TWI504476B - Method for detecting center of rotation of machine tool - Google Patents

Description

Method for detecting the rotation center of the processing machine

The present invention relates to a detection system and method for a processing machine, and more particularly to a detection system and method for a center of rotation of a processing machine.

In a typical five-axis machine, there are three linear axes and two rotary axes. The movement direction of the main shaft side has an X-axis and a Z-axis, and the movement direction of the table side has a Y-axis, an A-axis, and a C-axis. The A axis is the direction of rotation about the X axis, and the C axis is the direction of rotation about the Z axis.

When using a function related to the center position of the rotary shaft, such as five-axis simultaneous machining, four-axis simultaneous machining, or inclined surface machining, the rotation center position of the machining unit (table side) must be set in the numerical controller. In order to make the controller perform the calculation of the same motion between the rotary axis and the linear axis according to the position of the rotation center. Therefore, the accuracy of the measurement of the center position of the rotation directly affects the machining accuracy of the five-axis machining machine.

However, the position of the actual rotation center of the two rotary axes (A-axis and C-axis) on the table side of the five-axis machine often deviates due to the improper operation of the workpiece or the user when the tool enters the tool. , causing a deviation from the original center of rotation of the controller. Wherein, when there is an error between the actual rotation center position of the A-axis and the originally set rotation center position, the tool cusp When the table side is rotated, the amount of error in the Y-axis direction and the Z-axis direction is generated, and the amount of error directly affects the dimensional accuracy of the workpiece processed by the five-axis machining machine.

Therefore, it is desirable to provide a detection system and method for the center of rotation of a processing machine to solve the above problems.

It is an object of the present invention to provide a detection system and method for a rotating center of a processing machine for measuring the position of the actual rotation center of the rotating shaft of the processing machine to correct the preset rotation center of the rotating shaft in the controller. position.

In accordance with the above objects of the present invention, an aspect of the present invention is to provide a detection system for a center of rotation of a processing machine. The inspection system of the rotation center of the processing machine includes a work table, a spindle disposed above the workbench, and a measuring device. The table has at least one axis of rotation, the spindle having a first linear axis (eg, a vertical linear axis) that moves toward the table. The measuring device comprises a seat body, a sphere, a measuring probe and a controller (for example: a numerical controller). The seat system is installed on the workbench, and the ball system is mounted on the seat body. The measuring probe is mounted on one end of the main shaft toward the spherical body for generating a signal when contacting the spherical body. The controller is configured to obtain a value of the contact position of the measuring probe and the spherical body according to the signal, and calculate a spherical coordinate value of the spherical body and at least one rotating center of the at least one rotating shaft of the working table.

According to an embodiment of the invention, the measuring device further comprises a rod body, and the rod system connects the seat body to the spherical body at an oblique angle.

According to still another embodiment of the present invention, the above-mentioned seat body includes a lock The jig and the lock have an inclined surface to form a tilt angle.

According to still another embodiment of the present invention, the base body includes a magnetic base, wherein the magnetic base is mounted on the workbench.

According to still another embodiment of the present invention, the magnetic base is provided with a switch for opening or closing the magnetic force of the magnetic base.

According to still another embodiment of the present invention, the above workbench includes a conductor layer. The conductor layer is located on the workbench and is in direct contact with the magnetic base to adsorb the seat body on the workbench.

According to still another embodiment of the present invention, the measuring probe is a piezoelectric probe.

In accordance with yet another embodiment of the present invention, the metrology probe described above includes a contact sensor. A contact sensor is mounted in the spindle to generate a signal when the measuring probe contacts the sphere, wherein the surface of the sphere is made of a conductive material.

According to still another embodiment of the present invention, the measuring device further includes a signal processor, wherein the signal processor is respectively connected to the measuring probe and the controller signal for converting the signal into a digital form.

According to still another embodiment of the present invention, the table has two rotation axes (for example, an A-axis and a C-axis) and a horizontal linear axis (for example, a Y-axis) that horizontally moves, and the main shaft has the first linearity described above. The axis (for example: vertical linear axis; Z axis) and a second linear axis (for example: horizontal linear axis; X axis).

