Perpendicularity detection method, workpiece alignment method of non-orthogonal machine tool and equipment thereof

Abstract

This application proposes a method for detecting the perpendicularity of a machine tool, a workpiece alignment method for a non-orthogonal machine tool, a terminal device, and a computer-readable storage medium. The perpendicularity detection method includes: selecting three calibration points on a calibration plate, wherein the three calibration points and the line connecting them form a right-angled triangle; moving the actual translation axis of the machine tool so that the center point of the machine tool's camera is directly opposite the three calibration points on the calibration plate, and obtaining the three joint coordinates corresponding to the three calibration points; based on the three joint coordinates and the direction vector of the Y-axis in the machine tool's tool tip coordinate system, obtaining the angle between the actual translation axis X-axis and the actual translation axis Y-axis of the machine tool. This application provides a detection scheme for the perpendicularity of the X-axis and Y-axis in actual production to solve the problem of abnormal workpiece machining accuracy when the actual translation axis X-axis and Y-axis are not perpendicular, using a guided map method.

Description

Technical Field

[0001] This application mainly relates to the field of CNC machine tool technology, and in particular to a method for detecting the perpendicularity of a machine tool, a workpiece alignment method for a non-orthogonal machine tool, a terminal device, and a computer-readable storage medium. Background Technology

[0002] As we all know, CNC machine tools are an indispensable part of modern industrial production. During CNC machine tool processing, the translational Y-axis and X-axis are often not perpendicular, leading to accuracy problems when machining workpieces using a master drawing method. Summary of the Invention

[0003] This application provides a method for detecting the perpendicularity of a machine tool, a method for aligning workpieces on a non-orthogonal machine tool, a terminal device, and a computer-readable storage medium.

[0004] To address the aforementioned technical problems, this application provides a method for detecting the perpendicularity of a machine tool, the method comprising:

[0005] A machine tool camera coordinate system is established based on the machine tool and a calibration plate parallel to its base plane;

[0006] Based on the machine tool and its tool tip, establish the machine tool coordinate system and the machine tool tool tip coordinate system;

[0007] Three calibration points are selected on the calibration plate, wherein the three calibration points and the line connecting them form a right triangle;

[0008] Move the actual translation axis of the machine tool so that the center point of the camera of the machine tool is directly aligned with the three calibration points on the calibration plate, and obtain the three joint coordinates corresponding to the three calibration points;

[0009] Based on the three joint coordinates and the direction vector of the Y-axis in the machine tool tip coordinate system, the angle between the actual translational axis X-axis and the actual translational axis Y-axis of the machine tool is obtained.

[0010] The step of obtaining the angle between the actual translational axis X-axis and the actual translational axis Y-axis of the machine tool based on the direction vectors of the three joint coordinates and the Y-axis in the machine tool tool tip coordinate system includes:

[0011] Obtain the direction vector of the actual translational axis Y of the machine tool in the machine tool tip coordinate system;

[0012] Based on the direction vector, establish the transformation relationship between the camera coordinates and joint coordinates of each calibration point;

[0013] Based on the conversion relationship of the three calibration points, the angle between the actual translational axis X and the actual translational axis Y of the machine tool is calculated.

[0014] The step of determining the angle between the actual translational axis X and the actual translational axis Y of the machine tool based on the conversion relationship of the three calibration points includes:

[0015] Obtain the calibration vectors generated by pairwise calibration points from the three calibration points;

[0016] Based on the right triangle containing the three calibration points, establish the vector relationship of the calibration quantities;

[0017] Based on the transformation and vector relationships of the three calibration points, the angle between the actual translational axis X and the actual translational axis Y of the machine tool is calculated.

[0018] The perpendicularity detection method further includes, after obtaining the angle between the actual translational axis X-axis and the actual translational axis Y-axis of the machine tool based on the direction vectors of the three joint coordinates and the Y-axis in the machine tool tool tip coordinate system, the perpendicularity detection method further includes:

[0019] Based on the included angle, establish the workpiece transformation relationship between the actual joint quantities of the machine tool and the theoretical workpiece coordinates;

[0020] The workpiece to be processed is processed using the workpiece transformation relationship.

