Relative position detection system and method, position detection device

Abstract

This specification provides a relative position detection system and method, and a position detection device. The relative position detection system is suitable for detecting the relative position of a first spindle and a second spindle mounted opposite each other on a machine tool. It includes a position detection device and a control device. The position detection device is separately disposed from the machine tool and is adapted to acquire relative distances to the first spindle and the second spindle in response to a first control signal, obtaining a first distance value set and a second distance value set. The control device is coupled to the position detection device and is adapted to output the first control signal to the position detection device, and to obtain the relative spatial position between the first spindle and the second spindle based on the first distance value set and the second distance value set. Using the above solution can improve detection accuracy and efficiency.

Description

Technical Field

[0001] The embodiments in this specification relate to the field of position detection technology, and in particular to a relative position detection system and method, and a position detection device. Background Technology

[0002] In the traditional machinery manufacturing industry, machine tools generate vibrations during processing. Prolonged use can cause changes in the position of the spindles on both sides of the machine tool, affecting the alignment of the workpiece and consequently the processing results. After a period of use, it is usually necessary to check the spatial position of the spindles. Only when the spindle's spatial position deviation is within a preset range can the workpiece be processed.

[0003] Currently, the relative spatial position of the spindle is usually detected by manually using dial gauges.

[0004] However, the detection accuracy using the above method is not high, and during the detection process, it is necessary to record the detection data each time and obtain the spatial position deviation of the spindle through multiple calculations, resulting in low detection efficiency.

[0005] Therefore, how to improve the detection accuracy and efficiency of the spindle spatial position is a problem that needs to be solved by those skilled in the art. Summary of the Invention

[0006] In view of this, the embodiments of this specification provide a relative position detection system and method, and a position detection device, which can improve detection accuracy and detection efficiency.

[0007] First, this specification provides a relative position detection system suitable for detecting the relative position of a first spindle and a second spindle positioned opposite each other on a machine tool. The detection system includes a position detection device and a control device, wherein:

[0008] The position detection device is separately disposed from the machine tool and is adapted to respond to the first control signal to obtain the relative distances with the first spindle and the second spindle respectively, thereby obtaining a first set of distance values ​​and a second set of distance values;

[0009] The control device is coupled to the position detection device and is adapted to output the first control signal to the position detection device, and to obtain the relative spatial position between the first spindle and the second spindle according to the first distance value set and the second distance value set.

[0010] Optionally, the position detection device includes multiple detection units and multiple drive units respectively disposed on both sides of the detection system;

[0011] The driving unit is coupled to the corresponding detection unit and the control device respectively, and is adapted to generate driving force in response to the first control signal to drive the corresponding detection unit to move.

[0012] The detection unit is adapted to detect distance values ​​in the first set of distance values ​​or the second set of distance values ​​during movement.

[0013] Optionally, for the detection unit and the driving unit disposed on the same side of the detection system, wherein the detection unit includes: a first detection module and a second detection module, and the driving unit includes a first driving module and a second driving module, wherein:

[0014] The first driving module is coupled to the first detection module and is adapted to drive the first detection module to move along a first direction in response to the first control signal;

[0015] The second driving module, coupled to the second detection module, is adapted to drive the first detection module to move along the second direction in response to the first control signal;

[0016] The first direction and the second direction form a preset angle and are both perpendicular to the axial directions of the first spindle and the second spindle.

[0017] Optionally, the control device is adapted to establish a corresponding coordinate system with the geometric center of one end face of the first spindle as the origin; and to select a preset number of reference points from the axis of the second spindle, and obtain the spatial coordinates of each reference point according to the first distance value set and the second distance value set respectively, and obtain the axis equation of the second spindle relative to the first spindle according to the spatial coordinates of each reference point, and determine the relative spatial position between the first spindle and the second spindle according to the axis equation, wherein the preset number of reference points are the intersection points of the first detection module and the second detection module on the axis of the second spindle on the same side as the second spindle.

[0018] Optionally, the control device is adapted to select any value as the first coordinate value corresponding to each reference point; and to obtain the second coordinate value corresponding to each reference point based on the distance value in the first distance value set used to characterize the distance between the corresponding detection unit and the first main axis in the second direction and the distance value in the second distance value set used to characterize the distance between the corresponding detection unit and the second main axis in the second direction; and to obtain the third coordinate value corresponding to each reference point based on the distance value in the first distance value set used to characterize the distance between the corresponding detection unit and the first main axis in the first direction and the distance value in the second distance value set used to characterize the distance between the corresponding detection unit and the second main axis in the first direction, and to obtain the spatial coordinates corresponding to the reference point based on the first coordinate value, the second coordinate value, and the third coordinate value.

[0019] Optionally, the detection system further includes a driving device and a reference device;

[0020] The control device is also adapted to output a second control signal to a plurality of drive units on the same side as the first spindle; and to obtain the angle deviation parameter between the reference device and the first spindle based on the acquired third distance value set and the preset distance value between each detection unit, and to output a corresponding third control signal to the drive device based on the angle deviation parameter.

[0021] The plurality of driving units are also adapted to drive the corresponding detection units to move in response to the second control signal;

[0022] The detection unit is also adapted to detect the third distance value set relative to the first main axis during the movement and output it to the control device.

[0023] The drive device is coupled to the control device and the reference device, and is adapted to drive the reference device to move in response to a third control signal, so as to adjust the relative positional relationship between the first spindle and the reference module.

[0024] The reference device is adapted to move under the drive of the drive device until it is parallel to the first spindle.

[0025] Optionally, the control device is further adapted to output a fourth control signal to a plurality of drive units on the same side as the first spindle; and when it is determined that the difference between the two minimum distance values ​​among at least two distance values ​​is greater than a preset first difference threshold, to readjust the relative positional relationship between the first spindle and the reference device until the difference between the two is less than the first difference threshold.

[0026] The plurality of driving units are also adapted to drive the corresponding detection units to move according to the fourth control signal;

[0027] The detection unit is also adapted to detect at least two distance values ​​from the first main shaft during the movement and output them to the control device.

[0028] Optionally, each drive unit is also adapted to drive the corresponding detection unit to move in response to the fifth control signal;

[0029] Each detection unit is also adapted to detect a fourth set of distance values ​​with respect to the reference device during the movement and output them to the control device;

[0030] The control device is also adapted to output the fifth control signal to each drive unit; and to arbitrarily select two distance values ​​from the fourth distance value set as reference distance values ​​to adjust the position of the corresponding detection unit, wherein the two distance values ​​are the distance values ​​detected by the corresponding detection unit in the first direction and the second direction, respectively.

[0031] Optionally, the driving unit is also adapted to drive the corresponding detection unit to move in response to the sixth control signal;

[0032] The detection unit is also adapted to detect a fifth set of distance values ​​relative to the first main shaft axis during the movement and output them to the control device.

[0033] The control device is also adapted to output a sixth control signal to at least one drive unit on the same side of the first spindle; and when it is determined that the difference between the maximum distance value and the minimum distance value in the fifth distance value set is greater than a preset second difference threshold, adjust the position of the first spindle on the machine tool.

[0034] Optionally, the detection system further includes: a pose adjustment device, adapted to adjust the relative position of the detection system with respect to the first spindle and the second spindle, such that the first spindle and the second spindle are within the detection range of the position detection device.

[0035] This specification also provides a position detection device, coupled to a control device and separately disposed from a machine tool, suitable for obtaining the relative distance between itself and a first spindle and a second spindle disposed opposite to each other on the machine tool, wherein the position detection device includes: multiple detection units and multiple drive units;

[0036] The driving unit is coupled to the corresponding detection unit and is adapted to generate driving force in response to the first control signal output by the control device to drive the corresponding detection unit to move.

[0037] The detection unit is adapted to detect distance values ​​in a first set of distance values ​​or a second set of distance values ​​during movement.

[0038] Optionally, for a detection unit and a driving unit disposed on the same side, the detection unit includes: a first detection module and a second detection module, and the driving unit includes a first driving unit and a second driving unit;

[0039] The driving unit includes:

[0040] A first driving module, coupled to the first detection module, is adapted to drive the first detection module to move along a first direction in response to the first control signal;

[0041] The second driving module is coupled to the second detection module and is adapted to drive the first detection module to move along the second direction in response to the first control signal;

[0042] The first direction and the second direction form a preset angle and are both perpendicular to the axial directions of the first spindle and the second spindle.

[0043] Optionally, the position detection device further includes: a first transmission unit coupled between the first detection module and the first drive module, adapted to provide a path for the first detection module to move along the first direction;

[0044] The second transmission unit, coupled between the second detection module and the second drive module, is adapted to provide a path for the second detection module to move along the second direction.

[0045] Accordingly, embodiments of this specification also provide a position detection method, applied to a relative position detection system, suitable for detecting the relative position of a first spindle and a second spindle positioned opposite each other on a machine tool, wherein the detection method includes:

[0046] Output a first control signal to the position detection device on the position detection system, which is separately set from the machine tool, and control the position detection device to obtain the relative distances between itself and the first spindle and the second spindle, respectively, to obtain a first set of distance values ​​and a second set of distance values.

[0047] Based on the first set of distance values ​​and the second set of distance values, the relative spatial position between the first principal axis and the second principal axis is obtained.

[0048] Optionally, the position detection device includes multiple detection units and multiple drive units respectively disposed on both sides of the detection system;

[0049] The control system obtains the relative distances between the position detection device and the first and second main axes, respectively, to obtain a first set of distance values ​​and a second set of distance values, including:

[0050] The first control signal is output to control the corresponding drive unit to generate driving force, drive the detection unit coupled to it to move, and during the movement, the first distance value set and the second distance value set are detected respectively.

[0051] Optionally, for the detection unit and the driving unit disposed on the same side of the detection system, the detection unit includes: a first detection module and a second detection module, and the driving unit includes a first driving unit and a second driving unit;

[0052] A first driving module, coupled to the first detection module, is adapted to drive the first detection module to move along a first direction in response to the first control signal;

[0053] The second driving module is coupled to the second detection module and is adapted to drive the first detection module to move along the second direction in response to the first control signal;

[0054] The first direction and the second direction form a preset angle and are both perpendicular to the axial directions of the first spindle and the second spindle.

