Workpiece processing apparatus, workpiece processing method, computer equipment and storage medium

Abstract

This invention relates to the field of workpiece machining technology, providing a workpiece machining apparatus, a workpiece machining method, a computer device, and a storage medium. The workpiece machining apparatus includes: a clamping unit for clamping a workpiece; a machining unit for machining the workpiece; a measuring unit for measuring the actual machining position of the workpiece; and a control unit for calculating the deviation between the actual machining position and the target machining position of the workpiece, calculating a compensation amount for the machining unit based on the deviation, and controlling the machining unit to machine the workpiece based on the compensation amount. The workpiece machining solution of this invention can automatically compensate for the positional deviation of workpieces with positional deviations, especially workpieces with complex angles, through feed adjustment of the machining unit, achieving precise machining of the workpiece. This avoids frequent manual adjustments, ensuring product machining accuracy and improving production efficiency.

Description

Technical Field

[0001] This invention relates to the field of workpiece processing technology, and more specifically, to a workpiece processing apparatus, a workpiece processing method, a computer device, and a storage medium. Background Technology

[0002] During the machining process, there are situations involving machining at complex angles, and the positional deviation of the workpiece cannot be eliminated simply by adjusting the horizontal or vertical alignment.

[0003] Taking the machining of the oil inlet hole of the brake caliper as an example, there is a certain angle between the axis of the oil inlet hole and the main axis of the brake caliper, and the oil inlet hole is formed as a compound angle shaft hole. If there is a positional deviation during the machining process of the oil inlet hole, it cannot be eliminated by simply adjusting the horizontal or vertical position.

[0004] Currently, the machining of composite angle workpieces requires manual position adjustment when there is a positional deviation, which makes it difficult to guarantee accuracy and delays the machining progress.

[0005] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of the present invention, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0006] In view of this, the present invention provides a workpiece processing apparatus, a workpiece processing method, a computer device, and a storage medium, which can automatically perform position compensation for workpieces with positional deviations, especially workpieces with compound angles, avoiding frequent manual adjustments, thereby ensuring product processing accuracy and improving production efficiency.

[0007] According to one aspect of the present invention, a workpiece processing apparatus is provided, comprising: a clamping part for clamping a workpiece; a processing part for processing the workpiece; a measuring part for measuring the actual processing position of the workpiece; and a control part for calculating the deviation between the actual processing position and the target processing position of the workpiece, calculating a compensation amount of the processing part based on the deviation, and controlling the processing part to process the workpiece based on the compensation amount.

[0008] The aforementioned workpiece processing device, through its clamping unit, can stably clamp the workpiece for the processing unit to perform precise processing; through its measuring unit, it measures the actual processing position of the workpiece, allowing the control unit to calculate the deviation between the actual processing position and the target processing position, thus obtaining the workpiece's positional deviation; the control unit further calculates the compensation amount of the processing unit based on the deviation amount, and controls the processing unit to process the workpiece according to the compensation amount, so as to compensate for the workpiece's positional deviation through the feed adjustment of the processing unit, thereby achieving precise processing of the workpiece;

[0009] The aforementioned workpiece processing device can automatically perform position compensation for any workpiece with positional deviation, especially workpieces with compound angles, avoiding frequent manual adjustments, ensuring product processing accuracy, and improving production efficiency.

[0010] In some embodiments, the clamping part clamps the workpiece such that the main axis direction of the workpiece is at an angle to the travel direction of the processing part.

[0011] The workpiece processing device described above clamps the workpiece so that its main axis direction is at an angle to the travel direction of the processing unit, which facilitates the processing unit to process the composite angle shaft hole of the workpiece.

[0012] In some embodiments, the measuring unit is a laser measuring instrument and / or a manual measuring instrument.

[0013] The aforementioned workpiece processing device uses a laser measuring instrument to accurately measure the actual processing position of the workpiece.

[0014] In some embodiments, the measuring unit measures the actual machining position by: measuring the coordinates of the trial machining area where the machining unit performs trial machining on the workpiece based on a workpiece coordinate system constructed with a workpiece reference point, and using this coordinate as the actual machining position.

[0015] The aforementioned workpiece processing apparatus, through a measuring unit, measures the actual processing position of the workpiece based on a workpiece coordinate system constructed with the workpiece reference point, so that the subsequent control unit can determine whether there is a positional deviation between the actual processing position of the workpiece and its target processing position.