[0021] To address the aforementioned technical problems, this application provides a workpiece alignment method for a non-orthogonal machine tool, the workpiece alignment method comprising:

[0022] Obtain the first included angle between the actual translation axis X-axis and the actual translation axis Y-axis in the first machine tool, and obtain the first workpiece transformation relationship of the first machine tool based on the first included angle;

[0023] Obtain the second included angle between the actual translation axis X-axis and the actual translation axis Y-axis in the second machine tool, and obtain the second workpiece conversion relationship of the second machine tool based on the second included angle;

[0024] Obtain the first mechanical coordinates of the camera center point on the first machine tool facing the first current calibration point, and the second mechanical coordinates of the tool tip point on the machine tool facing the first current calibration point;

[0025] Based on the first machine coordinates, the second machine coordinates, and the first workpiece transformation relationship, obtain the first vector of the first machine tool camera coordinate system of the first machine tool in the first machine tool tool tip coordinate system;

[0026] Obtain the third mechanical coordinate of the camera center point on the second machine tool aligning with the second current calibration point, and the fourth mechanical coordinate of the tool tip point on the machine tool aligning with the second current calibration point;

[0027] Based on the third machine coordinates, the fourth machine coordinates, and the second workpiece transformation relationship, obtain the second vector of the second machine tool camera coordinate system of the second machine tool in the second machine tool tool tip coordinate system;

[0028] Based on the first vector, obtain the first machining coordinates of the two machining points of the workpiece on the first machine tool;

[0029] Based on the second vector, obtain the second machining coordinates of the two machining points of the workpiece on the second machine tool;

[0030] Based on the first machining coordinates and the second machining coordinates, an alignment matrix is ​​generated between the first machine tool and the second machine tool;

[0031] Based on the alignment matrix and the workpiece transformation relationship between the actual joint values ​​of the first machine tool and the second machine tool and the theoretical workpiece coordinates, the mechanical coordinates of the machining point of the workpiece to be processed on the first machine tool on the second machine tool are determined, and the workpiece to be processed is processed according to the mechanical coordinates.

[0032] The angle between the actual translational axis X and the actual translational axis Y in the machine tool is determined by the above-mentioned machine tool perpendicularity detection method.

[0033] The step of generating the alignment matrix between the first machine tool and the second machine tool based on the first machining coordinates and the second machining coordinates includes:

[0034] A third machine tool tool tip coordinate system is established based on the first machine tool tool tip coordinate system and / or the second machine tool tool tip coordinate system;

[0035] Based on the first machining coordinates and the second machining coordinates, obtain the third machining coordinates of the two machining points in the third machine tool tip coordinate system;

[0036] Establish a machining coordinate system based on the third machining coordinate.

[0037] Obtain the homogeneous transformation matrix between the machining coordinate system and the third machine tool tip coordinate system;

[0038] The alignment matrix between the first machine tool and the second machine tool is generated according to the homogeneous transformation matrix.

[0039] in,

[0040] The third machining coordinate includes the first machining sub-coordinate of the projection point of the first machining point in the first machine tool camera coordinate system onto the third machine tool tip coordinate system, the second machining sub-coordinate of the projection point of the second machining point in the first machine tool camera coordinate system onto the third machine tool tip coordinate system, the third machining sub-coordinate of the projection point of the first machining point in the second machine tool camera coordinate system onto the third machine tool tip coordinate system, and the fourth machining sub-coordinate of the projection point of the second machining point in the second machine tool camera coordinate system onto the third machine tool tip coordinate system.

[0041] The step of establishing a machining coordinate system according to the third machining coordinate includes:

[0042] Based on the first machining sub-coordinate as the origin, a first machining coordinate system is established, and the directions of each axis are the same as the directions of the third machine tool tip coordinate system.

[0043] Based on the third machining sub-coordinate as the origin, a second machining coordinate system is established, and the directions of each axis are the same as those of the third machine tool tip coordinate system.

[0044] Based on the third machining sub-coordinate as the origin, the second machining coordinate system is rotated around its Z-axis by a machining angle to establish the third machining coordinate system, wherein the machining angle is the angle between the direction vector from the first machining sub-coordinate to the second machining sub-coordinate and the direction vector from the third machining sub-coordinate to the fourth machining sub-coordinate;

[0045] The step of obtaining the homogeneous transformation matrix between the machining coordinate system and the third machine tool tip coordinate system includes:

[0046] Obtain the first homogeneous transformation matrix of the first machining coordinate system relative to the third machine tool tip coordinate system;

[0047] Obtain the second homogeneous transformation matrix of the second machining coordinate system relative to the first machining coordinate system;

[0048] Obtain the third homogeneous transformation matrix of the third machining coordinate system relative to the second machining coordinate system.