[0055] Optionally, obtaining the relative spatial position between the first principal axis and the second principal axis based on the first set of distance values ​​and the second set of distance values ​​includes:

[0056] Establish a corresponding coordinate system with the geometric center of one of the end faces of the first main shaft as the origin;

[0057] A preset number of reference points are selected from the axis of the second main shaft, and the spatial coordinates of each reference point are obtained according to the first distance value set and the second distance value set respectively. The preset number of reference points are the intersection points of the first detection module and the second detection module on the axis of the second main shaft on the same side as the second main shaft.

[0058] Based on the spatial coordinates of each reference point, the equation of the axis of the second principal axis relative to the first principal axis is obtained;

[0059] The relative spatial position between the first principal axis and the second principal axis is determined based on the axis equation.

[0060] Optionally, obtaining the spatial coordinates corresponding to each point based on the first distance value set and the second distance value set respectively includes:

[0061] Select any value as the first coordinate value corresponding to each reference point;

[0062] The second coordinate value corresponding to each reference point is obtained based on the distance value in the first distance value set used to represent the distance between the corresponding detection unit and the first principal axis in the second direction, and the distance value in the second distance value set used to represent the distance between the corresponding detection unit and the second principal axis in the second direction.

[0063] The third coordinate value corresponding to each reference point is obtained based on the distance value in the first distance value set used to represent the distance between the corresponding detection unit and the first principal axis in the first direction, and the distance value in the second distance value set used to represent the distance between the corresponding detection unit and the second principal axis in the first direction.

[0064] Based on the first coordinate value, the second coordinate value, and the third coordinate value, the spatial coordinates corresponding to each reference point are obtained.

[0065] Optionally, the detection system further includes: a driving device and a reference device;

[0066] The detection method further includes:

[0067] A second control signal is output to multiple drive units on the same side as the first spindle to control the movement of the corresponding detection unit, and during the movement, a third set of distance values ​​to the first spindle is detected.

[0068] Based on the third set of distance values ​​and the preset distance values ​​between each detection unit, the angular deviation parameter between the reference device and the first spindle is obtained;

[0069] Based on the angle deviation parameter, a corresponding third control signal is output to the drive device to control the movement of the reference device and adjust the relative positional relationship between the first spindle and the reference module.

[0070] Optionally, a fourth control signal is output to multiple drive units on the same side as the first spindle to control the movement of the corresponding detection unit, and during the movement, at least two distance values ​​with respect to the first spindle are detected.

[0071] When it is determined that the difference between the two minimum distance values ​​among the at least two distance values ​​is greater than a preset first difference threshold, the relative positional relationship between the first spindle and the reference device is readjusted until the difference between them is less than the first difference threshold.

[0072] The relative position detection system provided in the embodiments of this specification, in response to a first control signal from a control device, allows the position detection device to acquire the relative distance to the first and second main axes, obtaining a first set of distance values ​​and a second set of distance values. Since the distance values ​​in the first and second sets of distance values ​​respectively characterize the relative positions of the first and second main axes in the entire space, the relative spatial position between the first and second main axes can be obtained based on these values, eliminating the need for multiple calculations and thus improving detection efficiency. Furthermore, the entire detection process requires no manual operation, resulting in higher detection accuracy. Therefore, using the relative position detection system in the embodiments of this specification can improve both detection accuracy and efficiency.

[0073] Furthermore, the position detection device includes multiple detection units and multiple driving units respectively disposed on both sides of the detection system. By responding to a first control signal from the control device, the corresponding detection units are controlled to detect the distance values ​​in the first distance value set or the second distance value set, which can improve control accuracy, thereby improving the accuracy of detection data and further improving detection precision.

[0074] Furthermore, for the detection unit and driving unit disposed on the same side of the detection system, the detection unit includes a first detection module and a second detection module, and the driving unit includes a first driving module and a second driving module. The first driving module is coupled to the first detection module and is adapted to drive the first detection module to move along a first direction in response to the first control signal. The second driving module is coupled to the second detection module and is adapted to drive the first detection module to move along a second direction in response to the first control signal. Through the above motion control process, distance values ​​representing different spatial positions of the first or second main axis can be obtained, improving the accuracy of the relative spatial position between the two obtained in subsequent calculations.

[0075] Furthermore, the detection system may also include a driving device and a reference device. In response to a second control signal output by the control device, the detection unit can detect the third distance value set between itself and the first spindle. The control device can obtain the angular deviation parameter between the reference device and the first spindle based on the third distance value set and preset distance values ​​between each detection unit, and output a corresponding third control signal to the driving device based on the angular deviation parameter. The driving device can then drive the reference device to move in response to the third control signal. Through the above adjustment process, the reference device can be made parallel to the first spindle, improving the accuracy of distance values ​​in subsequent detection processes.

[0076] Furthermore, multiple drive units can respond to the fourth control signal output by the control device to detect at least two distance values ​​between themselves and the first spindle. When the control device determines that the difference between the two smallest distance values ​​among the at least two distance values ​​is greater than a preset first difference threshold, it can readjust the relative positional relationship between the first spindle and the reference device until the difference between them is less than the first difference threshold, thereby further ensuring that the first spindle and the reference device are in a parallel state.

[0077] Furthermore, each drive unit can also be adapted to respond to the fifth control signal output by the control device, drive the corresponding detection unit to move, detect the fourth distance value set between the detection unit and the reference device, and output it to the control device. The control device can also arbitrarily select two distance values ​​from the fourth distance value set as reference distance values ​​to adjust the position of the corresponding detection unit. Since the two distance values ​​are the distance values ​​detected by the corresponding detection unit in the first direction and the second direction respectively, the position of the corresponding detection unit can be adjusted according to the relationship between the two detected distance values, so that the distance between each detection unit and the first spindle is the same, thereby reducing assembly errors.

[0078] Furthermore, the detection system also includes a position adjustment device, which can adjust the relative position of the detection system with respect to the first spindle and the second spindle, so that the first spindle and the second spindle are within the detection range of the position detection device, making it applicable to various machine tools and improving the versatility of the relative position detection system. Attached Figure Description

[0079] To more clearly illustrate the technical solutions of the embodiments of this specification, the drawings used in the description of the embodiments of this specification or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0080] Figure 1 This is a schematic diagram of the structure of a machine tool;

[0081] Figure 2 This is a schematic diagram of the structure of a relative position detection system according to an embodiment of this specification;

[0082] Figure 3 This is a schematic diagram of the structure of a position detection device in one of the embodiments of this specification;

[0083] Figure 4 This is a schematic diagram of the specific structure of the relative position detection system in a specific application scenario of the embodiments of this specification;

[0084] Figure 5 This is a flowchart of a relative position detection method in one of the embodiments of this specification;

[0085] Figure 6 This is a flowchart illustrating one embodiment of determining the relative spatial position between the first spindle and the second spindle in this specification. Detailed Implementation

[0086] As described in the background section, current methods for detecting the relative position of the spindle are inefficient and lack accuracy.

[0087] To more clearly illustrate the problems in the prior art, the following detailed explanation is provided through specific examples.

[0088] First, the structure and working principle of a machine tool involved in the embodiments of this specification are briefly described.

[0089] like Figure 1 As shown, the machine tool 100 may include a first base 111, a rotary fixture 131 disposed on the first base 111, a first spindle 121 coaxially disposed with the rotary fixture 131, a second base 112 disposed opposite to the first base 111, and a plurality of adjusting wedges disposed on the second base 112 (wherein) Figure 1 An adjusting wedge 132 is shown, and a second spindle 122 is coaxially arranged with the plurality of adjusting wedges. The adjusting wedge 132 can be used to adjust the spatial pose of the second spindle 122 so that the first spindle 121 and the second spindle 122 are aligned. After the first spindle 121 and the second spindle 122 are aligned, a locking mechanism provided on the machine tool ( Figure 1 (Not shown) will lock the second spindle 122, fixing the second spindle 122 onto the second base 112.

[0090] When the machine tool 100 is working, the first spindle 121 rotates at a high speed while the second base 112 moves, and drives the second spindle 122 to gradually approach the first spindle 121. The workpieces on the first spindle 121 and the second spindle 122 come into contact with each other and are eventually welded together.

[0091] Due to prolonged use, the position of the adjusting wedge inevitably shifts, causing changes in the positions of the first spindle 121 and the second spindle 122 of the machine tool 100. This results in a misalignment of the centerlines of the first spindle 121 and the second spindle 122, preventing them from being aligned. Therefore, the positions of the first spindle 121 and the second spindle 122 need to be checked before using the machine tool 100.

[0092] However, using manual dial gauges requires recording the test data each time and performing multiple calculations to obtain the spatial position deviation of the spindle, resulting in low testing efficiency.

[0093] It should be noted that the above-described machine tool structure is only an example for illustration. The embodiments in this specification do not limit the specific structure of the machine tool, as long as the machine tool has a relatively set spindle.

[0094] To address the aforementioned technical problems, this specification provides a relative position detection system. This system can detect the relative positions of a first spindle and a second spindle mounted opposite each other on a machine tool. The system may include a position detection device and a control device. In response to a first control signal from the control device, the position detection device acquires the relative distances to the first and second spindles, obtaining a first set of distance values ​​and a second set of distance values. Since the distance values ​​in the first and second sets of distance values ​​can respectively characterize the relative positions of the first and second spindles in the entire space, the relative spatial position between the first and second spindles can be obtained based on the first and second sets of distance values, eliminating the need for multiple calculations and thus improving detection efficiency. Furthermore, the entire detection process requires no manual operation, resulting in higher detection accuracy.

