A method of verifying multi-cone-rod guiding tolerance

Abstract

The application discloses a kind of methods for verifying multi-cone-rod guiding tolerance, belong to guiding tolerance verification technical field.The method is first based on the coordinate system OXYZ and O1X1Y1Z1 of butt joint surface establishment right angle;Then the coordinates of each guiding cone center point and guide rod axis vertex in respective coordinate system are calculated, the position of each guide rod axis vertex under the coordinate system OXYZ is calculated;And the eccentricity of each group of cone-rod guiding is calculated;The axial distance of each guide rod relative to butt joint surface when first collision is calculated;Finally, whether the tolerance of cone-rod guiding meets the limit deviation requirement is verified, and the size of cone-rod guiding structure that meets the limit deviation requirement is calculated.The method can verify whether the original design of structure meets the requirements by inputting limit deviation and cone-rod guiding structure size, and can output the design relationship of cone-rod guiding structure size by inputting limit deviation.The rationality of structure design can be verified by formula, and the size of cone-rod guiding structure can be accurately corrected and calculated, which can save time cost and labor cost.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of guiding tolerance verification, and particularly relates to a method for verifying the guiding tolerance of multiple conical rods. BACKGROUND

[0002] With the increase of function and volume, space structures appear in-orbit segmented assembly technology to be not limited to carrying capacity. In-orbit autonomous connection is limited by the accuracy of a mechanical arm, and there is a certain deviation on the docking surface of two space structures. In order to ensure that the two space structures can be successfully docked under the condition of a certain deviation and meet the matching accuracy of the locking mechanism after docking, the tolerance design of the guiding mechanism in the connecting and separating device is an important content.

[0003] Researches on in-orbit guiding technology are mostly concentrated on the single conical rod guiding tolerance calculation of the docking surface of small payloads. The reliability of large space structure docking relying on single conical rod guiding is low, and it is difficult to complete the guiding task. Therefore, multiple conical rod guiding needs to be set in the guiding module. The allowable deviation of large space structure docking is determined by the combined tolerance of multiple groups of single conical rod guiding, and the single conical rod guiding tolerance calculation is not completely applicable to the multiple conical rod guiding tolerance calculation. SUMMARY

[0004] The application provides a method for verifying the guiding tolerance of multiple conical rods. The method can predict whether the guiding tolerance of the conical rod under a certain specification size meets the limit deviation requirement of docking without experiments and modeling simulation, verify the rationality of the size design of the conical rod guiding structure, and correct the reasonable size of the conical rod guiding structure. The method has strong adaptability and consumes less time and human resources.

[0005] To solve the above technical problems, the application provides the following technical scheme:

[0006] The method comprises the following steps:

[0007] S1: an OXYZ rectangular coordinate system is established with the geometric center of the active docking surface as the origin, the docking direction as the positive direction of the z-axis, and the horizontal of the docking surface as the x-axis. Meanwhile, an O1X1Y1Z1 rectangular coordinate system is established with the geometric center of the passive docking surface as the origin, the docking direction as the positive direction of the z-axis, and the horizontal of the docking surface as the x-axis. The coordinate transformation matrix A of the coordinate system O1X1Y1Z1 relative to the coordinate system OXYZ is calculated.

[0008] S2: based on the number of guide rods, the arrangement position of the guide rods, the coordinate system OXYZ and the coordinate system O1X1Y1Z1, the coordinates of the centers of the guiding conical rods in the coordinate system OXYZ and the coordinates of the vertexes of the guide rod axes in the coordinate system O1X1Y1Z1 are calculated.

[0009] S3: based on the coordinate transformation matrix A of the coordinate system O1X1Y1Z1 relative to the coordinate system OXYZ calculated in S1 and the coordinates of the guide rod axis vertex in the coordinate system O1X1Y1Z1 calculated in S2, the coordinates of the guide rod axis vertex in the coordinate system OXYZ are calculated;

[0010] S4: based on the coordinates of the guide cone center in the coordinate system OXYZ calculated in S2 and the coordinates of the guide rod axis vertex in the coordinate system OXYZ calculated in S3, the eccentricity of each cone rod guide is calculated;

[0011] S5: based on the coordinates of the guide cone center in the coordinate system OXYZ calculated in S2 and the coordinates of the guide rod axis vertex in the coordinate system OXYZ calculated in S4, the maximum axial distance of the guide rod axis vertex relative to the docking surface at the initial collision is calculated;

[0012] S6: based on the cone rod guide size, the eccentricity of each cone rod guide calculated in S4 and the axial distance of the guide rod axis vertex relative to the docking surface at the initial collision calculated in S5, it is verified whether the tolerance of the cone rod guide meets the limit deviation requirement;

[0013] S7: based on the eccentricity of each cone rod guide calculated in S4 and the maximum axial distance of the guide rod axis vertex relative to the docking surface at the initial collision calculated in S5, the cone rod guide structure size meeting the limit deviation requirement is corrected and calculated.