Another aspect of the present invention is to provide a method of detecting a center of rotation of a processing machine. In this method, first, a spherical body is mounted on a table, wherein the table has at least one axis of rotation. Next, the installation quantity survey The head is oriented toward one end of the spherical body, wherein the main shaft is disposed above the table and has a first linear axis that moves toward the table. Then, for each axis of rotation, a center of rotation measurement step is performed to obtain at least one center of rotation of at least one axis of rotation. In the rotation center measurement step, first, the table is rotated to a plurality of angles along the rotation axis. Next, a center of gravity measurement step is performed when the table is rotated to each angle, and a plurality of spherical center coordinate values respectively corresponding to the spheres of the angles are obtained. In the centering step, first, the measuring probe is moved to touch at least three first positions on the sphere to obtain at least three first coordinate values. Then, based on the first coordinate values, the spherical center coordinate value of the sphere is calculated. Next, a rotation center calculation step is performed to calculate a coordinate value of the rotation center of the rotation axis based on the spherical center coordinate values.

According to still another embodiment of the present invention, the spherical center measuring step further comprises: moving the measuring probe to touch the four first positions P2, P3, P4 and P5 on the spherical body to obtain four first The coordinate value defines a circle, wherein in an XYZ coordinate system, the first coordinate values are P2(x ₂ , y ₂ , z ₂ ), P3(x ₃ , y ₃ , z ₃ ), P4 (x ₄ , y ₄ , z ₄ ) and P5 (x ₅ , y ₅ , z ₅ ), z ₂ =z ₃ =z ₄ =z ₅ , the connection of P2 and P4 is parallel to the X-axis, P3, P5 The connection is parallel to the Y axis. Then, a first calculation step is performed to calculate a centroid coordinate value (O _cx , O _cy , O _cz ) of the circle according to the following relationship: O _cx = (x ₂ + x ₄ )/2; _{cy = (y 3 + y 5} ) / 2; O cz = z 2 = z 3 = z 4 = z 5.

Then, the measuring probe touches a second position on the spherical body in the positive z-axis direction of the central coordinate value to obtain a second coordinate value P6 (x ₆ , y ₆ , z ₆ ). Then, a second calculation step is performed to calculate the spherical center coordinate value (O _x , O _y , O _z ) of the sphere according to the following relationship: O _x = O _cx ; O _y = O _cy ; O _z = z _{6 -} R1, where R1 is a radius of the sphere.

According to still another embodiment of the present invention, the rotating center calculation step includes: forming a mid-perpendicular line between each two adjacent spherical center coordinate values; obtaining a plurality of intersection points of the intersecting vertical lines intersecting each other; and The coordinates of the intersections are averaged to obtain the coordinate values of the center of rotation of the rotating shaft.

According to still another embodiment of the present invention, the rotating shaft is rotated about a first linear axis, and the number of angles at which the table rotates is four or eight.

According to still another embodiment of the present invention, the spindle has a second linear axis, and the rotating shaft rotates in a direction around the second linear axis, and the number of rotation angles of the table is three or seven.

According to still another embodiment of the present invention, the rotating shaft is rotated in a direction around the first linear axis, and the angle of rotation of the table is 0 degrees and 180 degrees, respectively, and the number of spherical coordinates is two, and the rotation center is calculated. The step includes averaging the two spherical centroid values to obtain a coordinate value of the center of rotation of the rotating shaft.

According to still another embodiment of the present invention, the spindle has a second linear axis, and the rotating shaft rotates in a direction around the second linear axis, and the number of rotation angles of the table is 0 degrees and 90 degrees, respectively, and the spherical coordinate value The number is 2 The rotation center calculation step includes: forming an isosceles right angle triangle with the straight line between the two spherical center coordinates as the base, and the apex of the isosceles right angle triangle is the rotation center of the rotation axis.

Therefore, the embodiment of the present invention can measure the position of the actual rotation center of the rotating shaft of the processing machine, and can correct the position of the preset rotation center of the rotating shaft in the controller to achieve the five-axis processing machine. Processing accuracy requirements.