[0095] In practical implementation, the relative position detection system provided in the embodiments of this specification can be widely applied to various machine tool processing and manufacturing scenarios, such as friction welding, motor couplings, and other scenarios requiring the detection of the relative spatial position of the first and second spindles, as well as other machine tool processing or manufacturing scenarios. Accordingly, the relative position detection system provided in the embodiments of this specification can detect the relative position between various types of spindles. The embodiments of this specification do not impose specific limitations on the application scenarios of the relative position detection system.

[0096] To enable those skilled in the art to better understand and implement the relative position detection system in the embodiments of this specification, a detailed description is provided below with reference to the accompanying drawings and specific application examples.

[0097] Combination Figure 1 , refer to Figure 2 The diagram shown is a structural schematic of a relative position detection system in one embodiment of this specification. In some embodiments of this specification, such as... Figure 2 As shown, the relative position detection system 200 can detect the relative position of the first spindle 121 and the second spindle 122 that are positioned opposite each other on the machine tool 100. The relative position detection system 200 may include a position detection device (e.g., Figure 2 The position detection devices 210 and 211 shown) and the control device ( Figure 2 (not shown), where:

[0098] The position detection device is separately disposed from the machine tool and is adapted to respond to the first control signal to obtain the relative distances with the first spindle 121 and the second spindle 122 respectively, and obtain a first distance value set and a second distance value set;

[0099] The control device is coupled to the position detection devices 210 and 211, and is adapted to output the first control signal to the position detection device, and to obtain the relative spatial position between the first main axis 121 and the second main axis 122 according to the first distance value set and the second distance value set.

[0100] The working principle of the relative position detection system 200 is briefly described below with reference to the attached diagram:

[0101] When the relative position detection system 200 is placed between the first spindle 121 and the second spindle 122, the control device can send a first control signal to the position detection device (for example, the first control signal can be sent to the position detection devices 210 and 211 simultaneously). The position detection device can respond to the first control signal and detect its relative distance with the first spindle 121 and the second spindle 122 respectively, and obtain the corresponding first distance value set and second distance value set.

[0102] Since each distance value in the first distance value set and the second distance value set can respectively characterize the relative position of the first principal axis 121 and the second principal axis 122 in the whole space, the relative spatial position of the first principal axis 121 and the second principal axis 122 can be obtained according to the first distance value set and the second distance value set, without the need for multiple calculations, thereby improving detection efficiency. Furthermore, no manual operation is required during the entire detection process, resulting in higher detection accuracy.

[0103] To enable those skilled in the art to better understand and implement the embodiments of this specification, the following describes in detail the concept, scheme, principle, and advantages of the relative position detection system in the embodiments of this specification, in conjunction with the accompanying drawings and specific application examples.

[0104] In some embodiments of this specification, the control device may be implemented by a processing chip such as a central processing unit (CPU) or a field programmable gate array (FPGA), or by an application specific integrated circuit (ASIC) or one or more integrated circuits configured to implement the embodiments of the present invention.

[0105] In some embodiments of this specification, combined with Figure 2 , refer to Figure 3 The schematic diagram shown in this specification illustrates the structure of a position detection device in an embodiment. Figure 3 As shown, the position detection device 210 may include components respectively disposed in the relative position detection system ( Figure 3 Multiple detection units on both sides (not shown) Figure 3 The detection units 2121, 2122, ..., 212n shown and multiple drive units (such as...) Figure 3 The driving units shown are 2111, 2112, ..., 211n, where n is an integer greater than 1;

[0106] The driving unit is coupled to the corresponding detection unit and the control device 220 respectively (for example, driving unit 2111 is coupled to detection unit 2121 and the control device 220 respectively, driving unit 2112 is coupled to detection unit 2122 and the control device 220 respectively, and driving unit 211n is coupled to detection unit 212n and the control device 220 respectively), and is adapted to generate driving force in response to the first control signal to drive the corresponding detection unit to move (for example, driving unit 2111 drives detection unit 2121 to move in response to the first control signal).

[0107] The detection unit is adapted to detect distance values ​​in the first set of distance values ​​or the second set of distance values ​​during movement.

[0108] For ease of understanding, the process of obtaining the first distance value set and the second distance value set will be explained by taking the example that the driving unit 2111 and the detection unit 2121 are located on one side of the relative position detection system and the driving unit 2112 and the detection unit 2122 are located on the other side of the relative position detection system.

[0109] Specifically, the drive unit 2111 can respond to the first control signal output by the control device 210 to generate a corresponding driving force to drive the detection unit 2121 to move. During the movement, the detection unit 2121 can detect the distance value between itself and one of the spindles (e.g., the first spindle) on the machine tool. Correspondingly, other detection units on the same side as the detection unit 2121 can also detect the distance value between themselves and the first spindle according to the above process, thereby obtaining the first set of distance values.

[0110] Similarly, under the drive of the drive unit 2112, the detection unit 2122 can detect the distance between itself and the second spindle. Correspondingly, other detection units on the same side as the detection unit 2122 can also detect the distance between themselves and the second spindle according to the above process, and thus obtain the second set of distance values.

[0111] Therefore, by controlling the detection process of multiple detection units and multiple drive units set on both sides of the detection system respectively, the control accuracy can be improved, thereby improving the accuracy of the detection data and further improving the detection precision.

[0112] It should be noted that for any given detection unit, multiple distance values ​​between itself and the first or second principal axis may be detected during its movement. In specific implementations, for ease of calculation, the smallest distance value among the multiple distance values ​​detected by each detection unit can be used as a distance value from the first or second set of distance values.

[0113] It is understood that the structure of the position detection device shown in the above embodiments is merely illustrative. For example, in actual detection processes, the number of drive units and detection units, as well as other types of detection, can be adjusted according to the length or shape of the first or second spindle. This specification does not limit these aspects, as long as the position detection device can detect the distance between itself and the first or second spindle.

[0114] In some embodiments of this specification, the driving units and detection units in the position detection device may adopt the same structure. For example... Figure 3 As shown, when the driving force generated by the driving unit is small, the driving unit and each detection unit can be directly connected. For example, the driving unit 2111 can be directly connected to the detection unit 2121.

[0115] In other embodiments of this specification, when the driving force generated by the driving unit is large, in order to reduce the movement speed of the detection unit and improve the stability of the detection unit during movement, the driving unit and the detection unit can be connected by a transmission unit ( Figure 3 (Not shown) Connection. In a specific implementation, the transmission unit can be a reduction gear assembly. Through the reduction gear assembly, the driving force transmitted to the detection unit and the movement speed of the detection unit can be reduced, thereby improving control accuracy.

[0116] In some other embodiments of this specification, the transmission unit may also be a sprocket reduction assembly, a pulley reduction assembly, or other reduction assembly, and the drive unit may be connected to the detection unit through the aforementioned reduction assembly.

[0117] It should be noted that the adjectives such as "larger" and "smaller" described in the embodiments of this specification are only used to describe the comparative relationship of the relative driving force and do not limit the magnitude of the driving force.

[0118] In some embodiments of this specification, the driving unit may be a stepper motor, which has good control performance and can improve the stability of the detection unit during movement.

[0119] In other embodiments, the drive unit may also be other power devices, such as an electric motor.

[0120] In practical implementation, based on different application scenarios and actual needs, one or more drive modules can be set in the drive unit, and correspondingly, one or more detection modules corresponding to the drive modules can be set in the detection unit. With the cooperation of the one or more drive modules and the one or more detection modules, the detection modules are driven to move in different directions, thereby detecting the distance value representing their distance to the first or second spindle.

[0121] As mentioned above, multiple detection units and multiple driving units are respectively arranged on both sides of the relative position detection system. In some embodiments of this specification, detection units and driving units arranged on the same side of the detection system may have the same structure and connection relationship.

[0122] As a specific example, for a detection unit and a driving unit located on the same side of the detection system, wherein the detection unit includes: a first detection module and a second detection module, and the driving unit includes a first driving module and a second driving module, wherein:

[0123] The first driving module is coupled to the first detection module and is adapted to drive the first detection module to move along a first direction in response to the first control signal;

[0124] The second driving module, coupled to the second detection module, is adapted to drive the first detection module to move along the second direction in response to the first control signal.

[0125] Specifically, the drive units located on the same side of the detection system can have different control logics. Based on the acquired first control signal, the first drive module can control the detection unit of the first detection module coupled with it to move along the first direction, detect and obtain a distance value representing the distance between the first detection module and the first spindle or the second spindle along the first direction, and then obtain a corresponding first distance value set; the second drive module can control the detection unit of the second detection module coupled with it to move along the second direction, detect and obtain a distance value representing the distance between the second detection module and the first spindle or the second spindle along the second direction, and then obtain a corresponding second distance value set.

[0126] In specific implementations, different control strategies can be used to control the movement of the detection module. For example, in response to the first control signal, the first detection module can be driven to move along the first direction first, and then the second detection module can be driven to move along the second direction; or the second detection module can be driven to move along the second direction first, and then the first detection module can be driven to move along the first direction; or the first detection module can be driven to move along the first direction and the second detection module can be driven to move along the second direction simultaneously. This specification does not limit the embodiments in this way.

[0127] In some other embodiments of this specification, the first control signal output by the control device to the drive unit may include a first sub-control signal and a second sub-control signal. The first sub-control signal may be used to control the first detection module to move along a first direction, and the second sub-control signal may be used to control the second detection module to move along a second direction.

[0128] In specific implementations, the first direction and the second direction can be different. More specifically, the first direction and the second direction form a preset angle and are both perpendicular to the axial directions of the first spindle and the second spindle.

[0129] In a specific example, the preset angle between the first direction and the second direction can be 90 degrees, that is, the angle between the motion trajectories of the first detection module and the second detection module at the same moment during their movement can be 90 degrees.

[0130] The position detection device with the above structure can obtain a first set of distance values ​​and a second set of distance values. Based on the first set of distance values ​​and the second set of distance values, the relative spatial position between the first main axis and the second main axis can be obtained.