[0016] In some embodiments, the target machining position is characterized based on the workpiece coordinate system; the control unit calculates the deviation by: calculating the coordinate deviation value of the actual machining position relative to the target machining position based on each workpiece coordinate axis of the workpiece coordinate system, so as to obtain the deviation.

[0017] The aforementioned workpiece processing device, through its control unit, calculates the positional deviation of the workpiece in its workpiece coordinate system based on the actual processing position and the target processing position represented by the workpiece coordinate system.

[0018] In some embodiments, the deviation is characterized based on a workpiece coordinate system associated with the workpiece, and the compensation is characterized based on an equipment coordinate system associated with the machining unit; the control unit calculates the compensation by: obtaining a transformation relationship between the workpiece coordinate system and the equipment coordinate system; and calculating the compensation based on the deviation based on the transformation relationship.

[0019] The aforementioned workpiece processing device, through its control unit, converts the deviation in the workpiece coordinate system to the compensation amount in the equipment coordinate system based on the transformation relationship between the workpiece coordinate system and the equipment coordinate system. This allows the subsequent control processing unit to compensate for the workpiece's positional deviation through its feed adjustment, thereby achieving precise processing of the workpiece.

[0020] In some embodiments, the control unit obtains the transformation relationship by: controlling the processing part to move along each of the equipment coordinate axes of the equipment coordinate system; projecting the movement stroke of the processing part along each of the equipment coordinate axes onto the workpiece coordinate system to calculate the projected length of each unit length of the equipment coordinate axis to each workpiece coordinate axis of the workpiece coordinate system; and obtaining the transformation relationship based on the projected length of each unit length of the equipment coordinate axis to each workpiece coordinate axis.

[0021] The aforementioned workpiece processing device controls the movement of the processing unit along each equipment coordinate axis through the control unit, and projects the movement stroke of the processing unit along each equipment coordinate axis onto the workpiece coordinate system. Through vector decomposition, the unit length of each equipment coordinate axis is decomposed into the projection length of each workpiece coordinate axis, thereby obtaining the transformation relationship between the workpiece coordinate system and the equipment coordinate system.

[0022] In some embodiments, the workpiece coordinate system is set as X1-Y1-Z1 coordinate system, and the equipment coordinate system is set as X2-Y2-Z2 coordinate system; wherein, the Y1 axis is parallel to the main axis direction of the workpiece, and the Y2 axis makes an angle α1 with the Y1 axis; the Z2 axis is parallel to the travel direction of the processing part, and the Z1 axis makes an angle α2 with the Z2 axis, and the X1 axis makes an angle α2 with the X2 axis; the unit length of the X2 axis is decomposed into the projected lengths of the X1 axis, Y1 axis, and Z1 axis, respectively: cosα2, α, sina2; the unit length of the Y2 axis is decomposed into the projected lengths of the X1 axis, Y1 axis, and Z1 axis, respectively: sina1sina2, cosα1, sina1cosα2; the unit length of the Z2 axis is decomposed into the projected lengths of the X1 axis, Y1 axis, and Z1 axis, respectively: cosα1sina2, sina1, cosα1cosα2.

[0023] The aforementioned workpiece processing device, based on the angle between the coordinate axes of the workpiece coordinate system calibrated by the workpiece and the coordinate axes of the equipment coordinate system calibrated by the processing unit, obtains the projected length of each unit length of the equipment coordinate axis to each workpiece coordinate axis through Pythagorean theorem vector decomposition.

[0024] In some embodiments, the deviation includes coordinate deviation values ​​based on each of the workpiece coordinate axes; the control unit calculates the compensation amount based on the deviation according to the transformation relationship, including: listing a system of linear equations with coordinate compensation values ​​of each of the equipment coordinate axes as variables, wherein each linear equation in the system of linear equations results in a coordinate deviation value of one of the workpiece coordinate axes and uses the projected length of each unit length of the equipment coordinate axis to the workpiece coordinate axis as the coefficient of each variable; solving the system of linear equations to obtain the compensation amount including the coordinate compensation values ​​based on each of the equipment coordinate axes.

[0025] The aforementioned workpiece processing device uses the coordinate compensation value of each equipment coordinate axis as the variable, the projected length of each equipment coordinate axis to the corresponding workpiece coordinate axis as the coefficient of each variable, and the coordinate deviation value of the corresponding workpiece coordinate axis as the result to list a system of multiple linear equations about the compensation amount. By solving this system of multiple linear equations, the compensation amount of the processing part can be obtained.