102‧‧‧Processing machine

102a‧‧‧Workbench

102a’‧‧‧ conductor layer

102b‧‧‧ Spindle

122‧‧‧ body

122a‧‧ magnetic seat

122a’‧‧‧ Switch

122b‧‧‧Lock fixture

122b’‧‧‧ sloped surface

124‧‧‧ sphere

126‧‧‧ rod body

140‧‧‧Measurement probe

142‧‧‧Detecting end

144‧‧‧ handle

146‧‧‧Contact Sensor

160‧‧‧ Controller

180‧‧‧Signal Processor

200‧‧‧Install the sphere on the workbench

210‧‧‧Installing the measuring probe on the spindle

220‧‧‧Rotation Center Measurement Procedure

222‧‧‧Rotate the table along an axis of rotation to an angle

300‧‧‧Center measurement steps

310‧‧‧ Mobile measuring probes obtain at least three first coordinate values by touching at least three first positions on the sphere

320‧‧‧ Calculate the spherical coordinate value of the sphere based on the first coordinate value

400‧‧‧ Rotation Center Calculation Steps

The center of rotation of the Ac‧‧‧A axis

A0, A-15, A-30, A-45, A-60, A-75, A-90‧‧‧ position

Cc‧‧‧C axis rotation center

C0, C-45, C-90, C-135, C-180‧‧‧ position

C-225, C-270, C-315‧‧‧ position

Vertical lines of L1, L2, L3, L4, L5, L6‧‧

Vertical lines L11, L12, L13, L14, L15, L16, L17, L18‧‧

P2, P3, P4, P5‧‧‧ first position

P6‧‧‧second position

Oc‧‧‧ Center

Radius of R1‧‧

The above and other objects, features, advantages and embodiments of the present invention will become more <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; Schematic diagram of the architecture of the system.

2 is a schematic view showing the structure of a sphere and a seat body according to an embodiment of the present invention.

3 is a schematic structural view of a measuring probe according to an embodiment of the present invention.

Figure 4 is a schematic view showing the movement direction of the main shaft and the table according to an embodiment of the present invention.

Figure 5 is a flow chart showing a method of detecting the center of rotation of a processing machine in accordance with an embodiment of the present invention.

6A and 6B are schematic views for explaining a sphere of a core measuring step according to another embodiment of the present invention.

Figure 7A is a diagram illustrating an embodiment of the present invention for explaining A Schematic diagram of the preliminary measurement steps of the axis rotation center.

FIG. 7B is a schematic diagram illustrating a standard measurement step of an A-axis rotation center according to an embodiment of the present invention.

8A is a schematic view showing a preliminary measurement step of a C-axis rotation center according to an embodiment of the present invention.

FIG. 8B is a schematic diagram showing a standard measurement step of a C-axis rotation center according to an embodiment of the present invention.

Please refer to FIG. 1 , which is a schematic structural diagram of a detection system of a processing center of a processing machine according to an embodiment of the present invention. As shown in Fig. 1, the detecting system of the rotating center of the processing machine mainly mounts a measuring device (not shown) on the original processing machine 102 to detect the rotation of at least one rotating shaft of the table 102a of the processing machine 102. The location of the center. The processing machine 102 includes a table 102a and a spindle 102b disposed above the table 102a. The table 102a has at least one axis of rotation, and the spindle 102b has a first linear axis that moves toward the table 102a. The stage 102a can optionally include a conductor layer 102a', wherein the conductor layer 102a' is located on the table 102a and is in direct contact with the magnetic seat of the base 122 (122a of FIG. 2) to attract the base 122 to work. On the table 102a. The conductor layer 102a' is made of a magnetically permeable metal material. It should be noted that the embodiment of the present invention may also use other locking methods to fix the base 122 to the table 102a, for example, screwing.

The measuring device comprises a seat body 122, a rod body 126, a spherical body 124, a measuring probe 140, a signal processor 180 and a controller 160 (for example, a numerical controller). The base 122 is mounted on the table 102a. Measuring probe 140 It is mounted on one end of the main shaft 102b toward the spherical body 124 for generating a signal when contacting the spherical body 124. The signal processor 180 is separately connected to the measuring probe 140 and the controller 160 for converting the signal generated by the measuring probe 140 into an analog form. The controller 160 is configured to obtain a target value of the contact position between the measuring probe 140 and the spherical body 124 according to the signal, and calculate a spherical coordinate value of the spherical body 124 and at least one rotating axis of the working table 102a. A center of rotation. The method of detecting the spherical center coordinate value and the rotation center of the rotating shaft will be described later.

In the present embodiment, the measurement probe 140 includes a contact sensor 146. The contact sensor 146 is mounted in the main shaft 102b for generating a signal when the measuring probe 140 contacts the spherical body 124. The surface of the spherical body 124 is made of a conductive material. When the detecting end portion 142 of the equivalent measuring probe 140 contacts the spherical body 124, the static electricity remaining on the processing machine 102 is turned on to generate a current. When this current flows through the contact sensor 146, the contact sensor 146 generates a signal. However, other types of measuring probes may be used in embodiments of the present invention, and the present invention is not limited thereto. In one embodiment, the measurement probe 140 can also be a piezoelectric probe (not shown) that generates a signal by strain caused by contact with the spherical body 124.