[0131] In some embodiments of this specification, the relative spatial position between the first spindle and the second spindle can be obtained in the following manner. First, the control device can establish a corresponding coordinate system with the geometric center of one end face of the first spindle as the origin; and select a preset number of reference points from the axis of the second spindle, and obtain the spatial coordinates corresponding to each reference point according to the first distance value set and the second distance value set respectively, and obtain the axis equation of the second spindle relative to the first spindle according to the spatial coordinates of each reference point, and determine the relative spatial position between the first spindle and the second spindle according to the axis equation.

[0132] The preset number of reference points can be the intersection points of the first detection module and the second detection module on the same side of the second spindle on the axis of the second spindle.

[0133] Specifically, the control device can establish a three-dimensional coordinate system (e.g., an xyz three-axis coordinate system) with the geometric center of the end face of the first spindle facing the second spindle as the origin. Since the first direction and the second direction are both perpendicular to the axial directions of the first spindle and the second spindle, the intersection point of the first detection module and the second detection module on the axis of the second spindle on the same side as the second spindle can be selected as a reference point.

[0134] Then, based on the first set of distance values ​​and the second set of distance values, the spatial coordinates corresponding to each reference point are obtained, which are used to calculate the axis equation of the second principal axis relative to the first principal axis.

[0135] As a specific example, since the first distance value set includes distance values ​​representing the distance between the detection unit and the first and second main axes along a first direction, and the second distance value set includes distance values ​​representing the distance between the detection unit and the first and second main axes along a second direction, the control device can select any value as the first coordinate value corresponding to each reference point; and obtain the second coordinate value corresponding to each reference point based on the distance values ​​representing the distance between the corresponding detection unit and the first main axis in the second direction in the first and second distance value sets, respectively; and obtain the third coordinate value corresponding to each reference point based on the distance values ​​representing the distance between the corresponding detection unit and the first main axis in the first direction in the first and second distance value sets, respectively; and obtain the spatial coordinates corresponding to each reference point based on the first coordinate value, the second coordinate value, and the third coordinate value.

[0136] In some embodiments of this specification, the value of the first coordinate can be a positive number greater than 0 or other values, and this specification does not limit this.

[0137] Since two points can determine a straight line, the axis equation representing the relative position of the second principal axis with respect to the first principal axis can be obtained based on the spatial coordinates of each reference point. The relative spatial position between the first principal axis and the second principal axis can be determined based on the axis equation.

[0138] To enable those skilled in the art to better understand and implement the process of obtaining the first distance value set and the second distance value set in the embodiments described herein, the following detailed explanation is provided through specific examples.

[0139] In specific implementation, refer to Figure 4Before measurement, the relative position detection system 300 in the embodiments of this specification can be placed between the first spindle and the second spindle of the machine tool. The relative position detection system 300 can detect the relative position of the first spindle and the second spindle.

[0140] like Figure 4 As shown, the relative position detection system 300 may include a position detection device and a control device. The position detection device may include a detection unit and a drive unit. Furthermore, each drive unit located on the same side of the relative position detection system 300 may include a first drive module and a second drive module. For example, the drive units located on the left side of the relative position detection system 300 may include first drive modules 3111 and 3112, and second drive modules 3131 and 3132; the drive units located on the right side of the relative position detection system 300 may include first drive modules 3151 and 3152, and second drive modules 3171 and 3172.

[0141] Accordingly, each detection unit located on the same side of the relative position detection system 300 may include a first detection module and a second detection module. For example, the detection unit located on the left side of the relative position detection system 300 may include first detection modules 3121 and 3122, and second detection modules 3141 and 3142; the detection unit located on the right side of the relative position detection system 300 may include first detection modules 3161 and 3162, and second detection modules 3181 and 3182.

[0142] Continue to refer to Figure 4 The first detection module can be coupled to the first drive module, and the second detection module can be coupled to the second drive module. For example, the first detection module 3121 can be coupled to the first drive module 3111, the first detection module 3161 can be coupled to the first drive module 3151, the second detection module 3142 can be coupled to the second drive module 3132, and the second detection module 3182 can be coupled to the second drive module 3172. Similarly, other detection modules are coupled to their corresponding drive modules according to the above connection relationships, which will not be described in detail here.

[0143] When responding to the first control signal output by the control device, the first drive modules 3111 and 3112 located on the left side of the relative position detection system 300 can generate a driving force along the first direction (i.e., along the direction of extension of the paper), and the first detection modules 3121 and 3122 can move along the first direction. During the movement, combined with... Figure 1The first detection modules 3121 and 3122 can detect the distance between themselves and the first spindle 121, and select the minimum distance value detected by the first detection modules 3121 and 3122 respectively to obtain two distance values ​​d1 and d2; correspondingly, the second drive modules 3131 and 3132 can generate a driving force along the second direction (i.e., along the direction perpendicular to the paper), and the second detection modules 3141 and 3142 can move along the second direction. During the movement, combined with Figure 1 The second detection modules 3141 and 3142 can detect the distance between themselves and the first main axis 121, and select the minimum distance value detected by the second detection modules 3141 and 3142 respectively to obtain two distance values ​​d3 and d4.

[0144] Similarly, the first detection modules 3161 and 3162 located on the right side of the relative position detection system 300 can detect the two minimum distance values ​​between themselves and the second main axis in the first direction, namely d5 and d6; while the second detection modules 3181 and 3182 can detect the two minimum distance values ​​between themselves and the second main axis in the second direction, namely d7 and d8.

[0145] The distance between the first detection modules 3121 and 3122 and the axis of the first spindle 121 can be (d1+d2) / 2, and the distance between the second detection modules 3141 and 3142 and the axis of the first spindle 222 can be (d3+d4) / 2.

[0146] The tilt angle of the second spindle relative to the first spindle in the first direction is |d5-d6| / d0, and the tilt angle of the second spindle relative to the first spindle in the second direction is |d7-d8| / d0, where d0 is the interval distance between the detection modules moving in the same direction.

[0147] The calculated tilt angle values ​​can be used to preliminarily determine the alignment of the first and second principal axes. For example, the larger the two tilt angle values, the worse the alignment of the first and second principal axes; if both tilt angles are close to 0, it means that the centerlines of the first and second principal axes are parallel. In this case, if d1 = d2 = d5 = d6 and d3 = d4 = d7 = d8, then the first and second principal axes are aligned.

[0148] Then, in conjunction with reference Figure 1 and Figure 4A three-axis coordinate system (xyz) can be established with the geometric center o of the end face of the first main axis 121 facing the second main axis 122 as the origin. A preset number of reference points A and B can be selected from the axis of the second main axis 122. Reference point A can be the intersection of the first detection module 3151 and the second detection module 3181 on the axis of the second main axis 122 during the movement. Reference point B can be the intersection of the first detection module 3152 and the second detection module 3182 on the axis of the second main axis 122 during the movement. The distance between reference point A and reference point B on the axis of the second main axis 122 is d.

[0149] The coordinates of reference point A can be (t, d8-d3, d6-d1), and the coordinates of reference point B can be (t+d, d7-d4, d5-d2), where t is any positive number.

[0150] Based on the coordinates of reference points A and B, the equation of the axis of the second principal axis relative to the first principal axis and the spatial vector can be determined, thereby determining the relative spatial position between the two.

[0151] Specifically, a straight line can be determined by reference points A and B, and the symmetric equation of the straight line is:

[0152]

[0153] The equation of the centerline of the first principal axis is: X = t, Y = 0, Z = 0.

[0154] Therefore, based on the spatial coordinates of reference points A and B and the equation of the axis of center determined by them, the relative positional relationship between the first principal axis and the second principal axis can be detected.

[0155] It is understandable that the above example establishes a coordinate system on the first principal axis and selects a reference point on the second principal axis to determine the relative spatial position between the two. In other examples, a coordinate system can also be established on the second principal axis and a reference point can be selected on the first principal axis to determine the relative spatial position between the two. For details, please refer to the aforementioned example, which will not be elaborated here.

[0156] In practice, to improve the accuracy of distance values ​​during subsequent detection processes, the relative position of the first spindle and the relative position detection system can be adjusted.

[0157] Specifically, continue to refer to Figure 4The relative position detection system 300 in this embodiment may further include a drive device 320 and a reference device 330. Correspondingly, the control device is also adapted to output a second control signal to a plurality of drive units on the same side as the first spindle. The plurality of drive units are also adapted to drive corresponding detection units to move in response to the second control signal. During the movement, the detection unit can detect a third distance value set relative to the first spindle 121 and output it to the control device. The control device can obtain the angle deviation parameter between the reference device 330 and the first spindle 121 based on the obtained third distance value set and the preset distance value between each detection unit, and output a corresponding third control signal to the drive device 320 based on the angle deviation parameter. The drive device 320 can drive the reference device 330 to move in response to the third control signal to adjust the relative position relationship between the first spindle 121 and the reference module 330. The reference device 330 can move under the drive of the drive device 320 until it is parallel to the first spindle 121.

[0158] As a specific example, such as Figure 4 As shown, the control device can output a second control signal to the second drive modules 3131 and 3132. The second drive modules 3131 and 3132 can generate corresponding driving forces to drive the corresponding second detection modules 3141 and 3142 to move along the second direction. During the movement of the second detection modules 3141 and 3142, the distance values ​​between them and the first spindle 121 can be detected respectively, and these values ​​are output to the control device as a third distance value set. The control device can obtain the angle deviation parameter between the reference device 330 and the first spindle 121 based on the minimum distance value detected by the second detection modules 3141 and 3142 and the preset distance value between the second detection modules 3141 and 3142 in the third distance value set, and output a third control signal corresponding to the angle deviation parameter to the drive device 320. The drive device 320 can respond to the third drive signal and drive the reference device 330 to move until the first spindle 121 and the reference device 330 are in a parallel state.

[0159] For example, the minimum distance values ​​detected by the second detection modules 3141 and 3142 are L1 and L2, respectively, and the preset distance between them is L. The angle deviation parameter α = |L1-L2| / L can be used to control the reference device to rotate by the corresponding angle.