[0026] In some embodiments, the control unit controls the processing unit to process the workpiece according to the compensation amount, including: adjusting the position of the processing unit according to the compensation amount so that the processing unit travels to the target processing position; and controlling the processing unit to process the workpiece at the target processing position.

[0027] In the aforementioned workpiece processing device, after obtaining the compensation amount, the control unit adjusts the position of the processing unit according to the compensation amount to compensate for the positional deviation of the workpiece, so that the processing unit moves to the target processing position of the workpiece, and then controls the processing unit to perform precise processing on the workpiece at the accurate processing position.

[0028] In some embodiments, the control unit is a microcomputer.

[0029] The aforementioned workpiece processing device is equipped with a control unit adapted to the workpiece processing device via a microcomputer.

[0030] In some embodiments, the workpiece is a brake caliper; the machining part is a cutting tool for machining the oil inlet hole of the brake caliper.

[0031] The aforementioned workpiece processing device can achieve efficient and accurate processing of the compound angle oil inlet holes of brake calipers.

[0032] According to another aspect of the present invention, a workpiece machining method is provided, comprising: performing trial machining on a clamped workpiece by a machining unit to measure the actual machining position of the workpiece; calculating a deviation between the actual machining position and a target machining position of the workpiece; calculating a compensation amount of the machining unit based on the deviation amount; and controlling the machining unit to machine the workpiece based on the compensation amount.

[0033] The above-described workpiece processing method involves the machining unit performing trial processing on the clamped workpiece to accurately measure the actual machining position of the workpiece, thereby calculating the deviation between the actual machining position and the target machining position to obtain the positional deviation of the workpiece; and further calculating the compensation amount of the machining unit based on the deviation amount, so as to control the machining unit to process the workpiece according to the compensation amount, thereby realizing the compensation of the positional deviation of the workpiece through the feed adjustment of the machining unit, and achieving precise machining of the workpiece.

[0034] The above-described workpiece processing method can automatically perform position compensation for any workpiece with positional deviation, especially workpieces with compound angles, avoiding frequent manual adjustments, ensuring product processing accuracy, and improving production efficiency.

[0035] In some embodiments, the workpiece is clamped such that the main axis direction of the workpiece is at an angle to the travel direction of the processing unit.

[0036] The above-described workpiece machining method, by clamping the workpiece so that its main axis direction is at an angle to the travel direction of the machining part, facilitates the machining part to machine the composite angle shaft hole of the workpiece.

[0037] In some embodiments, measuring the actual machining position of the workpiece includes: measuring the coordinates of the trial machining area where the machining part performs trial machining on the workpiece based on a workpiece coordinate system constructed with the workpiece reference point, and using this coordinate as the actual machining position.

[0038] The above-described workpiece machining method measures the actual machining position of the workpiece during trial machining based on a workpiece coordinate system constructed with the workpiece reference point, so as to determine whether there is a positional deviation between the actual machining position and the target machining position of the workpiece.

[0039] In some embodiments, the target machining position is characterized based on the workpiece coordinate system; calculating the deviation between the actual machining position and the target machining position of the workpiece includes: calculating the coordinate deviation value of the actual machining position relative to the target machining position based on each workpiece coordinate axis of the workpiece coordinate system to obtain the deviation.

[0040] The above-described workpiece machining method calculates the positional deviation of the workpiece in its workpiece coordinate system based on the actual machining position and the target machining position represented by the workpiece coordinate system.

[0041] In some embodiments, the deviation is characterized based on a workpiece coordinate system associated with the workpiece, and the compensation is characterized based on an equipment coordinate system associated with the machining part; calculating the compensation of the machining part based on the deviation includes: obtaining the transformation relationship between the workpiece coordinate system and the equipment coordinate system; and calculating the compensation based on the deviation based on the transformation relationship.

[0042] The above-described workpiece machining method converts the deviation in the workpiece coordinate system to the compensation in the equipment coordinate system based on the transformation relationship between the workpiece coordinate system and the equipment coordinate system. This allows the subsequent control machining department to compensate for the positional deviation of the workpiece through its feed adjustment, thereby achieving precise machining of the workpiece.