Please refer to FIG. 2 , which is a schematic structural view of a sphere and a seat according to an embodiment of the present invention. The base 122 includes a magnetic base 122a and a locking fixture 122b, wherein the locking fixture 122b has an inclined surface 122b', one end of the rod 126 is connected to the inclined surface 122b', and the other end is connected to the spherical body 124. Thus, an angle of inclination is formed between the spherical body 124 and the table 102a (Fig. 1). This tilt angle allows the measurement probe 140 The detecting end portion 142 (Fig. 1) is easy to touch a plurality of point positions of the spherical body 124 without interference. The spherical body 124 may be a standard ball made of a metal material such as stainless steel. In one embodiment, the base 122 includes a magnetic base 122a and a switch 122a' is disposed on the magnetic base 122a to open or close the magnetic force of the magnetic base. Further, the magnetic base 122a is directly adsorbed to the conductor 122 on the conductor layer 102a' of the table 102a (Fig. 1) for easy mounting and disassembly.

Please refer to FIG. 3, which is a schematic structural view of a measuring probe according to an embodiment of the present invention. The measuring probe 140 includes a detecting end portion 142 and a handle portion 144, wherein the handle portion 144 is mounted in the main shaft 102b (Fig. 1), and the handle portion 144 can be of various knife specifications, such as BT, BBT, ISO, CAT or HSK, etc., to match the type of the clamping structure of the main shaft 102b. The probe end 142 can be, for example, a probe sphere. When the probe end 142 contacts the ball 124 (Fig. 1), the measurement probe 140 generates a signal.

Please refer to FIG. 4, which is a schematic diagram showing the movement direction of the main shaft and the table according to an embodiment of the present invention. In the present embodiment, the processing machine 102 is a five-axis vertical machining machine, and the first linear axis of the main shaft 102b is a vertical linear axis. However, the embodiment of the present invention is also applicable to other types of processing machines, such as a horizontal infeed horizontal processing machine, in which case the first linear axis of the aforementioned spindle 102b is a horizontal linear axis. For convenience of explanation, the present invention will be described below with a five-axis vertical working machine. As shown in Fig. 4, the main shaft 102b has two linear axes: an X-axis for horizontal linear movement and a Z-axis for vertical linear movement; the table 102a has one linear axis and two rotary axes: a Y-axis for horizontal linear movement, A-axis rotating around the X-axis, and around the Z-axis The C axis that rotates in the direction.

Next, a method of detecting the center of rotation of the processing machine of the present invention will be described.

Referring to FIGS. 1 and 5, FIG. 5 is a flow chart showing a method of detecting the center of rotation of the processing machine according to an embodiment of the present invention. First, the spherical body 124 is mounted on the table 102a (step 200), wherein the table 102a has at least one axis of rotation (for example, an A-axis and a C-axis). Next, the measuring probe 140 is mounted on the main shaft 102b toward one end 142 of the spherical body 124 (step 210), wherein the main shaft 102b is disposed above the table 102a and has a first linear axis that moves toward the table 102a (for example: Z axis). Then, for each of the rotation axes (for example, the A axis and the C axis), a rotation center measurement step 220 is repeatedly performed to obtain the rotation center of each of the rotation axes.

In the center of rotation measurement step 220, first, the table 102a is rotated to a plurality of angles along a rotation axis (for example, the A axis or the C axis) (step 222). Next, when the table 102a is rotated to each angle, a center of gravity measurement step 300 is repeated to obtain a plurality of spherical center coordinate values corresponding to the spheres 124 of the angles, respectively. Then, a rotation center calculation step 400 is performed to calculate a coordinate value of the rotation center of one rotation axis based on the spherical center coordinate values.

The flow of the core measurement step 300 will be described below.

In the core measurement step 300, the measurement probe 140 is moved to at least three first positions on the spherical body 124 to obtain at least three first coordinate values (step 310). Then, the spherical center coordinate value of the spherical body 124 is calculated based on the first coordinate values (step 320). The formula for a sphere is: (xa) ² + (xb) ² + (xc) ² = R1 ² (1)

Where (a, b, c) is the spherical coordinate value and R1 is the spherical radius. Therefore, in theory, after obtaining the coordinates of the three positions on the spherical body 124, the three coordinate values are substituted into the formula (1) to obtain the spherical center coordinate values (a, b, c). However, solving equation (1) requires more computation time. Therefore, the present invention further proposes a spherical core measuring step to greatly shorten the calculation time.

