A Detection and Debugging Method for the Orthogonality of a Spatial Cross Guide Rail

Abstract

The present invention discloses a method for detecting and debugging the orthogonality of a spatial cross guide rail. The present invention first measures a reference plane with a laser tracker to establish a coordinate system, measures guide rails A and B, and adjusts the straightness of the guide rails to be parallel to the reference plane; then uses the laser tracker to measure the spatial coordinate points within the movement ranges of guide rails A and B to fit the XY plane, moves guide rails A and B to the center to form orthogonality, uses the laser tracker to measure the straight lines within the movement ranges of guide rails A and B and fits the straightness of guide rails A and B and the cross intersection point, establishes a spatial coordinate system through the XY plane, the cross intersection point, and line A, adjusts the orthogonality of guide rail B relative to guide rail A according to the real-time position coordinates until the requirements are met, and finally conducts a re-inspection. With the aid of the spatial measurement accuracy of the laser tracker, the present invention conducts in-situ detection and debugging of the orthogonal relationship of the cross double guide rails in space, with relatively high detection accuracy and convenient operation.

Description

Technical Field

[0001] The invention belongs to the field of detection, and in particular relates to a method for detecting and debugging the orthogonality of a space cross guide. Background Art

[0002] At present, the fields of precision machinery, shipbuilding, aerospace, etc. are developing rapidly, and the demand for large-scale precision two-dimensional and three-dimensional motion systems is increasing, and the geometric parameters of their motion systems are also becoming higher and higher. However, the method of in-situ detection and debugging is also a huge challenge. The traditional method of using standard rulers and micrometer detection methods can no longer meet the needs. Modern detection equipment laser trackers have been widely used in major industries due to their advantages such as quick installation, high precision, high efficiency, and the ability to implement in-situ detection. The measurement method of this equipment is to move the target ball with continuous light and contact the outline of the product being measured. The laser head collects the spatial position coordinates of the target ball in real time, and calculates and analyzes the geometric parameters through powerful software.

[0003] The present invention uses the spatial measurement technology of the laser tracker to solve the on-site detection and debugging of the cross guide motion straightness and orthogonal accuracy, which can ensure the detection precision and accuracy, effectively shorten the development cycle of the product at this stage, and save time costs. Summary of the invention

[0004] The present invention provides a method for detecting and debugging the orthogonality of a spatial cross guide rail in order to solve the problem that a 1.2 m two-dimensional motion worktable is parallel to a reference plane when moving to any position in an XY plane and that cross-movement within the working range of A and B guide rails can ensure that the guide rails are orthogonal to each other.

[0005] The technical solution adopted by the present invention is: a method for detecting and debugging the orthogonality of a spatial cross guide, which is implemented by the following steps:

[0006] Step 1: Install linear guide rail A horizontally on the reference surface, use a laser tracker in combination with a target ball to measure the reference surface and establish the first Cartesian rectangular coordinate system on the surface, and use the laser tracker to measure and debug the straightness of linear guide rail A and the parallelism of linear guide rail A and the reference surface according to the real-time display value of the coordinate system;

[0007] Step 2: Install the B linear guide rail longitudinally on the reference plane so that the A and B linear guide rails are in a cross-shaped state;

[0008] Step 3: Debug the straightness of the slider stroke of the B linear guide rail according to the real-time display value of the first Cartesian rectangular coordinate system, and debug the B linear guide rail to be parallel to the reference plane;

[0009] Step 4: Recheck and debug the A and B linear guides to make them parallel to the reference plane within the two-dimensional motion range;

[0010] Step Five: Use a laser tracker to evenly distribute multiple measurement points one on the XY plane formed by the movement of linear guides A and B, and fit the flatness of the XY plane according to the measurement results. Then, use the laser tracker to sequentially measure multiple evenly distributed measurement points two on linear guides A and B, and respectively fit the straightness of linear guides A and B and the cross point at the center of the two linear guides according to the measurement data. The number distribution of the measurement points one and measurement points two is determined by the range and accuracy of the guide rail stroke.

[0011] Step Six: Determine the +Z axis perpendicular to the XY plane, with the cross point at the center of the two linear guides A and B as the coordinate origin, and determine the +X axis direction along the direction of linear guide A to establish a second Cartesian rectangular coordinate system.

[0012] Step Seven: Under the established second Cartesian rectangular coordinate system, continuously adjust the position deviation value of linear guide B so that it is orthogonal to linear guide A.