[0049] The step of generating the alignment matrix between the first machine tool and the second machine tool according to the homogeneous transformation matrix includes:

[0050] Obtain the first fixed coordinates of a fixed point on the workpiece to be processed in the first machining coordinate system, and the second fixed coordinates in the third machining coordinate system;

[0051] Set the first fixed coordinate to the third fixed coordinate in the third machine tool tool tip coordinate system, and set the second fixed coordinate to the fourth fixed coordinate in the third machine tool tool tip coordinate system;

[0052] Using the first fixed coordinates, the second fixed coordinates, the third fixed coordinates, the fourth fixed coordinates, and the third homogeneous transformation matrix, a fixed point alignment relationship is established;

[0053] The alignment relationship of the fixed points is resolved to obtain the alignment matrix between the first machine tool and the second machine tool.

[0054] To solve the above-mentioned technical problems, this application provides a terminal device, wherein the terminal device includes a processor and a memory connected to the processor, wherein the memory stores program instructions;

[0055] The processor is used to execute program instructions stored in the memory to implement the perpendicularity detection method for machine tools and / or the workpiece alignment method for non-orthogonal machine tools as described above.

[0056] To address the aforementioned technical problems, this application provides a computer-readable storage medium storing program instructions that, when executed, implement the above-mentioned machine tool perpendicularity detection method and / or workpiece alignment method for non-orthogonal machine tools.

[0057] Compared with the prior art, the beneficial effects of this application are as follows: The terminal device establishes a machine tool camera coordinate system based on the machine tool and a calibration plate parallel to its base plane; it establishes a machine tool coordinate system and a machine tool tip coordinate system based on the machine tool and its tool tip point; it selects three calibration points on the calibration plate, wherein the three calibration points and the line connecting them form a right triangle; it moves the actual translation axis of the machine tool so that the center point of the machine tool's camera is respectively aligned with the three calibration points on the calibration plate, and obtains the three joint coordinates of the three calibration points; based on the three joint coordinates and the direction vector of the Y-axis in the machine tool tip coordinate system, it obtains the angle between the actual translation axis X-axis and the actual translation axis Y-axis of the machine tool. This application provides a detection scheme for the perpendicularity of the X-axis and Y-axis in actual production and solves the problem of abnormal workpiece machining accuracy when the actual translation axis X-axis and Y-axis are not perpendicular, using a guided map method. Attached Figure Description

[0058] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0059] Figure 1 This is a flowchart illustrating an embodiment of the machine tool perpendicularity detection method provided in this application;

[0060] Figure 2This is a flowchart illustrating an embodiment of the workpiece alignment method for non-orthogonal machine tools provided in this application;

[0061] Figure 3 This is a schematic diagram of the non-orthogonal machine tool working coordinate alignment process provided in this application;

[0062] Figure 4 This is a schematic diagram of the framework of an embodiment of the terminal device provided in this application;

[0063] Figure 5 This is a schematic diagram of the structure of an embodiment of the computer storage medium provided in this application. Detailed Implementation

[0064] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0065] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in this specification means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be understood that when we say an element is “connected” or “coupled” to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements. Furthermore, “connected” or “coupled” as used herein can include wireless connections or wireless coupling. The term “and / or” as used herein includes all or any units and all combinations of one or more associated listed items.

[0066] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

[0067] This application uses two three-axis machine tools as an example, including three translational axes: X-axis, Y-axis, and Z-axis. An industrial camera is installed on each of the two machine tools, with the camera mounted on the Z-axis. The optical axis of the camera is parallel to the Z-axis and perpendicular to the plane containing the X and Y axes of the machine tool, and this plane is parallel to the base plane of the machine tool.

[0068] Please refer to the details. Figure 1 , Figure 1 This is a flowchart illustrating an embodiment of the machine tool perpendicularity detection method provided in this application.

[0069] like Figure 1 As shown, the perpendicularity detection method for machine tools in this embodiment specifically includes the following steps:

[0070] Step S11: Establish the machine tool camera coordinate system based on the machine tool and the calibration plate parallel to its base plane.