Referring to FIG. 1 , FIG. 6A and FIG. 6B , FIGS. 6A and 6B are schematic diagrams for explaining a sphere of a spherical measuring step according to another embodiment of the present invention. First, the mobile measurement probe 140 touches the four first positions P2, P3, P4, and P5 on the spherical body 124, and obtains four first coordinate values of P2, P3, P4, and P5 and defines a circular shape. Where in an XYZ coordinate system, the first coordinate values are P2(x ₂ , y ₂ , z ₂ ), P3(x ₃ , y ₃ , z ₃ ), P4(x ₄ , y ₄ , z, respectively ₄ ) and P5(x ₅ , y ₅ , z ₅ ), z ₂ =z ₃ =z ₄ =z ₅ , the connection of P2 and P4 is parallel to the X-axis, and the connection of P3 and P5 is parallel to the Y-axis. Then, a first calculation step is performed to calculate a center coordinate value Oc(O _cx , O _cy , O _cz ) of the circle according to the following relationship: O _cx = (x ₂ + x ₄ )/2; )

O _cy = (y ₃ + y ₅ )/2; (3)

O _cz = z ₂ = z ₃ = z ₄ = z ₅ . (4)

Then, the moving measuring probe 140 touches a second position P6 of the spherical body 124 on the positive z-axis direction of the central coordinate Oc (O _cx , O _cy , O _cz ), thereby obtaining a second coordinate value P6 ( x ₆ , y ₆ , z ₆ ). Then, a second calculation step is performed to calculate the spherical coordinate value O(O _x , O _y , O _z ) of the spherical body 124 according to the following relationship: O _x = O _cx ; (5)

O _y =O _cy ; (6)

O _z =z ₆ -R1 (7)

Where R1 is the radius of the sphere 124.

The flow of the rotation center calculation step 400 will be described below.

After obtaining the spherical coordinate values of the plurality of spheres 124 after the table 102a is rotated by a plurality of angles along a rotation axis, the coordinate value of the rotation center of the rotation axis can be calculated from the spherical center coordinate values. The rotation center calculation step 400 can be divided into a preliminary measurement step and a standard measurement step. The timing of the preliminary measurement step is used when the user performs the measurement for the first time, or when the standard measurement step cannot be performed normally, wherein the accuracy of the preliminary measurement step is lower than the standard measurement step. The preliminary measurement step and the standard measurement step are explained below for the center of rotation of the A-axis or the C-axis, respectively.

Before starting to measure the center coordinates of the A-axis and the C-axis, the user must first measure the position of the sphere 124 (standard sphere) for the first time. Although the spherical body 124 can be arbitrarily placed on the table 102a as the user desires, at the beginning of the measurement, the A axis of the processing machine must be at a position of 0 degrees, and the C axis thereof must also be at a position of 0 degrees. As for moving the main shaft 102b to bring the measuring probe 140 into contact with the spherical body 124, it can be achieved by appropriately arranging the moving path of the main shaft 102b.

A-axis rotation center preliminary measurement steps

Referring to FIG. 1 and FIG. 7A, FIG. 7A is a schematic diagram illustrating a preliminary measurement step of an A-axis rotation center according to an embodiment of the present invention. In this preliminary measurement step, the table 102a is rotated by 0 degrees and 90 degrees along the A axis to the positions A0 and A-90, respectively, and the fifth figure is respectively performed. The center of gravity measurement step 300 is shown to obtain the spherical center coordinate values of the spherical bodies 124 at positions A0 and A-90, respectively. As shown in FIG. 7A, since the positions A0 and A-90 are at an angle of 90 degrees with the A-axis rotation center Ac, a straight line between the two spherical center coordinates of the positions A0 and A-90 forms a bottom edge. The isosceles right triangle, the apex of the waist right triangle is the rotation center Ac of the A axis.