[0160] In some embodiments of this specification, such as Figure 4As shown, the reference device 330 can be a reference axis, and its axial extension direction can be perpendicular to the motion path of the first detection module and the second detection module, respectively.

[0161] Continue to refer to Figure 4 In some embodiments of this specification, the relative position detection system 300 may further include a connecting device 340, which can be used to connect the driving device 320 and the reference device 330, so that the reference device 330 can rotate slowly and accurately at the corresponding angle, thereby improving control accuracy.

[0162] In practice, the reference shaft can be a standard part of chrome-plated round bar, which has high dimensional accuracy and low price. The reference shaft can be interference-fitted with the connecting device, eliminating the need for bolt connection, making installation convenient and highly accurate.

[0163] Using the above method, the relative positions of the first spindle and the reference device can be adjusted so that they are in a parallel state.

[0164] In the embodiments of this specification, to further ensure that the first spindle and the reference device are in a parallel state, the control device is also adapted to output a fourth control signal to a plurality of drive units on the same side as the first spindle; the plurality of drive units are also adapted to drive corresponding detection units to move according to the fourth control signal; the detection unit is also adapted to detect at least two distance values ​​with respect to the first spindle during the movement and output them to the control device; when the control device determines that the difference between the two smallest distance values ​​among the at least two distance values ​​is greater than a preset first difference threshold, it readjusts the relative positional relationship between the first spindle and the reference device until the difference between the two is less than the first difference threshold.

[0165] As a specific example, such as Figure 4 As shown, the control device can output a fourth control signal to the second drive modules 3131 and 3132. The second drive modules 3131 and 3132 can generate corresponding driving forces to drive the corresponding second detection modules 3141 and 3142 to move along the second direction. During the movement of the second detection modules 3141 and 3142, the minimum distance value between them and the first spindle 121 can be detected respectively, and the value can be output to the control device. The control device can determine whether the first spindle and the reference device are truly in a parallel state based on the difference between these two distance values ​​and the magnitude of the first difference threshold.

[0166] Specifically, when the difference between two distance values ​​is greater than the first difference threshold, it indicates that the first spindle and the reference device are not in a parallel state. At this time, the angle deviation parameter can be recalculated based on the difference between the two distance values ​​and the distance between the second detection modules 3141 and 3142. The relative positional relationship between the first spindle and the reference device can be readjusted according to the angle deviation parameter. When the difference between the two distance values ​​is less than the first difference threshold, the parallelism requirement is met, and the first spindle and the reference device are in a parallel state.

[0167] Understandably, in specific implementations, the first drive modules 3131 and 3132 and the first detection modules 3121 and 3122 can be used to detect the distance between themselves and the first spindle 121, thereby determining whether the first spindle and the reference device are truly in a parallel state.

[0168] As mentioned above, the present invention determines the relative position of the two by detecting the relative distance between the detection unit and the first or second main axis. Therefore, in order to reduce the measurement error caused by the detection unit, the position of each detection unit can be adjusted so that each detection unit is in the same horizontal plane or the same vertical plane.

[0169] Based on this, in some embodiments of this specification, each driving unit is further adapted to drive the corresponding detection unit to move in response to the fifth control signal; each detection unit is further adapted to detect a fourth set of distance values ​​with respect to the reference device during the movement and output it to the control device; the control device is further adapted to output the fifth control signal to each driving unit; and arbitrarily select two distance values ​​from the fourth set of distance values ​​as reference distance values ​​to adjust the position of the corresponding detection unit, wherein the two distance values ​​are the distance values ​​detected by the corresponding detection unit in the first direction and the second direction, respectively.

[0170] As a specific example, continue to refer to Figure 4 The control device can output a fifth control signal to the first drive module 3111. The first drive module 3111 can generate a driving force along the first direction, driving the first detection module 3121 to move along the first direction. During the movement, the first detection module 3121 can detect at least one distance value between itself and the reference device 330, and take the smallest distance value as the detection value. Similarly, the first drive modules 3112, 3151, and 3152 can respectively detect the minimum distance value between themselves and the reference device 330, that is, the first drive module can detect four minimum distance values ​​between itself and the reference device 330.

[0171] At this point, any one of the four minimum distance values ​​can be selected as a reference distance value. The detection unit corresponding to the reference distance value is fixed, and the installation positions of the other detection units on the relative position detection system 300 are adjusted until the minimum distance values ​​between the detection unit and the reference 330 are the same.

[0172] The control device can output a fifth control signal to the second drive module 3131. The second drive module 3131 can generate a driving force along the second direction, driving the second detection module 3141 to move along the second direction. During the movement, the second detection module 3141 can detect at least one distance value between itself and the reference device 330, and take the smallest distance value as the detection value. Similarly, the second drive modules 3142, 3181, and 3182 can respectively detect the minimum distance value between themselves and the reference device 330, that is, the second drive module can detect four minimum distance values ​​between itself and the reference device 330.

[0173] At this point, any one of the four minimum distance values ​​can be selected as a reference distance value. The detection unit corresponding to the reference distance value is fixed, and the installation positions of the other detection units on the relative position detection system 300 are adjusted until the minimum distance values ​​between the detection unit and the reference 330 are the same.

[0174] In practice, the inventors discovered that there may be assembly errors when the first spindle is installed on the machine tool. If the relative position detection system in the embodiments of this specification is used directly to detect the relative position of the first spindle and the second spindle, the distance value obtained may be inaccurate. Therefore, before detection, the position of the first spindle on the machine tool can be corrected to improve the accuracy of the detection data in the subsequent detection process.

[0175] In some embodiments of this specification, the drive unit is further adapted to drive the corresponding detection unit to move in response to a sixth control signal; the detection unit is further adapted to detect a fifth set of distance values ​​relative to the axis of the first spindle during the movement and output it to the control device; the control device is further adapted to output a sixth control signal to at least one drive unit on the same side of the first spindle; and when it is determined that the difference between the maximum and minimum distance values ​​in the fifth set of distance values ​​is greater than a preset second difference threshold, adjust the position of the first spindle on the machine tool.

[0176] As a specific example, continue to refer to Figure 4The control device can output a sixth control signal to the drive module 3132. The drive module 3132 can generate a driving force to drive the detection module 3142 to move. During the movement, it can detect multiple distance values ​​between the detection module 3142 and the first spindle 121 and output them to the control device. When the control device determines that the difference between the maximum and minimum distance values ​​among the multiple distance values ​​is greater than a second difference threshold, it can adjust the position of the first spindle 121 on the machine tool 200. The adjustment can be made manually or by other equipment. This specification does not limit this.

[0177] As a specific example, the position of the first spindle on the machine tool can be adjusted by inserting a shim at the mounting location of the detection unit.

[0178] In some embodiments of this specification, taking into account the differences in spindle shapes between different machine tools, the first spindle can be driven to rotate during the movement of the detection unit so that the detection unit can detect the distance between itself and the surfaces of each region of the first spindle.

[0179] In practice, due to the limited detection distance and detection range of the detection unit, there may be situations where the detection unit cannot detect the first spindle or the second spindle. Therefore, it is necessary to adjust the position of the machine tool and the relative position detection system.

[0180] Specifically, such as Figure 4 As shown, the relative position detection system 300 may further include a pose adjustment device 350, which is adapted to adjust the relative position of the relative position detection system 300 with respect to the first spindle 121 and the second spindle 122, so that the first spindle 121 and the second spindle 122 are within the detection range of the position detection device.

[0181] The posture adjustment device 350 can be a three-layer structure (for example, an upper, middle and lower three-layer structure), and each layer is provided with knobs S1, S2 and S3. By rotating knobs S1, S2 and S3, the position of the corresponding layer can be adjusted, thereby adjusting the relative position of the relative position detection system 300 with the first spindle 121 and the second spindle 122.

[0182] Specifically, such as Figure 4As described above, rotating knob S1 can drive the lower structure to move in the vertical direction, thereby adjusting the height of the relative position detection system 300 in the vertical direction; rotating knob S2 can drive the upper structure to move along the axial direction of the first main shaft or the second main shaft, thereby adjusting the axial position between the relative position detection system 300 and the first main shaft 121 and the second main shaft 122; rotating knob S3 can drive the middle structure to move along the axial direction perpendicular to the first main shaft or the second main shaft, thereby adjusting the front-to-back (i.e., along the paper direction) position between the relative position detection system 300 and the first main shaft 121 and the second main shaft 122.

[0183] In practice, one or more knobs can be rotated to adjust the relative position of the relative position detection system with respect to the first and second spindles in different directions, depending on actual needs.

[0184] It is understood that the above description of the relative position detection system is merely illustrative. In practical applications, those skilled in the art can adaptively select and / or modify the structure and connection relationships of each module in the above example according to actual needs and application scenarios. This can lead to more implementation schemes, and the embodiments in this specification do not limit these extended schemes.

[0185] For example, the number of detection units in this specification is 8, but in other examples, it can be an even number of detection devices such as 4 or 16. As another example, the detection unit in the embodiments of this specification is a laser, but in other examples, it can be other devices with distance detection capabilities.

[0186] In other embodiments of this specification, to achieve a fixed relative position between the reference device and the detection unit, such as... Figure 4 As shown, the relative position detection system 300 may further include a connecting device 360 ​​and a fixed frame 370. The reference device 330 can be connected to the detection device through the connecting device 360 ​​and the fixed frame 370, so that the reference device 330 can rotate coaxially with the detection unit, thereby ensuring the accuracy of the measurement data.

[0187] In some other embodiments of this specification, the relative position detection system 300 may further include counterweight devices 381 and 382, ​​wherein the counterweight device 381 is disposed above the position detection device located on the left side of the relative position detection system 300, and the counterweight device 382 is disposed above the position detection device located on the right side of the relative position detection system 300, which can maintain the stability of the entire system and prevent collisions with the machine tool.

[0188] This specification also provides a position detection device for obtaining the relative distance between a first spindle and a second spindle that are positioned opposite each other on a machine tool. The following detailed description is provided with reference to the accompanying drawings and specific examples.