[0071] In this embodiment, the calibration plate is placed on the worktable of the first machine tool, ensuring it is parallel to the machine tool base plane and that there is no relative movement between the calibration plate and the worktable. After the first machine tool returns to zero, a machine tool coordinate system {M1} is established as the reference coordinate system for the poses of all coordinate systems of the first machine tool. The origin of the coordinate system is located at the mechanical origin of the first machine tool, and the coordinate system is defined by the unit direction vector of the X-axis of the actual translational axis of the first machine tool. For the machine tool coordinate system {M1} The axis, with the actual translational axis Z-axis unit direction vector For the machine tool coordinate system {M1} Axis, with The unit direction vector is used as the coordinate system {M1} of the machine tool. Establish a first machine tool camera coordinate system {C1}, with the origin located at the projection point of the camera center point on the calibration plate plane after the first machine tool returns to zero. The directions of each axis are parallel to the machine tool coordinate system {M1}.

[0072] Step S12: Based on the machine tool and its tool tip, establish the machine tool coordinate system and the machine tool tool tip coordinate system.

[0073] In this embodiment of the application, a first machine tool tool tip coordinate system {T1} is established, with the origin located at the tool tip point after the first machine tool returns to zero, and each axis direction is parallel to the machine tool coordinate system {M1}.

[0074] Step S13: Select three calibration points on the calibration plate, wherein the three calibration points and the line connecting them form a right triangle.

[0075] In this embodiment of the application, three points P1, P2, and P3 are selected on the calibration plate, where P2 is a right angle of ΔP1P2P3 in the camera coordinate system {C1}.

[0076] Step S14: Move the actual translation axis of the machine tool so that the center point of the machine tool's camera is aligned with the three calibration points on the calibration plate, and obtain the three joint coordinates corresponding to the three calibration points.

[0077] In this embodiment, the actual translation axes X, Y, and Z of the first machine tool are moved, and the joint coordinates when the center point of the camera on the Z axis of the first machine tool is directly opposite the points P1, P2, and P3 on the calibration plate are recorded as (x1, y1, z1), (x2, y2, z2), and (x3, y3, z3).

[0078] Step S15: Based on the three joint coordinates and the direction vector of the Y-axis in the machine tool tip coordinate system, obtain the angle between the actual translational axis X-axis and the actual translational axis Y-axis of the machine tool.

[0079] In this embodiment, the direction vector of the actual translational axis Y-axis of the first machine tool in the tool tip coordinate system {T1} is (cosθ1,sinθ1,0), where θ1 is the angle between the positive direction of the actual translational axis Y-axis and the positive direction of the actual translational axis X-axis. Therefore, the coordinates of points P1, P2, and P3 on the calibration plate in the camera coordinate system {C1} of the first machine tool are respectively... C P1( C x1, C y1, C z1), C P2( C x2, C y2, C z2), C P3( C x3, C y3, C z3), of which,

[0080]

[0081] Points P1, P2, and P3 form a right triangle in the camera coordinate system {C1}, which gives us...

[0082]

[0083] in,

[0084]

[0085] and

[0086]

[0087] From formula (1), we can obtain

[0088]

[0089] Similarly, by establishing a machine coordinate system {M2}, a camera coordinate system {C2}, and a tool tip coordinate system {T2} on the second machine tool, the angle θ2 between the positive direction of the actual translational axis Y′ and the positive direction of the actual translational axis X′ on the second machine tool can be obtained.

[0090] Furthermore, after obtaining the angle φ between the actual translational axis X-axis and Y-axis using the above method, the actual joint quantity (a) can be obtained. x ,a y ,a z ) and theoretical workpiece coordinates (q) x ,q y ,q z The conversion relationship between ) is, i.e.

[0091]

[0092] This method can be used in actual production to detect the perpendicularity of the X-axis and Y-axis, and to solve the problem of abnormal workpiece machining accuracy when the actual translational axis X-axis and Y-axis are not perpendicular, using a guided map method.

[0093] In this embodiment, the terminal device establishes a machine tool camera coordinate system based on the machine tool and a calibration plate parallel to its base plane; it also establishes a machine tool coordinate system and a machine tool tip coordinate system based on the machine tool and its tool tip point; three calibration points are selected on the calibration plate, wherein the three calibration points and the line connecting them form a right triangle; the actual translation axis of the machine tool is moved so that the center point of the machine tool's camera is directly opposite the three calibration points on the calibration plate, and the three joint coordinates of the three calibration points are obtained; based on the three joint coordinates and the direction vector of the Y-axis in the machine tool tip coordinate system, the angle between the actual translation axis X-axis and the actual translation axis Y-axis of the machine tool is obtained. This application provides a detection scheme for the perpendicularity of the X-axis and Y-axis in actual production and solves the problem of abnormal workpiece machining accuracy when the actual translation axis X-axis and Y-axis are not perpendicular, using a guided map method.