A-axis rotation center standard measurement step

Please refer to FIG. 1 and FIG. 7B. FIG. 7B is a schematic diagram illustrating a standard measurement step of the A-axis rotation center according to an embodiment of the present invention. In this standard measurement step, the table 102a can be rotated by 3 or 7 angles along the A axis, respectively. The user can select a mode that rotates 3 angles or 7 angles according to actual needs. As shown in Fig. 7B, the mode of rotating the three angles is to rotate the table 102a along the A axis by 0 degrees, 45 degrees, and 90 degrees to the positions A0, A-45, and A-90; the mode of rotating 7 angles In order to rotate the table 102a along the A axis by 0 degrees, 15 degrees, 30 degrees, 45 degrees, 60 degrees, 75 degrees and 90 degrees to the positions A0, A-15, A-30, A-45, A-60 , A-75 and A-90. When the table 102a is rotated to various angles, the spherical center measuring step 300 shown in FIG. 5 is performed, and the spherical bodies 124 are obtained at the positions A0, A-15, A-30, A-45, and A-60, respectively. , the spherical coordinate values on A-75 and A-90 (or A0, A-45, and A-90). Then, a vertical line is formed between each two adjacent spherical center coordinate values, and a plurality of intersection points of the two perpendicular lines intersecting each other are obtained. Taking the mode of rotating 7 angles as an example, a total of the vertical lines L1, L2, L3, L4, L5, and L6, and a plurality of intersections (15; unlabeled) of the intersecting lines of the two perpendicular lines are obtained. Then, by averaging the coordinate values of these intersection points, the coordinate value of the A-axis rotation center can be obtained.

P-axis rotation center preliminary measurement steps

Referring to FIG. 1 and FIG. 8A, FIG. 8A is a schematic diagram illustrating a preliminary measurement step of a C-axis rotation center according to an embodiment of the present invention. In this preliminary measuring step, the table 102a is rotated by 0 degrees and 180 degrees to the positions C0 and C-180, respectively, along the C axis, and the spherical center measuring step 300 shown in FIG. 5 is respectively performed to obtain the spherical body. 124 spherical center coordinate values (x ₁ , y ₁ ), (x ₂ , y ₂ ) at positions C0 and C-180, respectively. Then, by averaging the two spherical centroid values ((x ₁ + x ₂ )/2, (y ₁ + y ₂ )/2), the coordinate value Cc of the center of rotation of the C-axis can be obtained.

C-axis rotation center standard measurement step

Please refer to FIG. 1 and FIG. 8B. FIG. 8B is a schematic diagram illustrating a C-axis rotation center standard measurement step according to an embodiment of the present invention. In this standard measurement step, the table 102a can be rotated by 4 or 8 angles along the C axis, respectively. The user can select a mode of rotating 4 or 8 angles according to actual needs. As shown in Fig. 7B, the mode of rotating the four angles is such that the table 102a is rotated by 0, 90, 180, and 270 degrees along the C axis to positions C0, C-90, C-180, and C-, respectively. 270; the mode of rotating 8 angles is to rotate the table 102a along the C axis by 0 degrees, 45 degrees, 90 degrees, 135 degrees, 180 degrees, 225 degrees, 270 degrees, and 315 degrees to positions C0, C-45, C-90, C-135, C-180, C-225, C-270 and C-315. When the table 102a is rotated to various angles, the spherical center measuring step 300 shown in FIG. 5 is performed, and the spherical bodies 124 are obtained at positions C0, C-45, C-90, C-135, C-180, respectively. , spherical center coordinates on C-225, C-270, and C-315 (or C0, C-90, C-180, C-270). Then, every two An intermediate vertical line is formed between adjacent spherical center coordinates, and a plurality of intersections of the two perpendicular lines intersecting each other are obtained. Taking the mode of rotating 8 angles as an example, a total of the vertical lines L11, L12, L13, L14, L15, L16, L17 and L18, and a plurality of intersections (not shown) where the two perpendicular lines intersect are formed. Then, by averaging the coordinate values of these intersection points, the coordinate value of the C-axis rotation center can be obtained.

The number of rotation angles of the table 102a used in the standard measurement step described above is merely an example. The user can use different numbers of the table 102a rotation angles according to actual needs, so the present invention is not limited thereto.

According to the embodiment of the present invention described above, the detection system and method of the rotation center of the processing machine of the present invention has the advantages that the position of the rotation center of the rotation axis of the processing machine can be measured, so that the user can borrow Thereby, the position of the center of rotation of the rotating shaft is actually corrected to correct the position of the center of rotation of the predetermined rotating shaft in the controller.

Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention, and the present invention can be modified and modified without departing from the spirit and scope of the present invention. The scope is subject to the definition of the scope of the patent application attached.