[0014] Specifically,

[0015] The calculation process of the coordinate transformation matrix A of the coordinate system O1X1Y1Z1 relative to the coordinate system OXYZ in S1 is as follows:

[0016]

[0017]

[0018]

[0019]

[0020] A=zdz×zdy×zdx×py

[0021] Wherein, py is the translation coordinate transformation matrix of the coordinate system O1X1Y1Z1 relative to the coordinate system OXYZ caused by the radial deviation; zdx, zdy, and zdz represent the rotation coordinate transformation matrix of the coordinate system O1X1Y1Z1 relative to the coordinate system OXYZ around the x-axis, the rotation coordinate transformation matrix around the y-axis, and the rotation coordinate transformation matrix around the z-axis caused by the angle deviation; dx is the radial tolerance requirement that the conical rod guiding structure needs to reach; a is the angle tolerance requirement that the conical rod guiding structure needs to reach; and l is the length of the guide rod.

[0022] The coordinate calculation process of the guide cone center in S2 in the coordinate system OXYZ is as follows:

[0023]

[0024]

[0025] z i =0

[0026] Wherein, x i , y i , and z i are the x, y, and z axis coordinate values of the i-th guide cone center in the OXYZ coordinate system; p is the relative distance between the guide rod and the geometric center of the docking surface; and n is the number of guide rods.

[0027] The coordinate calculation process of the guide rod axis vertex in S2 in the coordinate system O1X1Y1Z1 is as follows:

[0028]

[0029]

[0030] Z 1i =-l

[0031] Wherein, x 1i , y 1i , and z 1i are the x, y, and z axis coordinate values of the i-th guide rod axis vertex in the O1X1Y1Z1 coordinate system; l is the length of the guide rod, p is the relative distance between the guide rod and the geometric center of the docking surface; and n is the number of guide rods.

[0032] The coordinate calculation process of the guide rod axis vertex in S3 in the coordinate system OXYZ is as follows:

[0033] (x′ i y′ i z′ i 1) T =A(x 1i y 1i z 1i1) T

[0034] wherein x′ i , y′ i , z′ i are the corresponding x, y, z axis coordinate values of the vertex of the i-th guide rod axis in the OXYZ coordinate system; A is the coordinate transformation matrix of the coordinate system O1X1Y1Z1 relative to the coordinate system OXYZ.

[0035] The eccentricity calculation process of the taper guide in S4 is as follows:

[0036]

[0037] wherein e i is the eccentricity of the taper guide, x i and y i are the corresponding x axis and y axis coordinate values of the i-th guide cone center in the OXYZ coordinate system, x i ' and y i ' are the corresponding x and y axis coordinate values of the vertex of the i-th guide rod axis in the OXYZ coordinate system.

[0038] The maximum axial distance Δl calculation process of the vertex of the guide rod axis relative to the abutment surface at the initial collision in S5 is as follows:

[0039] z′ f = min(z′ i )

[0040] z′ l = max(z′ i )

[0041] Δl max = z′ l - z′ f

[0042] Δl = (D / 2 - e f ) / tanθ - Δl max

[0043] wherein z′ f is the minimum z axis coordinate value of the vertex of the guide rod axis in the OXYZ coordinate system; z′ l is the maximum z axis coordinate value of the vertex of the guide rod axis in the OXYZ coordinate system; z′ i is the z axis coordinate value of the i-th guide rod axis in the OXYZ coordinate system; D is the diameter of the guide cone; e f is the eccentricity of the taper guide corresponding to the minimum z axis coordinate value of the vertex of the guide rod axis in the OXYZ coordinate system; θ is the half cone angle of the guide cone; Δl maxThe limit value of the distance difference of the guide rod axis top point in the docking direction.