[0094] Please continue reading. Figure 2 and Figure 3 , Figure 2 This is a flowchart illustrating an embodiment of the workpiece alignment method for non-orthogonal machine tools provided in this application. Figure 3 This is a schematic diagram of the non-orthogonal machine tool working coordinate alignment process provided in this application.

[0095] like Figure 2 As shown, the workpiece alignment method for non-orthogonal machine tools in this embodiment specifically includes the following steps:

[0096] Step S21: Obtain the first included angle between the actual translation axis X-axis and the actual translation axis Y-axis in the first machine tool, and obtain the first workpiece conversion relationship of the first machine tool based on the first included angle.

[0097] Step S22: Obtain the second included angle between the actual translation axis X-axis and the actual translation axis Y-axis in the second machine tool, and obtain the second workpiece conversion relationship of the second machine tool based on the second included angle.

[0098] In this embodiment, regarding the angle between the actual translational axis X and the actual translational axis Y of the computer tool, and the process of obtaining the workpiece conversion relationship of the machine tool, please refer to the machine tool perpendicularity detection method in the above embodiment, which will not be repeated here.

[0099] Step S23: Obtain the first machine coordinates of the camera center point on the first machine tool facing the first current calibration point, and the second machine coordinates of the tool tip point on the machine tool facing the first current calibration point.

[0100] In this embodiment, point P is randomly selected on the calibration plate of the first machine tool, and the translation axes X, Y, and Z of the first machine tool are moved. The mechanical coordinates (x4, y4, z4) of the camera center point on the first machine tool are recorded when it is directly opposite point P. According to equation (2), the coordinates of point P in the camera coordinate system {C1} are: in

[0101]

[0102] Move the actual translation axes X, Y, and Z of the first machine tool and record the mechanical coordinates (x5, y5, z5) from the tool tip to point P. According to formula (2), the coordinates of point P in the tool tip coordinate system can be obtained as follows: in,

[0103]

[0104] Step S24: Based on the first machine coordinates, the second machine coordinates, and the transformation relationship of the first workpiece, obtain the first vector of the first machine tool camera coordinate system of the first machine tool in the first machine tool tool tip coordinate system.

[0105] In this embodiment, the vector of the camera coordinate system {C1} in the knife tip coordinate system {T1} is...

[0106]

[0107] Step S25: Obtain the third machine coordinate of the camera center point on the second machine tool facing the second current calibration point, and the fourth machine coordinate of the tool tip point on the machine tool facing the second current calibration point.

[0108] Step S26: Based on the third machine coordinate, the fourth machine coordinate, and the transformation relationship of the second workpiece, obtain the second vector of the second machine tool camera coordinate system of the second machine tool and the second vector of the second machine tool tip coordinate system.

[0109] In this embodiment of the application, following steps S23 and S24, the vector of the second machine tool camera coordinate system {C2} in the tool tip coordinate system {T2} can be obtained similarly:

[0110]

[0111] Step S27: Obtain the first machining coordinates of the two machining points of the workpiece to be processed on the first machine tool based on the first vector.

[0112] Step S28: Obtain the second machining coordinates of the two machining points of the workpiece to be processed on the second machine tool based on the second vector.

[0113] Step S29: Based on the first machining coordinates and the second machining coordinates, generate the alignment matrix between the first machine tool and the second machine tool.

[0114] In this embodiment, two points, mark1 and mark2, are selected on the workpiece, and the workpiece is placed on the worktable of the first machine tool. The translation axes X, Y, and Z of the first machine tool are moved, and the machine coordinates (x8, y8, z8) and (x9, y9, z9) of the camera center point on the first machine tool when it is directly opposite points mark1 and mark2 are recorded. According to equation (2), the coordinates of points mark1 and mark2 in the camera coordinate system can be obtained. The coordinates of the projection points Mark1 and Mark2 on the plane in the camera coordinate system {C1} are: and in

[0115]

[0116] and

[0117]

[0118] Furthermore, the coordinates of the projection points Mark1 and Mark2 in the tool tip coordinate system {T1} can be obtained as follows: and in