[0189] Combination Figure 2 , refer to Figure 3 The position detection device 210 can be coupled to the control device 220 and separately disposed from the machine tool. It is suitable for obtaining the relative distance between itself and the first spindle 121 and the second spindle 122 disposed opposite to each other on the machine tool. The position detection device 210 includes: multiple detection units and multiple drive units, wherein:

[0190] The driving unit is coupled to the corresponding detection unit and is adapted to generate driving force in response to the first control signal output by the control device 220 to drive the corresponding detection unit to move.

[0191] The detection unit is adapted to detect distance values ​​in a first set of distance values ​​or a second set of distance values ​​during movement.

[0192] Combination Figure 3 The position detection device 210 may include detection units 2121, 2122, ..., 212n and driving units 2111, 2112, ..., 212n (n is an integer greater than 1). The detection units 2121, 2122, ..., 212n may be located on both sides of the detection system. Correspondingly, the driving units 2111, 2112, ..., 211n may also be located on both sides of the detection system and are coupled to the detection units one by one.

[0193] For example, drive unit 2111 is coupled to detection unit 2121 and control device 120 respectively, drive unit 2112 is coupled to detection unit 2122 and control device 220 respectively, and drive unit 211n is coupled to detection unit 212n and control device 220 respectively.

[0194] For ease of understanding, the process of obtaining the first distance value set and the second distance value set will be explained by taking the example that the driving unit 2111 and the detection unit 2121 are located on one side of the relative position detection system and the driving unit 2112 and the detection unit 2122 are located on the other side of the relative position detection system.

[0195] Specifically, the drive unit 2111 can generate a corresponding driving force according to the first control signal output by the control device 220 to drive the detection unit 2121 to move. During the movement, the detection unit 2121 can detect the distance value between itself and one of the spindles (e.g., the first spindle) on the machine tool. Correspondingly, other detection units on the same side as the detection unit 2121 can also detect the distance value between themselves and the first spindle according to the above process, and thus obtain the first set of distance values.

[0196] Similarly, under the drive of the drive unit 2112, the detection unit 2122 can detect the distance between the second spindle and the spindle. Correspondingly, other detection units on the same side as the detection unit 2122 can also detect the distance between themselves and the second spindle according to the above process, and thus obtain the second set of distance values.

[0197] Therefore, by driving the detection unit to move, the distance value between it and the first main axis or the second main axis can be detected, and the distance value in the corresponding first distance value set or second distance value set can be obtained.

[0198] In practical implementation, based on different application scenarios and actual needs, one or more drive modules can be set in the drive unit, and correspondingly, one or more detection modules corresponding to the drive modules can be set in the detection unit. With the cooperation of the one or more drive modules and the one or more detection modules, the detection modules are driven to move in different directions, thereby detecting the distance value representing their distance to the first or second spindle.

[0199] As mentioned above, multiple detection units and multiple driving units are respectively arranged on both sides of the relative position detection system. In some embodiments of this specification, detection units and driving units arranged on the same side of the detection system may have the same structure and connection relationship.

[0200] Specifically, for the detection unit and driving unit located on the same side of the detection system, the detection unit includes: a first detection module and a second detection module, and the driving unit includes a first driving module and a second driving module, wherein:

[0201] The first driving module is coupled to the first detection module and is adapted to drive the first detection module to move along a first direction in response to the first control signal;

[0202] The second driving module, coupled to the second detection module, is adapted to drive the first detection module to move along the second direction in response to the first control signal.

[0203] Specifically, the drive units located on the same side of the detection system can have different control logics. Based on the acquired first control signal, the first drive module can control the detection unit of the first detection module coupled with it to move along the first direction, detect and obtain a distance value representing the distance between the first detection module and the first spindle or the second spindle along the first direction, and then obtain a corresponding first distance value set; the second drive module can control the detection unit of the second detection module coupled with it to move along the second direction, detect and obtain a distance value representing the distance between the second detection module and the first spindle or the second spindle along the second direction, and then obtain a corresponding second distance value set.

[0204] In specific implementations, different control strategies can be used to control the movement of the detection module. For example, in response to the first control signal, the first detection module can be driven to move along the first direction first, and then the second detection module can be driven to move along the second direction; or the second detection module can be driven to move along the second direction first, and then the first detection module can be driven to move along the first direction; or the first detection module can be driven to move along the first direction and the second detection module can be driven to move along the second direction simultaneously. This specification does not limit the embodiments in this way.

[0205] In some other embodiments of this specification, the first control signal output by the control device to the drive unit may include a first sub-control signal and a second sub-control signal. The first sub-control signal may be used to control the first detection module to move along a first direction, and the second sub-control signal may be used to control the second detection module to move along a second direction.

[0206] In specific implementations, the first direction and the second direction can be different. More specifically, the first direction and the second direction form a preset angle and are both perpendicular to the axial directions of the first spindle and the second spindle.

[0207] In a specific example, the preset angle between the first direction and the second direction can be 90 degrees, that is, the angle between the motion trajectories of the first detection module and the second detection module at the same moment during their movement can be 90 degrees.

[0208] In specific implementations, to improve the stability of the detection unit during movement, the position detection device may further include a first transmission unit coupled between the first detection module and the first drive module, adapted to provide a path for the first detection module to move along the first direction; and a second transmission unit coupled between the second detection module and the second drive module, adapted to provide a path for the second detection module to move along the second direction.

[0209] For example, such as Figure 4As shown, the position detection device may further include first transmission units 391 and 392, and second transmission units 395 to 398. The first transmission unit 391 may be coupled to the first detection module 3121 and the first drive module 3112, transmitting the driving force generated by the first detection module 3112 to the first detection module 3121 to drive the first detection module 3121 to move along a first direction. The second transmission unit 395 may be coupled to the second detection module 3141 and the second drive module 3131, transmitting the driving force generated by the second drive module 3131 to the second detection module 3141 to drive the second detection module 3141 to move along a second direction. Similarly, other transmission units may transmit the force generated by the drive unit to the corresponding detection unit according to the above connection relationship, driving the detection unit to move along the corresponding direction; further details are omitted here.

[0210] In some embodiments of this specification, the first transmission unit and the second transmission unit have the same structure, both of which can be lead screws.

[0211] It should be noted that the position detection device in the embodiments of this specification may include four first transmission units. Figure 4 The diagram only shows two of the first transmission units.

[0212] In specific implementation, if the detection unit is directly connected to the corresponding transmission unit, the detection unit may be damaged during the movement. Therefore, in some embodiments of this specification, the position detection device may also include a sliding unit. The sliding unit is sleeved on the corresponding transmission unit, and the detection unit is installed on it. The driving unit transmits the driving force generated by the transmission unit to the sliding unit, which drives the sliding unit to move, so that the detection unit moves in the corresponding direction to realize the scanning detection of the first spindle or the second spindle.

[0213] It is understood that the above description of the position detection device is merely illustrative. In practical applications, those skilled in the art can adaptively select and / or modify the structure and connection relationships of each module in the above examples according to actual needs and application scenarios. This allows for the development of more implementation schemes, and the embodiments in this specification do not limit these extended schemes. For example, a transmission device with other structures can be used, such as a sprocket reduction assembly; furthermore, while the detection unit in the embodiments of this specification is a laser, in other examples it can be a sensor or other devices with distance detection capabilities.

[0214] Accordingly, this specification also provides a relative position detection method, which will be described in detail below through specific examples.

[0215] Reference Figure 5The flowchart of a relative position detection method described in the embodiments of this specification is shown below. In some embodiments of this specification, the relative position detection method can be applied to the position detection system described in any of the foregoing embodiments, and is suitable for detecting the relative position of a first spindle and a second spindle that are relatively arranged on a machine tool. The detection process can be performed according to the following steps:

[0216] S11, output a first control signal to the position detection device on the position detection system that is separately set from the machine tool, and control the position detection device to obtain the relative distance between itself and the first spindle and the second spindle, respectively, to obtain a first distance value set and a second distance value set.

[0217] Specifically, when the first control signal is received, the position detection device can scan and detect the first main shaft and the second main shaft under the action of the first control signal, and can obtain multiple relative distances between itself and the first main shaft and the second main shaft respectively. Based on the multiple relative distance values, it can obtain the corresponding first distance value set and second distance value set.

[0218] S12, based on the first set of distance values ​​and the second set of distance values, obtain the relative spatial position between the first principal axis and the second principal axis.

[0219] Specifically, each distance value in the first set of distance values ​​and the second set of distance values ​​can represent the relative positions of the first principal axis and the second principal axis in the entire space. Therefore, the relative spatial position between the first principal axis and the second principal axis can be obtained based on the first set of distance values ​​and the second set of distance values.

[0220] Therefore, by employing the relative position detection method provided in the embodiments of this specification, the relative spatial position between the first principal axis and the second principal axis can be obtained based on the detected first distance value set and second distance value set, eliminating the need for multiple calculations and thus improving detection efficiency. Furthermore, the entire detection process requires no manual operation, resulting in higher detection accuracy. Therefore, employing the relative position detection method in the embodiments of this specification can improve both detection accuracy and efficiency.

[0221] To enable those skilled in the art to better understand and implement the relative position detection method in the embodiments of this specification, the following detailed description is provided through specific examples and in conjunction with specific application scenarios.

[0222] In some embodiments of this specification, the position detection device may include multiple detection units and multiple drive units respectively disposed on both sides of the detection system. Based on this, controlling the position detection device to obtain the relative distances between itself and the first spindle and the second spindle to obtain a first distance value set and a second distance value set may include: outputting the first control signal to control the corresponding drive unit to generate a driving force to drive the detection unit coupled thereto to move, and detecting the first distance value set and the second distance value set respectively during the movement.

[0223] Specifically, under the action of the first control signal, the drive unit can generate a corresponding driving force to drive the detection unit coupled with it to move. During the movement of the detection unit, the distance value between it and one of the spindles (e.g., the first spindle) on the machine tool can be detected. Correspondingly, other detection units on the same side as the detection unit can also detect the distance value between themselves and the first spindle according to the above process, and thus obtain the first set of distance values.

