherein the fourth position parameter comprises coordinates (x=x1, y=yt, z=z4).
CN202410323256.XA 2024-03-21 2024-03-21 Device and method for measuring distance from equipment engraving point to axis of A shaft Pending CN118189873A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN119115225A (en) * 2024-08-21 2024-12-13 成都飞机工业（集团）有限责任公司 A method for establishing spatial relationship between array clamping system and engraving system

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN119115225A (en) * 2024-08-21 2024-12-13 成都飞机工业（集团）有限责任公司 A method for establishing spatial relationship between array clamping system and engraving system

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