[0119]

[0120] and

[0121]

[0122] Similarly, by placing the workpiece onto the second machine tool, we can obtain points mark1 and mark2 in the camera coordinate system. The coordinates of the projection points MARK1 and MARK2 on the plane in the tool tip coordinate system {T2} are: and in

[0123]

[0124] and

[0125]

[0126] Establish a new tool tip coordinate system {T}, whose direction vectors for each axis are the same as those of tool tip coordinate systems {T1} and {T2}, and the origin of coordinate system {T} coincides with that of {T1} and {T2}. Therefore, the coordinates of points Mark1, Mark2, MARK1, and MARK2 in the new tool tip coordinate system {T} are as follows: T MARK1( T x1, T y1, T z1), T MARK2( T x2, T y2, T z2) and T MARK3 ( T x3, T y3, T z3), T MARK4( T x4, T y4, T z4), where,

[0127]

[0128] and

[0129]

[0130] With point T MARK1 and point T MARK3 is the origin of the coordinate system. Establish coordinate systems {W1} and {W2}, with the directions of each axis of {W1} and {W2} being the same as those of the tool tip coordinate system {T}.

[0131] With point T MARK3 is the origin of the coordinate system. The coordinate system {W2} is rotated around its Z-axis. Rotate θ3 to obtain the coordinate system {W3}, where θ3 is the point obtained from Paden_Kahan subproblem 1. T MARK1 arrived at the designated time. TMARK2's direction vector and point T MARK3 arrived at the designated time. T The angle between the direction vectors of MARK4.

[0132] Therefore, the homogeneous transformation matrix of coordinate system {W1} relative to the knife tip coordinate system {T} can be obtained as follows:

[0133]

[0134] The homogeneous transformation matrix of coordinate system {W2} relative to coordinate system {W1} is:

[0135]

[0136] Therefore, the homogeneous transformation matrix of coordinate system {W3} relative to coordinate system {W2} can be obtained as follows:

[0137]

[0138] Assuming there exists an arbitrary fixed point Q on the workpiece, the coordinates of this point in coordinate systems {W1} and {W3} are respectively... and in, Setting points and The coordinates in coordinate system {T} are respectively and but

[0139]

[0140]

[0141] Therefore, it can be deduced that

[0142]

[0143] Finally, the positive matrix can be obtained as follows:

[0144]

[0145] Step S20: Based on the alignment matrix and the workpiece transformation relationship between the actual joint values ​​of the first and second machine tools and the theoretical workpiece coordinates, determine the machine coordinates of the machining points of the workpiece to be machined on the first machine tool and the machine coordinates of the second machine tool, and machine the workpiece to be machined according to the machine coordinates.

[0146] In this embodiment of the application, the mechanical coordinates of any point M on the workpiece of the first machine tool when the tool tip points to point M are (X... M ,Y M Z MThen, based on the angle θ1 between the actual translational axis X and Y of the first machine tool and formula (2), the coordinates of point M in the tool tip coordinate system {T1} of the first machine tool can be obtained. Then, according to the formula for the positive matrix (5), the coordinates of point M in the tool tip coordinate system {T2} of the second machine tool can be obtained. Finally, based on the angle θ2 between the positive direction of the actual translation axis Y′ of the second machine tool and the actual translation axis X′ and formula (2), the mechanical coordinates of point M of the second machine tool can be obtained, thereby achieving precise machining of the workpiece.

[0147] It should be noted that this method can also be used when the workpiece is rotated and translated in the xy plane on the same machine tool, simply by setting θ2 = θ1; when there is no camera, the tool tip can be used to simulate the camera directly.

[0148] To implement the machine tool perpendicularity detection method and / or workpiece alignment method for non-orthogonal machine tools in the above embodiments, this application also provides another terminal device 300, which can be found in the following details. Figure 4 The terminal device 300 in this application embodiment includes a processor 31, a memory 32, an input / output device 33, and a bus 34.

[0149] The processor 31, memory 32, and input / output device 33 are respectively connected to the bus 34. The memory 32 stores program data, and the processor 31 is used to execute the program data to implement the machine tool perpendicularity detection method and / or the workpiece alignment method for non-orthogonal machine tools described in the above embodiments.