[0044] The verification process of whether the tolerance of the conical rod guide in S6 meets the limit deviation requirement is as follows:

[0045] e = max (e i )

[0046]

[0047] Where e is the maximum value of the eccentricity of each group of conical rod guides, d is the guide rod diameter, D is the diameter of the guide cone, and Δl is the maximum axial distance of the guide rod axis top point relative to the docking surface at the initial collision.

[0048] The conical rod guide structure size correction process that meets the limit deviation requirement in S7 is as follows:

[0049] In the case where other sizes are known, the guide cone diameter D is calculated by the following formula:

[0050] (D≥2e+d)∧(D>2(e+Δl max tanα))

[0051] The guide cone half-cone angle θ is calculated by the following formula:

[0052]

[0053] The guide rod diameter d is calculated by the following formula:

[0054] d≤D-2e

[0055] Where e is the maximum value of the eccentricity of each group of conical rod guides, d is the guide rod diameter, Δl max is the limit value of the distance difference of the guide rod axis top point in the docking direction, and θ is the guide cone half-cone angle.

[0056] In the method of the application, the limit deviation is a pre-set value, and the conical rod guide tolerance capability needs to be verified according to the two conditions that the guide needs to meet, with the input limit deviation set value, and if the conditions are met, the conical rod guide tolerance meets the limit deviation requirement, otherwise it does not meet.

[0057] Compared with the prior art, the technical scheme of the application has the following beneficial effects:

[0058] 1. The verification calculation method provided by the application is suitable for multiple conical rod guides, and can realize conical rod guide tolerance calculation for different specifications, different numbers and different arrangement positions by modifying the related parameters in the formula, and has strong adaptability.

[0059] 2. The verification calculation method provided by the application can verify whether the tolerance of the conical rod guide meets the limit deviation, and can derive the size relationship of the conical rod guide structure, and further correct and calculate the reasonable guide structure size.

[0060] 3. The verification calculation device based on the method of the application can realize both verification and calculation functions through input data, including the functions of verifying whether the tolerance of the conical rod guide meets the limit deviation and verifying the rationality of the structure size design, calculating the size relationship of the conical rod guide structure, and giving reasonable design size of the conical rod guide structure without the need of experiments and modeling simulation, which is simple to operate and requires less time and human resources. BRIEF DESCRIPTION OF DRAWINGS

[0061] In order to more clearly illustrate the technical solutions in the embodiments of the application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0062] Figure 1 The method for verifying the tolerance of the multi-cone rod guide provided by the application is shown in the flowchart.

[0063] Figure 2 The guide boundary diagram of the single-cone rod guide provided by the embodiment of the application is shown.

[0064] Figure 3 The coordinate system establishment diagram provided by the embodiment of the application is shown.

[0065] Figure 4 The size parameter diagram of the single-cone rod guide structure provided by the embodiment of the application is shown.

[0066] Figure 5 The size parameter diagram of the projection of the single-cone rod guide structure provided by the embodiment of the application is shown. DETAILED DESCRIPTION

[0067] In order to make the technical problems, technical solutions and advantages of the application more clear, the following will be described in detail with reference to the drawings and specific embodiments.

[0068] The application provides a method for verifying the tolerance of a multi-cone rod guide.

[0069] As Figure 1 The method includes the following steps:

[0070] S1: Establish an OXYZ rectangular coordinate system with the geometric center of the active docking surface as the origin, the docking direction as the positive direction of the z-axis, and the horizontal of the docking surface as the x-axis. At the same time, establish an O1X1Y1Z1 rectangular coordinate system with the geometric center of the passive docking surface as the origin, the docking direction as the positive direction of the z-axis, and the horizontal of the docking surface as the x-axis. Calculate the coordinate transformation matrix A of the coordinate system O1X1Y1Z1 relative to the coordinate system OXYZ;

[0071] S2: Based on the number of guide rods, the arrangement position of the guide rods, the coordinate system OXYZ and the coordinate system O1X1Y1Z1, calculate the coordinates of the center of each guide cone in the coordinate system OXYZ and the coordinates of the guide rod axis vertex in the coordinate system O1X1Y1Z1.