[0013] Step Eight: Detect and recheck the orthogonality of linear guides A and B.

[0014] Further, in Step One, install the laser tracker beside linear guide A, fix a target base on the slider of linear guide A and place a target ball, scan and measure the reference plane and the straightness of linear guide A, and perform rough adjustment and fine adjustment on the parallelism between the straightness of linear guide A and the reference plane according to the established first Cartesian rectangular coordinate information until the requirements are met.

[0015] Further, in Step Two, connect to linear guides A and B respectively through the cross drive grooves at the bottom of the slider, and drive the linear guides A and B to perform single-axis linear motion or two-axis two-dimensional linkage through air-floating driving the slider.

[0016] Further, in Step Five, obtain the XY plane within the two-dimensional motion range as the reference plane. Specifically: evenly distribute three measurement lines on each of linear guide A and linear guide B to form a rectangular grid measurement path, evenly measure multiple points and fit the XY plane, move the two guide rails to the center position of the XY plane and make them in a cross state, and measure linear guides A and B in this state and project the fitted straight lines and cross point of the two guide rails vertically onto the reference plane to ensure the correct fitting analysis of the measurement parameters, as well as the correct establishment of the coordinate system normal direction, direction, and origin, and ensure the measurement repeatability and effectiveness of the parameters under the unified coordinate.

[0017] Further, the number of the measurement points one is 32; the number of the measurement points two for linear guides A and B is 11 respectively.

[0018] Furthermore, in step six, the second Cartesian rectangular coordinate system established is a coordinate system established under the simulation of the actual use of the A and B linear guide rails, wherein the direction of the A linear guide rail can be interchanged with the direction of the B linear guide rail, that is, the +X axis direction can be interchanged with the +Y axis direction.

[0019] Furthermore, in step seven, the real-time XYZ position coordinate display value is called out by the laser tracker, and the yaw locking nut of the B linear guide is debugged until the deviation of the coordinate value of the B linear guide is corrected so that the B linear guide is orthogonal to the A linear guide.

[0020] Furthermore, in step eight, after recollecting the XY plane, straightness, and intersection points formed by the two-dimensional motion of the A and B linear guides to establish a third Cartesian rectangular coordinate system, step seven is repeated for inspection and debugging until the A and B linear guides move orthogonally within the XY plane.

[0021] The advantages of the present invention compared with the prior art are:

[0022] 1. Since the large-size linear motion guide rail is installed inside a small device as a mobile workbench, and the geometric parameters and position accuracy between the two-dimensional table motions need to be solved in place, it is very difficult to implement installation and inspection in place using traditional means such as standard rulers, angle rulers, and micrometers; if professional equipment is used, precision measuring equipment and operators such as laser straightness meters, autocollimators, and laser interferometers are required, so the inspection procedure is relatively cumbersome and the cost is high;

[0023] 2. The method of the present invention uses the spatial coordinate detection technology of the laser tracker to effectively solve the problem of in-situ detection and real-time dynamic monitoring and debugging of the geometric parameters and position accuracy of the guide rail (such as the straightness, mutual perpendicularity, mobile positioning accuracy and repeated positioning accuracy of the guide rail), thereby improving the detection, debugging accuracy and work efficiency of the entire guide rail motion system;

[0024] 3. The method of the present invention is to adjust the geometric accuracy of a single linear guide and then adjust the orthogonal accuracy of a double guide in turn for a two-dimensional linear guide motion system, so that the double guide can have good linearity and orthogonal accuracy when moving to any position in the XY plane space. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic diagram of a method for detecting and debugging the orthogonality of a space cross guide;

[0026] Figure 2 This is a detection diagram of a method for detecting and debugging the orthogonality of a spatial cross guide. DETAILED DESCRIPTION

[0027] The present invention will be further described below in conjunction with the accompanying drawings and specific implementation manners. Implementation process: The in-situ detection and debugging process of the straightness and orthogonality of a 1.2m×1.2m linear motion guide rail is described in detail by using the method of the present invention.

[0028] It is achieved according to the following steps:

[0029] Step 1: Horizontally install the A linear guide rail on the reference plane as shown, use a laser tracker combined with a target ball to measure the reference plane and establish a first Cartesian rectangular coordinate system on this surface. Measure and debug the straightness of the A linear guide rail and the parallelism between the A linear guide rail and the reference plane in real time according to the coordinate display value of the laser tracker; Figure 1 Among them, the laser tracker is installed beside the A linear guide rail. A target seat is fixed on the slider of the A linear guide rail and a target ball is placed. Scan and measure the straightness of the reference plane and the A linear guide rail, and perform rough adjustment and fine adjustment on the straightness of the A linear guide rail and the parallelism with the reference plane in turn according to the established first Cartesian rectangular coordinate information until the requirements are met.