[0224] Similarly, under the action of the first control signal, the detection unit can detect the distance between the second spindle and the spindle. Correspondingly, other detection units on the same side as the detection unit can also detect the distance between themselves and the second spindle according to the above process, and thus obtain the second set of distance values.

[0225] It should be noted that for any given detection unit, multiple distance values ​​between itself and the first or second principal axis may be detected during its movement. In specific implementations, for ease of calculation, the smallest distance value among the multiple distance values ​​detected by each detection unit can be used as a distance value from the first or second set of distance values.

[0226] In practical implementation, based on different application scenarios and actual needs, one or more drive modules can be set in the drive unit, and correspondingly, one or more detection modules corresponding to the drive modules can be set in the detection unit. With the cooperation of the one or more drive modules and the one or more detection modules, the detection modules are driven to move in different directions, thereby detecting the distance value representing their distance to the first or second spindle.

[0227] Specifically, for the detection unit and driving unit located on the same side of the detection system, the detection unit includes: a first detection module and a second detection module, and the driving unit includes a first driving module and a second driving module, wherein:

[0228] The first driving module is coupled to the first detection module and is adapted to drive the first detection module to move along a first direction in response to the first control signal;

[0229] The second driving module, coupled to the second detection module, is adapted to drive the first detection module to move along the second direction in response to the first control signal.

[0230] Specifically, the drive units located on the same side of the detection system have different control logics. Based on the acquired first control signal, the first drive module can be controlled to drive the coupled first detection module detection unit to move along a first direction, and detect the distance value between the first detection module and the first spindle or the second spindle along the first direction. The second drive module can also be controlled to drive the coupled second detection module detection unit to move along a second direction, and detect the distance value between the second detection module and the first spindle or the second spindle along the second direction. Based on the distance value detected by the detection unit along the first direction, the first set of distance values ​​can be obtained, and based on the distance value detected by the detection unit along the second direction, the second set of distance values ​​can be obtained. The subsequent process can obtain the relative position between the first spindle and the second spindle based on the first set of distance values ​​and the second set of distance values.

[0231] In specific implementations, the first direction and the second direction can be different. More specifically, the first direction and the second direction form a preset angle and are both perpendicular to the axial directions of the first spindle and the second spindle.

[0232] As a specific example, the preset angle between the first direction and the second direction can be 90 degrees.

[0233] Based on this, such as Figure 6 As shown in the embodiments of this specification, the relative spatial position between the first spindle and the second spindle can be determined in the following manner:

[0234] S21. Establish a corresponding coordinate system with the geometric center of one of the end faces of the first main shaft as the origin.

[0235] Specifically, after the first set of distance values ​​and the second set of distance values ​​are detected, a coordinate system can be established to determine the positions of the first principal axis and the second principal axis in space.

[0236] In some embodiments of this specification, a three-dimensional coordinate system (e.g., an xyz three-axis coordinate system) can be established with the geometric center of the end face of the first principal axis facing the second principal axis as the origin.

[0237] S22, select a preset number of reference points from the axis of the second main axis, and obtain the spatial coordinates of each reference point according to the first distance value set and the second distance value set respectively.

[0238] The preset number of reference points are the intersection points of the first detection module and the second detection module on the same side of the second spindle on the axis of the second spindle.

[0239] Specifically, both the first direction and the second direction are perpendicular to the axial directions of the first main shaft and the second main shaft. Therefore, the first detection module and the second detection module on the same side of the second main shaft can intersect on the axis of the second main shaft during the movement. The intersection point is the selected reference point. The method for determining the reference point can be found in the previous example, and will not be repeated here.

[0240] Since the first distance value set includes distance values ​​used to characterize the distance between the detection unit and the first principal axis and the second principal axis along the first direction, and the second distance value set includes distance values ​​used to characterize the distance between the detection unit and the first principal axis and the second principal axis along the second direction, the spatial coordinates corresponding to each reference point can be calculated based on the detected distance values.

[0241] In some embodiments of this specification, the calculation process for the spatial coordinates corresponding to each reference point can be as follows: Select any value as the first coordinate value corresponding to each reference point; obtain the second coordinate value corresponding to each reference point based on the distance values ​​in the first distance value set used to characterize the distance between the corresponding detection unit and the first principal axis in the second direction, and the distance values ​​in the second distance value set used to characterize the distance between the corresponding detection unit and the second principal axis in the second direction; obtain the third coordinate value corresponding to each reference point based on the distance values ​​in the first distance value set used to characterize the distance between the corresponding detection unit and the first principal axis in the first direction, and the distance values ​​in the second distance value set used to characterize the distance between the corresponding detection unit and the second principal axis in the first direction; obtain the spatial coordinates corresponding to each reference point based on the first coordinate value, the second coordinate value, and the third coordinate value. The specific calculation process can be found in the foregoing examples and will not be described further here.

[0242] S23. Based on the spatial coordinates of each point, obtain the equation of the axis of the second principal axis relative to the first principal axis.

[0243] Specifically, through step S22, the spatial coordinates of each reference point can be obtained, and by selecting any two points, the axis equation representing the relative position of the second principal axis with respect to the first principal axis can be obtained.

[0244] S24. Determine the relative spatial position between the first principal axis and the second principal axis according to the axis equation.

[0245] It is understandable that the above example establishes a coordinate system on the first principal axis and selects a reference point on the second principal axis to determine the relative spatial position between the two. In other examples, a coordinate system can also be established on the second principal axis and a reference point can be selected on the first principal axis to determine the relative spatial position between the two.

[0246] In practice, to improve the accuracy of distance values ​​during subsequent detection, the relative position of the first main axis and the relative position detection system can be adjusted before detecting the relative position of the first main axis and the second main axis.

[0247] Based on this, the relative position detection system further includes a driving device and a reference device. Correspondingly, the detection method further includes: outputting a second control signal to multiple driving units on the same side as the first spindle to control the movement of the corresponding detection units, and detecting a third set of distance values ​​relative to the first spindle during the movement; obtaining an angular deviation parameter between the reference device and the first spindle based on the third set of distance values ​​and the preset distance values ​​between each detection unit; and outputting a corresponding third control signal to the driving device based on the angular deviation parameter to control the movement of the reference device and adjust the relative position relationship between the first spindle and the reference module.

[0248] As a specific example, distance values ​​L1 and L2 can be selected from the third set of distance values ​​to characterize the distance between the detection unit and the first main axis along the first direction. Based on the distance values ​​L1 and L2, and the preset distance value L between each detection unit, the angle deviation parameter α = |L1-L2| / L can be obtained. Based on the angle deviation parameter α, the reference device can be controlled to rotate by the corresponding angle.

[0249] In the embodiments of this specification, to further ensure that the first spindle and the reference device are in a parallel state, the relative position detection method provided in the embodiments of this specification may further include: outputting a fourth control signal to multiple drive units on the same side as the first spindle to control the movement of the corresponding detection units, and during the movement, detecting at least two distance values ​​relative to the first spindle; when it is determined that the difference between the two smallest distance values ​​among the at least two distance values ​​is greater than a preset first difference threshold, readjusting the relative position relationship between the first spindle and the reference device until the difference between the two is less than the first difference threshold. The specific process can be found in the foregoing examples, and will not be described in detail here.

[0250] Furthermore, in the description of this specification, terms such as "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with terms such as "first," "second," and "third" may explicitly or implicitly include one or more of that feature. Moreover, terms such as "first," "second," and "third" are used to distinguish similar objects and are not necessarily used to describe a specific order or indicate importance. It is understood that such terms can be used interchangeably where appropriate.

[0251] While the embodiments disclosed in this specification are as described above, the present invention is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

Claims

1. A relative position detecting system adapted to detect a relative position of a first spindle and a second spindle which are disposed relatively on a machine tool, characterized by, The detection system includes: a position detection device, a control device, a drive device, and a reference device, wherein: The position detection device is separately disposed from the machine tool and includes multiple detection units and multiple drive units respectively disposed on both sides of the relative position detection system; the drive unit is coupled to the corresponding detection unit and the control device respectively, and is adapted to generate a driving force in response to a first control signal to drive the corresponding detection unit to move; the detection unit is adapted to acquire the relative distance with the first spindle and the second spindle respectively during the movement, and obtain a first distance value set and a second distance value set; wherein, the detection unit disposed on the same side of the detection system includes: a first detection module and a second detection module; The control device is adapted to output the first control signal to the drive unit, and to obtain the relative spatial position between the first spindle and the second spindle according to the first distance value set and the second distance value set, including: establishing a corresponding coordinate system with the geometric center of the end face of the first spindle facing the second spindle as the origin; selecting a preset number of reference points from the axis of the second spindle, and obtaining the spatial coordinates corresponding to each reference point according to the first distance value set and the second distance value set respectively, and obtaining the axis equation of the second spindle relative to the first spindle according to the spatial coordinates of each reference point, and determining the relative spatial position between the first spindle and the second spindle according to the axis equation, wherein the preset number of reference points are the intersection points of the first detection module and the second detection module on the axis of the second spindle on the same side as the second spindle; wherein the first detection module moves along a first direction, the second detection module moves along a second direction, and the first direction and the second direction are at 90°, and both are perpendicular to the axial directions of the first spindle and the second spindle; The control device is further adapted to output a second control signal to a plurality of drive units on the same side as the first spindle; and to obtain an angular deviation parameter between the reference device and the first spindle based on the acquired third distance value set and a preset distance value between each detection unit, and to output a corresponding third control signal to the drive device based on the angular deviation parameter; and to output a fourth control signal to a plurality of drive units on the same side as the first spindle; and to readjust the relative positional relationship between the first spindle and the reference device when it is determined that the difference between the two minimum distance values ​​among at least two distance values ​​is greater than a preset first difference threshold, until the difference between the two is less than the first difference threshold; The plurality of driving units are also adapted to drive the corresponding detection units to move in response to the second control signal, and to drive the corresponding detection units to move according to the fourth control signal; The detection unit is also adapted to detect, during the movement, the third distance value set with respect to the first main axis, and at least two distance values ​​with respect to the first main axis, and output them to the control device. The drive device is coupled to the control device and the reference device, and is adapted to drive the reference device to move in response to a third control signal, so as to adjust the relative positional relationship between the first spindle and the reference device; The reference device is adapted to move under the drive of the drive device until it is parallel to the first spindle.