[0150] In this embodiment, processor 31 can also be referred to as a CPU (Central Processing Unit). Processor 31 may be an integrated voltage control system chip with signal processing capabilities. Processor 31 can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor, or processor 31 can be any conventional processor.

[0151] This application also provides a computer storage medium; please refer to the following: Figure 5 , Figure 5This is a schematic diagram of a computer storage medium according to an embodiment of the present application. The computer storage medium 400 stores program data 41. When the program data 41 is executed by the processor, it is used to implement the machine tool perpendicularity detection method and / or the workpiece alignment method for non-orthogonal machine tools in the above embodiments.

[0152] When the embodiments of this application are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0153] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method of detecting the perpendicularity of a machine tool, characterized by, The verticality detection method includes: A machine tool camera coordinate system is established based on the machine tool and a calibration plate parallel to its base plane; Based on the machine tool and its tool tip, establish the machine tool coordinate system and the machine tool tool tip coordinate system; Three calibration points are selected on the calibration plate, wherein the three calibration points and the line connecting them form a right triangle; Move the actual translation axis of the machine tool so that the center point of the camera of the machine tool is directly aligned with the three calibration points on the calibration plate, and obtain the three joint coordinates of the three calibration points; Based on the three joint coordinates and the direction vector of the Y-axis in the machine tool tip coordinate system, the angle between the actual translational axis X-axis and the actual translational axis Y-axis of the machine tool is obtained; The step of obtaining the angle between the actual translational axis X-axis and the actual translational axis Y-axis of the machine tool based on the direction vectors of the three joint coordinates and the Y-axis in the machine tool tool tip coordinate system includes: Obtain the direction vector of the actual translational axis Y of the machine tool in the tool tip coordinate system; Based on the direction vector, establish the transformation relationship between the camera coordinates and joint coordinates of each calibration point; Based on the conversion relationship of the three calibration points, the angle between the actual translational axis X and the actual translational axis Y of the machine tool is calculated. The process of determining the angle between the actual translational axis X and the actual translational axis Y of the machine tool based on the conversion relationship of the three calibration points includes: Obtain the calibration vectors generated by pairwise calibration points from the three calibration points; Based on the right triangle containing the three calibration points, establish the vector relationship of the calibration quantities; Based on the transformation and vector relationships of the three calibration points, the angle between the actual translational axis X and the actual translational axis Y of the machine tool is calculated.

2. The verticality detection method according to claim 1, characterized in that, After obtaining the angle between the actual translational axis X-axis and the actual translational axis Y-axis of the machine tool based on the direction vectors of the three joint coordinates and the Y-axis in the machine tool tool tip coordinate system, the perpendicularity detection method further includes: Based on the included angle, establish the workpiece transformation relationship between the actual joint quantities of the machine tool and the theoretical workpiece coordinates; The workpiece to be processed is processed using the workpiece transformation relationship.

3. A workpiece alignment method for a non-orthogonal machine tool, characterized in that, The workpiece alignment method includes: Obtain the first included angle between the actual translation axis X-axis and the actual translation axis Y-axis in the first machine tool, and obtain the first workpiece transformation relationship of the first machine tool based on the first included angle; Obtain the second included angle between the actual translation axis X-axis and the actual translation axis Y-axis in the second machine tool, and obtain the second workpiece conversion relationship of the second machine tool based on the second included angle; Obtain the first mechanical coordinates of the camera center point on the first machine tool facing the first current calibration point, and the second mechanical coordinates of the tool tip point on the machine tool facing the first current calibration point; Based on the first machine coordinates, the second machine coordinates, and the first workpiece transformation relationship, obtain the first vector of the first machine tool camera coordinate system of the first machine tool in the first machine tool tool tip coordinate system; Obtain the third mechanical coordinate of the camera center point on the second machine tool aligning with the second current calibration point, and the fourth mechanical coordinate of the tool tip point on the machine tool aligning with the second current calibration point; Based on the third machine coordinates, the fourth machine coordinates, and the second workpiece transformation relationship, obtain the second vector of the second machine tool camera coordinate system of the second machine tool in the second machine tool tool tip coordinate system; Based on the first vector, obtain the first machining coordinates of the two machining points of the workpiece on the first machine tool; Based on the second vector, obtain the second machining coordinates of the two machining points of the workpiece on the second machine tool; Based on the first machining coordinates and the second machining coordinates, an alignment matrix is ​​generated between the first machine tool and the second machine tool; Based on the alignment matrix and the workpiece transformation relationship between the actual joint values ​​of the first machine tool and the second machine tool and the theoretical workpiece coordinates, the mechanical coordinates of the machining point of the workpiece to be processed on the first machine tool on the second machine tool are determined, and the workpiece to be processed is processed according to the mechanical coordinates. The angle between the actual translational axis X-axis and the actual translational axis Y-axis in the machine tool is determined by the perpendicularity detection method of the machine tool described in any one of claims 1 to 2.