[0030] Among them, the laser tracker is installed beside the A linear guide rail. A target seat is fixed on the slider of the A linear guide rail and a target ball is placed. Scan and measure the straightness of the reference plane and the A linear guide rail, and perform rough adjustment and fine adjustment on the straightness of the A linear guide rail and the parallelism with the reference plane in turn according to the established first Cartesian rectangular coordinate information until the requirements are met.

[0031] Step 2: Vertically install the B linear guide rail on the reference plane so that the A and B linear guide rails are in a cross state;

[0032] Among them, the bottom cross drive grooves of the slider are respectively connected to the A and B linear guide rails, and the slider is driven by air flotation to drive the A and B linear guide rails to perform single-axis linear motion or two-axis two-dimensional linkage.

[0033] Step 3: Debug the straightness of the full stroke of the B linear guide rail slider according to the coordinate display value and make it parallel to the reference plane;

[0034] Step 4: Re-inspect and debug the parallelism of the two-dimensional motion range of the A and B linear guide rails to the reference plane;

[0035] Step 5: Evenly distribute 32 measurement points on the XY plane formed by the movement of the A and B linear guide rails through the laser tracker as shown, and fit the flatness of the XY plane according to the measurement results; then use the laser tracker to evenly measure 11 points on the A and B linear guide rails respectively, and fit the straightness of the A and B linear guide rails and the cross point at the center of the two linear guide rails according to the measurement data; Figure 2 Evenly distribute 32 measurement points on the XY plane formed by the movement of the A and B linear guide rails through the laser tracker as shown, and fit the flatness of the XY plane according to the measurement results; then use the laser tracker to evenly measure 11 points on the A and B linear guide rails respectively, and fit the straightness of the A and B linear guide rails and the cross point at the center of the two linear guide rails according to the measurement data;

[0036] Among them, the number distribution of measurement points on the XY plane and the A and B linear guides is determined according to the moving stroke range and accuracy of the guides; the XY plane for obtaining the two-dimensional motion range is used as the reference plane, specifically: on the plane formed within the motion ranges of the A and B linear guides, three lines are evenly distributed to form a rectangular grid measurement path. When the two guides are moved to the center position of the XY plane, they need to be in a cross state. In this state, the A and B linear guides are measured, and the two fitted guide lines and the intersection point are vertically projected onto the reference plane to ensure the correct fitting analysis of the measurement parameters, as well as the correct establishment of the coordinate system normal direction, direction, and origin, and to ensure the measurement repeatability and effectiveness of the parameters under the unified coordinate system.

[0037] Step Six: Determine the +Z axis perpendicular to the XY plane, with the center cross point of the A and B linear guides as the coordinate origin, and determine the +X axis direction along the direction of the A linear guide to establish the second Cartesian rectangular coordinate system;

[0038] Among them, the established second Cartesian rectangular coordinate system is the coordinate established by simulating the actual use state of the A and B linear guides. The direction of the A linear guide can be interchanged with the direction of the B linear guide, that is, the +X axis direction can be interchanged with the +Y axis direction.

[0039] Step Seven: Under the established second Cartesian rectangular coordinate system, continuously debug the position deviation value of the B linear guide so that it is orthogonal to the A linear guide;

[0040] Among them, the real-time XYZ position coordinate display value is obtained through a laser tracker, and the yaw locking nut of the B linear guide is debugged until the deviation of the B linear guide coordinate value is corrected so that the B linear guide is orthogonal to the A linear guide;

[0041] Step Eight: Detect and recheck the orthogonality of the A and B linear guides.

[0042] Among them, under the third Cartesian rectangular coordinate system established by re-collecting the XY plane, straightness, and intersection point formed by the two-dimensional motion of the A and B linear guides, repeat Step Seven for detection and debugging until the A and B linear guides are orthogonal within the XY plane range.

[0043] The well-known technologies in the field involved in the present invention are not elaborated in detail.