[0072] S3: Based on the coordinate transformation matrix A of the coordinate system O1X1Y1Z1 relative to the coordinate system OXYZ calculated in S1 and the coordinates of the guide rod axis vertex in the coordinate system O1X1Y1Z1 calculated in S2, calculate the coordinates of the guide rod axis vertex in the coordinate system OXYZ.

[0073] S4: Based on the coordinates of the center of each guide cone in the coordinate system OXYZ calculated in S2 and the coordinates of the guide rod axis vertex in the coordinate system OXYZ calculated in S3, calculate the eccentricity of each cone rod guide.

[0074] S5: Based on the coordinates of the center of each guide cone in the coordinate system OXYZ calculated in S2 and the coordinates of the guide rod axis vertex in the coordinate system OXYZ calculated in S4, calculate the maximum axial distance of the guide rod axis vertex relative to the docking surface at the time of initial collision.

[0075] S6: Based on the size of the cone rod guide, the eccentricity of each cone rod guide calculated in S4 and the axial distance of the guide rod axis vertex relative to the docking surface at the time of initial collision calculated in S5, verify whether the tolerance of the cone rod guide meets the limit deviation requirement.

[0076] S7: Based on the eccentricity of each cone rod guide calculated in S4 and the maximum axial distance of the guide rod axis vertex relative to the docking surface at the time of initial collision calculated in S5, correct and calculate the size of the cone rod guide structure that meets the limit deviation requirement.

[0077] Specifically,

[0078] The calculation process of the coordinate transformation matrix A of the coordinate system O1X1Y1Z1 relative to the coordinate system OXYZ in S1 is as follows:

[0079]

[0080]

[0081]

[0082]

[0083] A = z dz x z dy x z dx x py

[0084] wherein, py is the translation coordinate transformation matrix of the coordinate system O1X1Y1Z1 relative to the coordinate system OXYZ caused by the radial deviation; zdx, zdy, zdz represent the rotation coordinate transformation matrix of the coordinate system O1X1Y1Z1 relative to the coordinate system OXYZ around the x-axis, the rotation coordinate transformation matrix around the y-axis, and the rotation coordinate transformation matrix around the z-axis caused by the angle deviation; dx is the radial tolerance requirement that the conical rod guiding structure needs to achieve; and a is the angle tolerance requirement that the conical rod guiding structure needs to achieve.

[0085] The coordinate calculation process of the guide cone center in the coordinate system OXYZ in S2 is as follows:

[0086]

[0087]

[0088] z i = 0

[0089] wherein, x i , y i , z i are the x, y, z axis coordinate values of the i-th guide cone center in the OXYZ coordinate system; p is the relative distance between the guide rod and the geometric center of the docking surface; and n is the number of guide rods.

[0090] The coordinate calculation process of the guide rod axis vertex in the coordinate system O1X1Y1Z1 in S2 is as follows:

[0091]

[0092]

[0093] z 1i = -l

[0094] wherein, x 1i , y 1i , z 1i are the x, y, z axis coordinate values of the i-th guide rod axis vertex in the O1X1Y1Z1 coordinate system; l is the length of the guide rod, p is the relative distance between the guide rod and the geometric center of the docking surface; and n is the number of guide rods.

[0095] The coordinate calculation process of the guide rod axis vertex in the coordinate system OXYZ in S3 is as follows:

[0096] (x′ i y′i z′ i 1) T =A(x 1i y 1i z 1i 1) T

[0097] wherein x′ i , y′ i , z′ i are the corresponding x, y, z axis coordinate values of the i-th guide rod axis vertex in the OXYZ coordinate system respectively; A is the coordinate transformation matrix after limit deviation transformation.

[0098] The eccentricity calculation process of the taper rod guide in S4 is as follows:

[0099]

[0100] wherein e i is the eccentricity of the taper rod guide, x i and y i are the corresponding x and y axis coordinate values of the i-th guide cone center in the OXYZ coordinate system respectively, x i ' and y i ' are the corresponding x and y axis coordinate values of the i-th guide rod axis vertex in the OXYZ coordinate system respectively.