102‧‧‧Processing machine

102a‧‧‧Workbench

102a’‧‧‧ conductor layer

102b‧‧‧ Spindle

122‧‧‧ body

124‧‧‧ sphere

126‧‧‧ rod body

140‧‧‧Measurement probe

142‧‧‧Detecting end

146‧‧‧Contact Sensor

160‧‧‧ Controller

180‧‧‧Signal Processor

Claims (7)

A method for detecting a rotation center of a processing machine, comprising: installing a sphere on a workbench, wherein the table has at least one rotation axis; and mounting a measurement probe on a main axis toward one end of the sphere, wherein the spindle system Positioned above the table and having a first linear axis moving toward the table; for each of the at least one rotating axis, performing a center of rotation measuring step to obtain at least one of the at least one axis of rotation a center of rotation, wherein the step of measuring the center of rotation comprises: rotating the table to a plurality of angles respectively along the axis of rotation; performing a center of gravity measurement step when the table is rotated to each of the angles, and obtaining a difference Corresponding to a plurality of spherical center coordinate values of the spherical body to the angles, wherein the spherical core measuring step comprises: moving the measuring probe to touch at least three first positions on the spherical body to obtain at least Three first coordinate values; and calculating a spherical center coordinate value of the spherical body according to the first coordinate values; and performing a rotation center calculation step to determine the spherical coordinate values according to the spherical centers Calculate the coordinate value of the center of rotation of the rotating shaft. The method for detecting a rotation center of a processing machine according to claim 1, wherein the centering step further comprises: moving the measuring probe to touch four first positions P2, P3, P4 on the spherical body and P5, and obtain four first coordinate values and define a circle, wherein in an XYZ coordinate system, the first coordinate values are P2 (x ₂ , y ₂ , z ₂ ) and P3 (x ₃ , respectively). y ₃ , z ₃ ), P4(x ₄ , y ₄ , z ₄ ) and P5(x ₅ , y ₅ , z ₅ ), z ₂ =z ₃ =z ₄ =z ₅ , the connection system of P2 and P4 Parallel X-axis, the connection of P3 and P5 is parallel to the Y-axis; a first calculation step is performed to calculate a center coordinate value of the circle (O _cx , O _cy , O _cz ) according to the following relationship: _{cx = (x 2 + x 4} ) / 2; O cy = (y 3 + y 5) / 2; O cz = z 2 = z 3 = z 4 = z 5; moving the measuring probe to touch to the a second position on the spherical body in the positive z-axis direction of the central coordinate value to obtain a second coordinate value P6 (x ₆ , y ₆ , z ₆ ); and performing a second calculation step according to the following relationship To calculate the spherical center coordinate value (O _x , O _y , O _z ) of the sphere: O _x =O _cx ; O _y =O _cy ; O _z =z ₆ -R1, where R1 is the circle A radius of the sphere. The method for detecting a rotation center of a processing machine according to claim 1, wherein the calculation step of the rotation center comprises: forming a mid-perpendicular line between each of the two adjacent spherical center coordinates; obtaining the intersecting lines of the two perpendicular lines And a plurality of intersection points; and averaging the coordinate values of the intersection points to obtain a coordinate value of the rotation center of the rotation axis. The method for detecting a rotation center of a processing machine according to claim 3, wherein the rotation axis is rotated about the first linear axis, and the number of the angles of rotation of the table is 4 or 8. The method for detecting a rotation center of a processing machine according to claim 3, wherein the spindle has a second linear axis, the rotation axis being rotated about the second linear axis, and the number of the angles of rotation of the table It is 3 or 7. The method for detecting a rotation center of a processing machine according to claim 1, wherein the rotation axis is a direction of rotation about the first linear axis, and the angles at which the table rotates are 0 degrees and 180 degrees, respectively. The number of cardiac coordinate values is two, and the rotation center calculation step includes averaging the two spherical center coordinate values to obtain a coordinate value of the rotation center of the rotation axis. The method for detecting a rotation center of a processing machine according to claim 1, wherein the spindle has a second linear axis, and the rotation axis is rotated about the second linear axis, and the number of the angles of the rotation of the table is respectively For 0 degrees and 90 degrees, the number of spherical center coordinates is two, and the rotation center calculation step includes: forming an isosceles right angle triangle with a straight line between the two spherical center coordinates, the isosceles right angle The apex of the triangle is the center of rotation of the axis of rotation.