2. The detection system of claim 1, wherein, For the drive unit located on the same side of the detection system, including a first drive module and a second drive module, wherein: The first driving module is coupled to the first detection module and is adapted to drive the first detection module to move along the first direction in response to the first control signal; The second driving module, coupled to the second detection module, is adapted to drive the second detection module to move along the second direction in response to the first control signal.

3. The detection system of claim 2, wherein, The control device is adapted to select any value as the first coordinate value corresponding to each reference point; and to obtain the second coordinate value corresponding to each reference point based on the distance value in the first distance value set used to characterize the distance between the corresponding detection unit and the first main axis in the second direction and the distance value in the second distance value set used to characterize the distance between the corresponding detection unit and the second main axis in the second direction, respectively. And based on the distance values ​​in the first distance value set used to characterize the distance between the corresponding detection unit and the first main axis in the first direction and the distance values ​​in the second distance value set used to characterize the distance between the corresponding detection unit and the second main axis in the first direction, the third coordinate value is obtained for each reference point, and the spatial coordinates of the reference point are obtained based on the first coordinate value, the second coordinate value, and the third coordinate value.

4. The detection system of claim 1, wherein, Each drive unit is also adapted to drive the corresponding detection unit to move in response to the fifth control signal; Each detection unit is also adapted to detect a fourth set of distance values ​​with respect to the reference device during the movement and output them to the control device; The control device is also adapted to output the fifth control signal to each drive unit; and to arbitrarily select two distance values ​​from the fourth distance value set as reference distance values ​​to adjust the position of the corresponding detection unit, wherein the two distance values ​​are the distance values ​​detected by the corresponding detection unit in the first direction and the second direction, respectively.

5. The detection system of claim 1, wherein, The driving unit is also adapted to drive the corresponding detection unit to move in response to the sixth control signal; The detection unit is also adapted to detect a fifth set of distance values ​​relative to the first main shaft axis during the movement and output them to the control device. The control device is also adapted to output a sixth control signal to at least one drive unit on the same side of the first spindle; and when it is determined that the difference between the maximum distance value and the minimum distance value in the fifth distance value set is greater than a preset second difference threshold, adjust the position of the first spindle on the machine tool.

6. The detection system according to any one of claims 1 to 5, characterized in that Also includes: The pose adjustment device is adapted to adjust the relative position of the detection system with respect to the first spindle and the second spindle, so that the first spindle and the second spindle are within the detection range of the position detection device.

7. A position detecting device, coupled with a control device and a reference device respectively, and disposed separately from a machine tool, adapted to obtain relative distances of the position detecting device to a first spindle and a second spindle disposed oppositely on the machine tool, characterized in that, The position detection device includes: multiple detection units and multiple driving units; wherein, for each detection unit located on the same side of the detection system, there are: a first detection module and a second detection module; The driving unit is coupled to the corresponding detection unit and is adapted to generate driving force in response to the first control signal output by the control device to drive the corresponding detection unit to move. The detection unit is adapted to detect distance values ​​in a first set of distance values ​​or a second set of distance values ​​during movement; The control device is adapted to establish a corresponding coordinate system with the geometric center of the end face of the first spindle facing the second spindle as the origin; and to select a preset number of reference points from the axis of the second spindle, and obtain the spatial coordinates of each reference point according to the first distance value set and the second distance value set respectively, and obtain the axis equation of the second spindle relative to the first spindle according to the spatial coordinates of each reference point, and determine the relative spatial position between the first spindle and the second spindle according to the axis equation, wherein the preset number of reference points are the intersection points of the first detection module and the second detection module on the axis of the second spindle on the same side as the second spindle; wherein the first detection module moves along a first direction, the second detection module moves along a second direction, and the first direction and the second direction are at 90°, and both are perpendicular to the axis directions of the first spindle and the second spindle; The control device is further adapted to output a second control signal to a plurality of drive units on the same side as the first spindle; and to obtain an angular deviation parameter between the reference device and the first spindle based on the acquired third distance value set and a preset distance value between each detection unit, and to output a corresponding third control signal to the drive device based on the angular deviation parameter; and to output a fourth control signal to a plurality of drive units on the same side as the first spindle; and when it is determined that the difference between the two minimum distance values ​​among at least two distance values ​​is greater than a preset first difference threshold, to readjust the relative positional relationship between the first spindle and the reference device until the difference between the two is less than the first difference threshold; The plurality of driving units are also adapted to drive the corresponding detection units to move in response to the second control signal, and to drive the corresponding detection units to move according to the fourth control signal; The detection unit is also adapted to detect, during the movement, the third distance value set with respect to the first main axis, and at least two distance values ​​with respect to the first main axis, and output them to the control device. A drive device, coupled to the control device and the reference device, is adapted to drive the reference device to move in response to a third control signal, so as to adjust the relative positional relationship between the first spindle and the reference device; The reference device is adapted to move under the drive of the drive device until it is parallel to the first spindle.

8. The position detection device according to claim 7, wherein For drive units located on the same side, there are first drive units and second drive units; The driving unit includes: A first driving module, coupled to the first detection module, is adapted to drive the first detection module to move along the first direction in response to the first control signal; The second driving module, coupled to the second detection module, is adapted to drive the second detection module to move along the second direction in response to the first control signal.

9. The position detection device according to claim 8, characterized by Also includes: The first transmission unit is coupled between the first detection module and the first drive module and is adapted to provide a path for the first detection module to move along the first direction; The second transmission unit, coupled between the second detection module and the second drive module, is adapted to provide a path for the second detection module to move along the second direction.

10. A relative position detection method applied to a relative position detection system adapted to detect a relative position of a first spindle and a second spindle relatively disposed on a machine tool, characterized by, The detection method includes: A first control signal is output to a position detection device on the position detection system, which is separately mounted from the machine tool. The position detection device is then controlled to acquire the relative distances between itself and the first spindle and the second spindle, respectively, to obtain a first set of distance values ​​and a second set of distance values. The position detection device includes multiple detection units and multiple drive units respectively mounted on both sides of the detection system. Controlling the position detection device to acquire the relative distances between itself and the first spindle and the second spindle, respectively, to obtain the first set of distance values ​​and the second set of distance values ​​includes: outputting the first control signal to control the corresponding drive unit to generate a driving force, driving the detection unit coupled to it to move, and during the movement, detecting and obtaining the first set of distance values ​​and the second set of distance values ​​respectively. For a detection unit mounted on the same side of the relative position detection system, it includes: a first detection module and a second detection module. The relative spatial position between the first principal axis and the second principal axis is obtained based on the first set of distance values ​​and the second set of distance values, including: establishing a corresponding coordinate system with the geometric center of the end face of the first principal axis facing the second principal axis as the origin; selecting a preset number of reference points from the axis of the second principal axis, and obtaining the spatial coordinates of each reference point according to the first set of distance values ​​and the second set of distance values ​​respectively, and obtaining the axis equation of the second principal axis relative to the first principal axis according to the spatial coordinates of each reference point, and determining the relative spatial position between the first principal axis and the second principal axis according to the axis equation, wherein the preset number of reference points are the intersection points of the first detection module and the second detection module on the axis of the second principal axis on the same side as the second principal axis; wherein the first detection module moves along a first direction, the second detection module moves along a second direction, and the first direction and the second direction are at 90°, and both are perpendicular to the axis directions of the first principal axis and the second principal axis; A second control signal is output to multiple drive units on the same side as the first spindle to control the movement of the corresponding detection unit, and during the movement, a third set of distance values ​​to the first spindle is detected. Based on the third set of distance values ​​and the preset distance values ​​between each detection unit, the angular deviation parameter between the reference device and the first spindle in the relative position detection system is obtained; and a fourth control signal is output to multiple drive units on the same side as the first spindle to control the movement of the corresponding detection units, and during the movement, at least two distance values ​​with respect to the first spindle are detected; when it is determined that the difference between the two smallest distance values ​​among the at least two distance values ​​is greater than a preset first difference threshold, the relative position relationship between the first spindle and the reference device is readjusted until the difference between the two is less than the first difference threshold; Based on the angle deviation parameter, a corresponding third control signal is output to the drive device in the relative position detection system to control the movement of the reference device and adjust the relative position relationship between the first spindle and the reference device.

11. The detection method according to claim 10, characterized in that, The drive units located on the same side of the detection system include a first drive unit and a second drive unit; A first driving module, coupled to the first detection module, is adapted to drive the first detection module to move along the first direction in response to the first control signal; The second driving module, coupled to the second detection module, is adapted to drive the second detection module to move along the second direction in response to the first control signal.

12. The detection method of claim 11, wherein, The step of obtaining the spatial coordinates corresponding to each point based on the first distance value set and the second distance value set respectively includes: Select any value as the first coordinate value corresponding to each reference point; The second coordinate value corresponding to each reference point is obtained based on the distance value in the first distance value set used to characterize the distance between the corresponding detection unit and the first principal axis in the second direction, and the distance value in the second distance value set used to characterize the distance between the corresponding detection unit and the second principal axis in the second direction. The third coordinate value corresponding to each reference point is obtained based on the distance value in the first distance value set used to represent the distance between the corresponding detection unit and the first principal axis in the first direction, and the distance value in the second distance value set used to represent the distance between the corresponding detection unit and the second principal axis in the first direction. Based on the first coordinate value, the second coordinate value, and the third coordinate value, the spatial coordinates corresponding to each reference point are obtained.

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