[0101] The maximum axial distance Δl calculation process of the guide rod axis vertex relative to the docking surface at the initial collision in S5 is as follows:

[0102] z′ f = min(z′ i )

[0103] z′ l = max(z′ i )

[0104] Δl max = z′ l - z′ f

[0105] Δl = (D / 2 - e f ) / tanθ - Δl max

[0106] wherein z′ f is the minimum z axis coordinate value of the guide rod axis vertex in the OXYZ coordinate system; z′ l is the maximum z axis coordinate value of the guide rod axis vertex in the OXYZ coordinate system; z′ i is the z axis coordinate value of the i-th guide rod axis vertex in the OXYZ coordinate system; D is the diameter of the guide cone; e fis the maximum value of the distance difference of the guide rod axis top point in the docking direction. max is the maximum value of the distance difference of the guide rod axis top point in the docking direction.

[0107] The verification process of whether the tolerance of the conical rod guide in S6 meets the limit deviation requirement is as follows:

[0108] e = max (e i )

[0109]

[0110] wherein e is the maximum value of the eccentricity of each group of conical rod guides; d is the guide rod diameter; D is the diameter of the conical circle of the guide cone; and Δl is the maximum axial distance of the guide rod axis top point relative to the docking surface at the initial collision.

[0111] The size correction process of the conical rod guide structure that meets the limit deviation requirement in S7 is as follows:

[0112] In the case where other sizes are known, the diameter D of the conical circle of the guide cone is calculated by the following formula:

[0113] (D≥2e+d)∧(D>2(e+Δl max tanθ))

[0114] The half-cone angle θ of the guide cone is calculated by the following formula:

[0115]

[0116] The guide rod diameter d is calculated by the following formula:

[0117] d≤D-2e

[0118] wherein e is the maximum value of the eccentricity of each group of conical rod guides; d is the guide rod diameter; Δl max is the maximum value of the distance difference of the guide rod axis top point in the docking direction; and θ is the half-cone angle of the guide cone.

[0119] The following will be described with specific examples.

[0120] (I) Maximum boundary calculation of multiple conical rod guides under limit deviation

[0121] The conical rod guide structure includes two parts, a guide rod and a guide cone, which are respectively installed on two docking surfaces. In the initial stage of guiding, the initial relative pose adjustment of the two docking loads is mainly realized by the collision of the guide rod and the conical surface of the guide cone. Therefore, the relative position relationship between the guide rod and the conical surface of the guide cone is the key to whether the initial stage of guiding can be successfully performed. Under the limit deviation, for example, Figure 2As shown, the single cone-rod guiding structure successfully realizes the guiding function only by satisfying that the projections of the rod ends in the plane perpendicular to the docking direction are all within the cone circle envelope of the guiding cone. The multi-cone-rod guiding structure successfully realizes the guiding function by satisfying two conditions, which are: the projections of the rod ends of each group of guiding rods in the plane perpendicular to the docking direction are all within the cone circle envelope of the guiding cone; and the projections of the rod ends of each group of guiding rods in the docking direction are all within the cone surface of the guiding cone when the guiding rods first collide with the guiding cone. Based on this, the boundary conditions are calculated respectively.

[0122] With the cone-rod arrangement being the 4-cone-rod guiding, the relative distance between the guiding rod and the geometric center of the docking surface is 100 mm; the cone-rod structure size is that the guiding rod diameter is 6 mm, the guiding rod length is 60 mm, the guiding cone circle is 40 mm, and the half-cone angle of the guiding cone is 55°; the docking limit deviation is taken as an example, which is the radial deviation of 5 mm and the angle deviation of 3°, to verify the guiding tolerance. For two docking surfaces, as shown in Figure 3 The coordinate systems OXYZ and O1X1Y1Z1 are respectively established, and the coordinates of the apexes of the guiding rod axes and the center of the guiding cone in the coordinate system are calculated. According to the limit deviation requirement, the coordinate transformation matrix A of the two coordinate systems is calculated by the coordinate transformation principle.

[0123]

[0124]

[0125]

[0126]

[0127]

[0128] According to the obtained transformation matrix A, the coordinates of the apexes of the guiding rod axes in the OXYZ coordinate system are calculated. According to the obtained coordinates of the apexes of the guiding rod axes in the OXYZ coordinate system and the coordinates of the center of the guiding cone in the OXYZ coordinate system, the eccentricity of each group of cone-rod guiding under the limit deviation is calculated.

