Method and device for measuring movement locus of automatic tool changing mechanical arm

Abstract

The invention relates to a method and a device for measuring the movement locus of an automatic knife-changing mechanical arm and belongs to the field of space movement locus tracking and measurement of an automatic knife-changing mechanical arm at a processing center. The method is a non-contact type three-dimensional online measurement method based on two-dimensional PSDs (Phase Sensory Detectors); light sources as measured targets are installed on a measured ATC (Air Traffic Control) mechanical arm and are projected onto two-dimensional induction screens of two PSD cameras composed of two position sensitive detectors respectively through a lens to form light spots; the two PSD cameras respectively output two-dimensional coordinate values under the excitation of the light spots; after passing through a signal processor, a voltage value corresponding to a coordinate position is outputted; and a computer collects and saves a corresponding signal through a voltage acquisition card. The method is quick in response speed and satisfies the real-time online measurement requirements. Through the movement locus of the mechanical arm, the positioning accuracy, the movement stability and other movement states in the knife changing process can be judged to provide a quantitative method for the reliability detection of a knife library.

Description

technical field

[0001] The invention belongs to the field of space motion track tracking measurement of a mechanical arm of an automatic tool change system of a machining center, and is a three-dimensional measuring device composed of a two-dimensional position sensitive detector, which realizes non-contact on-line measurement of the motion track of a mechanical arm. Background technique

[0002] In recent years, with the rapid development of the equipment manufacturing industry, the demand for high-end CNC machine tools represented by machining centers has been increasing day by day. As a key functional component of machining centers—Automatic Tool Changer (ATC) The research and development of the company are highly valued by domestic and foreign governments and enterprises. As an important part of the tool magazine of the machining center, ATC is the bridge between the tool magazine and the machine tool spindle. Its main function is to automatically clamp the tools used fo...

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