Claims

1. A method for detecting and debugging the orthogonality of a spatial cross guide rail, characterized in that, The method includes the following steps: Step 1: Horizontally install the A linear guide on the reference plane. Use a laser tracker combined with a target ball to measure the reference plane and establish a first Cartesian rectangular coordinate system on this surface. According to the real-time display values of the coordinate system by the laser tracker, measure and debug the straightness of the A linear guide and the parallelism between the A linear guide and the reference plane; Step 2: Vertically install the B linear guide on the reference plane so that the A and B linear guides are in a cross shape; Step 3: Debug the straightness of the slider stroke of the B linear guide according to the real-time display values of the first Cartesian rectangular coordinate system, and at the same time debug the parallelism between the B linear guide and the reference plane; Step 4: Re-inspect and debug the A and B linear guides so that they are parallel to the reference plane within the two-dimensional motion range; Step 5: Evenly distribute a plurality of measurement points 1 on the XY plane formed by the movement of the A and B linear guides through a laser tracker, and fit the flatness of the XY plane according to the measurement results; then use the laser tracker to sequentially measure a plurality of evenly distributed measurement points 2 on the A and B linear guides, and respectively fit the straightness of the A and B linear guides and the cross point at the center of the two linear guides according to the measurement data; the quantity distribution of the measurement points 1 and the measurement points 2 is determined according to the range and accuracy of the guide rail stroke; Step 6: Determine the +Z axis perpendicular to the XY plane, where the cross point at the center of the A and B linear guides is the coordinate origin, and determine the +X axis direction in the direction of the A linear guide to establish a second Cartesian rectangular coordinate system; Step 7: Under the second Cartesian rectangular coordinate system, continuously debug the position deviation value of the B linear guide so that it is orthogonal to the A linear guide; Step 8: Detect and re-inspect the orthogonality of the A and B linear guides.

2. The method for detecting and debugging the orthogonality of a spatial cross guide rail according to claim 1, characterized in that: In Step 1, install the laser tracker beside the A linear guide, fix a target seat on the slider of the A linear guide and place a target ball, scan and measure the straightness of the reference plane and the A linear guide, and perform rough adjustment and fine adjustment on the straightness of the A linear guide and the parallelism with the reference plane in sequence according to the established first Cartesian rectangular coordinate information until the requirements are met.

3. The method for detecting and debugging the orthogonality of a spatial cross guide rail according to claim 1, characterized in that: In Step 2, connect to the A and B linear guides respectively through the cross drive grooves at the bottom of the slider, and drive the A and B linear guides to perform single-axis linear motion or two-axis two-dimensional linkage through the air-floating drive slider.

4. The method for detecting and debugging the orthogonality of a spatial cross guide rail according to claim 1, characterized in that: In Step 5, it includes obtaining the XY plane of the two-dimensional motion range as the reference plane. Specifically: evenly distribute three measurement lines on the A linear guide and the B linear guide respectively to form a rectangular grid measurement path, evenly measure multiple points and fit the flatness of the XY plane, move the two guide rails to the center position of the XY plane and be in a cross shape, measure the A and B linear guides in this state and project the fitted straight lines and cross points of the two guide rails vertically onto the reference plane to ensure the correct fitting analysis of the measurement parameters, and the correct establishment of the normal direction, direction, and origin of the coordinate system, and ensure the measurement repeatability and effectiveness of the parameters under the unified coordinate.

5. The method for detecting and debugging the orthogonality of a spatial cross guide rail according to claim 1, characterized in that: The number of the measurement points 1 is 32; the number of the measurement points 2 is 11 for each of the A and B linear guides respectively.

6. The method for detecting and debugging the orthogonality of a spatial cross guide rail according to claim 1, characterized in that: In step six, the second Cartesian rectangular coordinate system established is the coordinate established by simulating the actual use state of the A and B linear guide rails. Among them, the direction of the A linear guide rail can be interchanged with the direction of the B linear guide rail, that is, the +X-axis direction can be interchanged with the +Y-axis direction.

7. The method for detecting and debugging the orthogonality of a spatial cross guide rail according to claim 1, characterized in that: In step seven, the real-time XYZ position coordinate display value is retrieved through a laser tracker, and the yaw locking nut of the B linear guide rail is debugged until the deviation of the coordinate value of the B linear guide rail is corrected so that the B linear guide rail is orthogonal to the A linear guide rail.

8. The method for detecting and debugging the orthogonality of a spatial cross guide rail according to claim 1, characterized in that: In step eight, under the condition of re-collecting the XY plane, straightness, and intersection points formed by the two-dimensional movement of the A and B linear guide rails to establish the third Cartesian rectangular coordinate system, repeat step seven, and detect and debug until the A and B linear guide rails move orthogonally within the XY plane range.

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