[0129]

[0130]

[0131]

[0132]

[0133] The maximum difference of the Z-axis coordinate values of the apexes of the guiding rod axes in the OXYZ coordinate system between the multiple groups of guiding rods is calculated. And the Z-axis coordinate values of the apexes of the guiding rod axes in the OXYZ coordinate system are compared to find the minimum guiding rod of the Z-axis coordinate value, i.e., the guiding rod that first contacts the cone surface when the first collision occurs. As shown inFigure 5 As shown, according to the minimum coordinate value of the corresponding Z axis, the eccentricity of the taper guide corresponding to the guide rod and the taper angle of the guide cone, the projection distance of the vertex of the guide rod axis and the taper surface along the Z axis at the first collision is calculated. According to the projection distance of the vertex of the guide rod axis and the taper surface along the Z axis at the first collision and the maximum difference of the Z axis coordinate values of the vertex of the guide rod axis in the OXYZ coordinate system between the multiple groups of guide rods, the minimum value of the projection distance of the vertex of the guide rod axis and the taper surface along the Z axis is calculated.

[0134] Δl = (D / 2 - e f ) / tanθ - Δl max = -4.436

[0135] In the formula, as shown in Figure 4 , D is the diameter of the guide cone, θ is the half taper angle of the guide cone; e f is the eccentricity of the taper guide corresponding to the minimum z-axis coordinate value of the vertex of the guide rod axis in the OXYZ coordinate system; Δl max is the limit value of the distance difference of the vertex of each guide rod axis in the docking direction.

[0136] (II) Verification of tolerance performance of multiple taper guide rods under limit deviation

[0137] According to the two conditions that the multiple taper guide rod structure successfully realizes the guiding function, the specified structure size is verified whether it meets the limit deviation requirement.

[0138] For condition one: the projections of the rod ends of each group of guide rods in the plane perpendicular to the docking direction are all within the envelope of the guide cone taper circle.

[0139] According to the obtained eccentricity of each group of taper guides, the maximum eccentricity is obtained by comparison. By comparing the maximum eccentricity with the diameter of the guide cone taper circle and the diameter of the guide rod, it is verified whether the boundary condition one meets the requirements. Under this specification size, the maximum eccentricity of the four groups of taper guides is 11.3866, which is within the boundary range, meeting the requirements of the boundary condition one.

[0140] e = max (e i ) = 11.3866

[0141]

[0142] For condition two: when the guide rod collides with the guide cone for the first time, the projections of the rod ends of each group of guide rods in the docking direction are all within the guide cone taper surface.

[0143] According to the minimum value of the distance between the vertex of the guide rod axis and the projection of the conical surface on the Z-axis, it is verified whether the boundary condition two meets the requirements. Under this specification size, the maximum axial distance Δl of the vertex of the guide rod axis relative to the docking surface is -4.436, which exceeds the boundary range and does not meet the requirements of the boundary condition two.

[0144] Δl = -4.436 < 0

[0145] The conical rod guiding structure successfully realizes the guiding function by meeting the above two conditions, and therefore, for the tolerance performance verification of the multi-conical rod guiding structure, the following conditions should be met:

[0146]

[0147] Under this specification size, the boundary condition one is met, but the boundary condition two is not met, and therefore, the conical rod guiding tolerance of this specification size cannot meet the limit deviation requirement.

[0148] (Three) Size calculation of multi-conical rod guiding structure under limit deviation

[0149] According to the two conditions that the multi-conical rod guiding structure successfully realizes the guiding function, the size of the conical rod guiding structure is calculated under the limit deviation requirement. The size relationship of the conical rod guiding structure should meet:

[0150]

[0151] The upper and lower limits of the single structure size are obtained by bringing the determined structure size into the above formula, and the guiding cone diameter D is calculated by the following formula:

[0152] (D≥2e+d=28.7732)∧(D>2(e+Δl max tanθ)=52.6707)

[0153] Under this specification size, if the limit deviation requirement is to be met, the guiding cone diameter D should be greater than 52.6707 mm, and therefore, the guiding cone diameter D is taken as 53 mm.

[0154] The guiding cone half-angle θ is calculated by the following formula:

[0155]

[0156] Under this specification size, if the limit deviation requirement is to be met, the guiding cone half-angle should be less than 39.45°, and therefore, the guiding cone half-angle θ is taken as 39°.

[0157] The guide rod diameter d is calculated by the following formula:

[0158] d≤D-2e=17.2268

[0159] Under this specification size, the guide rod diameter d meets the requirements.