4. The workpiece alignment method according to claim 3, characterized in that, The step of generating the alignment matrix between the first machine tool and the second machine tool based on the first machining coordinates and the second machining coordinates includes: A third machine tool tool tip coordinate system is established based on the first machine tool tool tip coordinate system and / or the second machine tool tool tip coordinate system; Based on the first machining coordinates and the second machining coordinates, obtain the third machining coordinates of the two machining points in the third machine tool tip coordinate system; Establish a machining coordinate system based on the third machining coordinate. Obtain the homogeneous transformation matrix between the machining coordinate system and the third machine tool tip coordinate system; The alignment matrix between the first machine tool and the second machine tool is generated according to the homogeneous transformation matrix.

5. The workpiece alignment method according to claim 4, characterized in that, The third machining coordinate includes the first machining sub-coordinate of the projection point of the first machining point in the first machine tool camera coordinate system onto the third machine tool tip coordinate system, the second machining sub-coordinate of the projection point of the second machining point in the first machine tool camera coordinate system onto the third machine tool tip coordinate system, the third machining sub-coordinate of the projection point of the first machining point in the second machine tool camera coordinate system onto the third machine tool tip coordinate system, and the fourth machining sub-coordinate of the projection point of the second machining point in the second machine tool camera coordinate system onto the third machine tool tip coordinate system. The step of establishing a machining coordinate system according to the third machining coordinate includes: Based on the first machining sub-coordinate as the origin, a first machining coordinate system is established, and the directions of each axis are the same as the directions of the third machine tool tip coordinate system. Based on the third machining sub-coordinate as the origin, a second machining coordinate system is established, and the directions of each axis are the same as those of the third machine tool tip coordinate system. Based on the third machining sub-coordinate as the origin, the second machining coordinate system is rotated around its Z-axis by a machining angle to establish the third machining coordinate system, wherein the machining angle is the angle between the direction vector from the first machining sub-coordinate to the second machining sub-coordinate and the direction vector from the third machining sub-coordinate to the fourth machining sub-coordinate; The step of obtaining the homogeneous transformation matrix between the machining coordinate system and the third machine tool tip coordinate system includes: Obtain the first homogeneous transformation matrix of the first machining coordinate system relative to the third machine tool tip coordinate system; Obtain the second homogeneous transformation matrix of the second machining coordinate system relative to the first machining coordinate system; Obtain the third homogeneous transformation matrix of the third machining coordinate system relative to the second machining coordinate system.

6. The workpiece alignment method according to claim 5, characterized in that, The step of generating the alignment matrix between the first machine tool and the second machine tool according to the homogeneous transformation matrix includes: Obtain the first fixed coordinates of a fixed point on the workpiece to be processed in the first machining coordinate system, and the second fixed coordinates in the third machining coordinate system; Set the first fixed coordinate to the third fixed coordinate in the third machine tool tool tip coordinate system, and set the second fixed coordinate to the fourth fixed coordinate in the third machine tool tool tip coordinate system; Using the first fixed coordinates, the second fixed coordinates, the third fixed coordinates, the fourth fixed coordinates, and the third homogeneous transformation matrix, a fixed point alignment relationship is established; The alignment relationship of the fixed points is resolved to obtain the alignment matrix between the first machine tool and the second machine tool.

7. A terminal device, characterized in that, The terminal device includes a processor and a memory connected to the processor, wherein... The memory stores program instructions; The processor is used to execute program instructions stored in the memory to implement the perpendicularity detection method for a machine tool as described in any one of claims 1 to 2 and / or the workpiece alignment method for a non-orthogonal machine tool as described in any one of claims 3 to 6.

8. A computer-readable storage medium, characterized in that, The storage medium stores program instructions, which, when executed, implement the perpendicularity detection method for a machine tool as described in any one of claims 1 to 2 and / or the workpiece alignment method for a non-orthogonal machine tool as described in any one of claims 3 to 6.

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