[0160] The verification calculation method provided by the embodiments of the present application can verify the tolerance performance and structure size relationship of the multi-cone-rod guide under a certain specification size by using a formula. The tolerance calculation and verification of the cone-rod guide with different specification sizes, different arrangement numbers and different arrangement positions can be realized by modifying the related parameters in the formula through calculation verification, and the adaptability is strong.

[0161] The verification calculation device on which the embodiments of the present application rely is as follows:

[0162] A verification calculation device for verifying and calculating the tolerance of the multi-cone-rod guide, the device comprises the following functional modules:

[0163] The first module 101 is configured to calculate the coordinates of the guide cone center and the guide rod axis top point in the respective coordinate system.

[0164] The second module 102 is configured to calculate the coordinates of the guide rod axis top point in the coordinate system OXYZ.

[0165] The third module 103 is configured to calculate the eccentricity of each cone-rod guide.

[0166] The fourth module 104 is configured to calculate the maximum axial distance of the guide rod axis top point relative to the abutment surface at the first collision.

[0167] The fifth module 105 is configured to verify whether the tolerance of the cone-rod guide meets the limit deviation requirement.

[0168] The sixth module 106 is configured to calculate the structure size of the cone-rod guide that meets the limit deviation requirement.

[0169] The above is the preferred embodiment of the present application. It should be noted that for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A method of verifying multi-cone lead guiding tolerance, characterized by, The steps include the following: S1: Establishing an OXYZ rectangular coordinate system with the geometric center of the active docking surface as the origin, the docking direction as the positive direction of the z-axis, and the horizontal of the docking surface as the x-axis; at the same time, establishing an O1X1Y1Z1 rectangular coordinate system with the geometric center of the passive docking surface as the origin, the docking direction as the positive direction of the z-axis, and the horizontal of the docking surface as the x-axis under the limit deviation; and calculating the coordinate transformation matrix A of the coordinate system O1X1Y1Z1 relative to the coordinate system OXYZ; S2: Based on the number of guide rods, the guide rod arrangement position, the coordinate system OXYZ and the coordinate system O1X1Y1Z1, the coordinates of the guide cone center in the coordinate system OXYZ and the coordinates of the guide rod axis vertex in the coordinate system O1X1Y1Z1 are calculated; S3: Based on the coordinate transformation matrix A of the coordinate system O1X1Y1Z1 relative to the coordinate system OXYZ calculated in S1 and the coordinates of the guide rod axis vertex in the coordinate system O1X1Y1Z1 calculated in S2, the coordinates of the guide rod axis vertex in the coordinate system OXYZ are calculated; S4: Based on the coordinates of the guide cone center in the coordinate system OXYZ calculated in S2 and the coordinates of the guide rod axis vertex in the coordinate system OXYZ calculated in S3, the eccentricity of each cone rod guide is calculated; S5: Based on the coordinates of the guide cone center in the coordinate system OXYZ calculated in S2 and the coordinates of the guide rod axis vertex in the coordinate system OXYZ calculated in S4, the maximum axial distance of the guide rod axis vertex relative to the docking surface at the initial collision is calculated; S6: Based on the cone rod guide size, the eccentricity of each cone rod guide calculated in S4 and the maximum axial distance of the guide rod axis vertex relative to the docking surface at the initial collision calculated in S5, it is verified whether the tolerance of the cone rod guide meets the limit deviation requirement; S7: Based on the eccentricity of each cone rod guide calculated in S4 and the maximum axial distance of the guide rod axis vertex relative to the docking surface at the initial collision calculated in S5, the cone rod guide structure size meeting the limit deviation requirement is corrected and calculated, including the guide cone diameter, the guide cone half-angle and the guide rod diameter.

2. The method of verifying multi-cone lead guiding tolerance of claim 1, wherein, The calculation process of the coordinate transformation matrix A of the coordinate system O1X1Y1Z1 relative to the coordinate system OXYZ in S1 is as follows: A = zdz × zdy × zdx × py Wherein, py is the translation coordinate transformation matrix of the coordinate system O1X1Y1Z1 relative to the coordinate system OXYZ caused by the radial deviation; zdx, zdy and zdz respectively represent the rotation coordinate transformation matrix of the coordinate system O1X1Y1Z1 relative to the coordinate system OXYZ around the x-axis, the rotation coordinate transformation matrix around the y-axis and the rotation coordinate transformation matrix around the z-axis caused by the angle deviation; dx is the radial tolerance requirement that the cone rod guide structure needs to reach; α is the angle tolerance requirement that the cone rod guide structure needs to reach; l is the length of the guide rod.

3. The method of verifying multi-cone lead guiding tolerance of claim 1, wherein, The calculation process of the guide cone center coordinates in the coordinate system OXYZ in S2 is as follows: z i ＝0 wherein x i , y i , z i are the x, y, z axis coordinate values, respectively, of the i-th guide cone center in the OXYZ coordinate system; p is the relative distance of the guide rod to the geometric center of the docking surface; and n is the number of guide rods.

4. The method of verifying multi-cone lead guiding tolerance of claim 1, wherein, The calculation process of the guide rod axis vertex coordinates in the coordinate system O1X1Y1Z1 in S2 is as follows: The calculation process of the guide rod axis vertex coordinates in the coordinate system OXYZ in S3 is as follows: z 1i ＝-l wherein x 1i , y 1i , z 1i are the x, y, z coordinate values of the i-th guide rod axis vertex in the O1X1Y1Z1 coordinate system, respectively; l is the guide rod length, p is the relative distance of the guide rod to the geometric center of the docking surface; and n is the number of guide rods.

5. The method of verifying multi-cone lead guiding tolerance of claim 1, wherein, ​ (x′ i , y′ i , z′ i 1) T = A(x 1i , y 1i , z 1i 1) T wherein x′ i , y′ i , z′ i are the x, y, z axis coordinate values of the i-th guide bar axis vertex in the OXYZ coordinate system, respectively; and A is the coordinate transformation matrix of the O1X1Y1Z1 coordinate system relative to the OXYZ coordinate system.

6. The method of verifying multi-cone lead guiding tolerance of claim 1, wherein, The eccentricity calculation process of the conical-rod guide in S4 is as follows: wherein e i is the eccentricity of the conical guide, x i and y i are the x and y coordinates of the center of the i-th guide cone in the OXYZ coordinate system, x i ' and y i ' are the x and y coordinates of the vertex of the i-th guide bar axis in the OXYZ coordinate system.

7. The method of verifying multi-cone lead guiding tolerance of claim 1, wherein, The maximum axial distance Δl of the guide rod axis vertex relative to the docking surface at the initial collision in S5 is calculated as follows: z' f = min(z' i ) z' l = max(z' i ) Δl max = z' l - z' f Δl = (D / 2 - e f ) / tanθ - Δl max wherein z′ f is the minimum z-axis coordinate value of the guide bar axis vertex in the OXYZ coordinate system; z′ l is the maximum z-axis coordinate value of the guide bar axis vertex in the OXYZ coordinate system; z′ i is the z-axis coordinate value of the ith guide bar axis vertex in the OXYZ coordinate system; D is the cone circle diameter of the guide cone; e f is the eccentricity of the guide cone corresponding to the minimum z-axis coordinate value of the guide bar axis vertex in the OXYZ coordinate system; θ is the half-cone angle of the guide cone; Δl max is the limit value of the distance difference of the guide bar axis vertex in the docking direction.

8. The method of verifying multi-cone lead guiding tolerance of claim 1, wherein, The verification process of whether the tolerance of the conical-rod guide in S6 meets the limit deviation requirement is as follows: e = max(e i ) Wherein, e is the maximum value of the eccentricity of each group of conical-rod guides; d is the guide rod diameter; D is the conical circle diameter of the guide cone; Δl is the maximum axial distance of the guide rod axis vertex relative to the docking surface at the initial collision.

9. The method of verifying multi-cone lead guiding tolerance of claim 1, wherein, The conical-rod guide structure size correction process that meets the limit deviation requirement in S7 is as follows: In the case where other sizes are known, the conical circle diameter D of the guide cone is calculated by the following formula: (D ≥ 2e + d) A (D > 2(e + Δl max tan θ)) The half-cone angle θ of the guide cone is calculated by the following formula: The guide rod diameter d is calculated by the following formula: d≤D-2e Wherein, e is the maximum value of the eccentricity of each group of conical rod guide; d is the diameter of the guide rod; Δl max is the limit value of the distance difference of the guide rod axis vertex in the direction of butt joint; θ is the half-cone angle of the guide cone.

Images