[0043] In some embodiments, obtaining the transformation relationship between the workpiece coordinate system and the device coordinate system includes: controlling the machining part to move along each device coordinate axis of the device coordinate system; projecting the movement stroke of the machining part along each device coordinate axis onto the workpiece coordinate system to calculate the projected length of each unit length of the device coordinate axis to each workpiece coordinate axis of the workpiece coordinate system; and obtaining the transformation relationship based on the projected length of each unit length of the device coordinate axis to each workpiece coordinate axis.

[0044] The above-described workpiece machining method controls the machining part to move along each equipment coordinate axis and projects the movement stroke of the machining part along each equipment coordinate axis onto the workpiece coordinate system. Based on vector decomposition, the unit length of each equipment coordinate axis is decomposed into the projection length of each workpiece coordinate axis, thereby obtaining the transformation relationship between the workpiece coordinate system and the equipment coordinate system.

[0045] In some embodiments, the workpiece coordinate system is set as X1-Y1-Z1 coordinate system, and the equipment coordinate system is set as X2-Y2-Z2 coordinate system; wherein, the Y1 axis is parallel to the main axis direction of the workpiece, and the Y2 axis makes an angle α1 with the Y1 axis; the Z2 axis is parallel to the travel direction of the processing part, and the Z1 axis makes an angle α2 with the Z2 axis, and the X1 axis makes an angle α2 with the X2 axis; the unit length of the X2 axis is decomposed into the projected lengths of the X1 axis, Y1 axis, and Z1 axis, respectively: cosα2, α, sina2; the unit length of the Y2 axis is decomposed into the projected lengths of the X1 axis, Y1 axis, and Z1 axis, respectively: sina1sina2, cosα1, sina1cosα2; the unit length of the Z2 axis is decomposed into the projected lengths of the X1 axis, Y1 axis, and Z1 axis, respectively: cosα1sina2, sina1, cosα1cosα2.

[0046] The above-described workpiece machining method uses the Pythagorean theorem vector decomposition to obtain the projected length of each workpiece coordinate axis from the unit length of each equipment coordinate axis to each workpiece coordinate axis, based on the angle between the coordinate axes of the workpiece coordinate system calibrated by the workpiece and the coordinate axes of the equipment coordinate system calibrated by the machining department.

[0047] In some embodiments, the deviation includes coordinate deviation values ​​based on each of the workpiece coordinate axes; calculating the compensation amount based on the deviation according to the transformation relationship includes: listing a system of linear equations with coordinate compensation values ​​of each of the equipment coordinate axes as variables, wherein each linear equation in the system of linear equations results in a coordinate deviation value of one of the workpiece coordinate axes and uses the projected length of each unit length of the equipment coordinate axis to the workpiece coordinate axis as the coefficient of each variable; solving the system of linear equations to obtain the compensation amount including the coordinate compensation values ​​based on each of the equipment coordinate axes.

[0048] The above-described workpiece machining method uses the coordinate compensation value of each equipment coordinate axis as the variable, the projected length of the unit length of each equipment coordinate axis to the corresponding workpiece coordinate axis as the coefficient of each variable, and the coordinate deviation value of the corresponding workpiece coordinate axis as the result. A system of multiple linear equations about the compensation amount is listed, and the compensation amount of the machining part is obtained by solving the system of multiple linear equations.

[0049] In some embodiments, controlling the processing unit to process the workpiece according to the compensation amount includes: adjusting the position of the processing unit according to the compensation amount so that the processing unit travels to the target processing position; and controlling the processing unit to process the workpiece at the target processing position.

[0050] The above-described workpiece processing method, after obtaining the compensation amount, adjusts the position of the processing unit according to the compensation amount to compensate for the positional deviation of the workpiece, so that the processing unit moves to the target processing position of the workpiece, thereby controlling the processing unit to perform precise processing on the workpiece at the accurate processing position.

[0051] In some embodiments, the workpiece is a brake caliper; the machining part is a cutting head for machining the oil inlet hole of the brake caliper.

[0052] The above-mentioned workpiece processing method can achieve efficient and accurate processing of the compound angle oil inlet hole of the brake caliper.

[0053] According to another aspect of the present invention, a computer device is provided, configured in a workpiece processing apparatus, comprising: a processor; a memory storing executable instructions; wherein, when the executable instructions are executed by the processor, the workpiece processing method as described in any of the above embodiments is implemented.

[0054] The aforementioned computer equipment can automatically perform position compensation for any workpiece with positional deviation, especially workpieces with complex angles, avoiding frequent manual adjustments, ensuring product processing accuracy, and improving production efficiency.

[0055] According to another aspect of the present invention, a computer-readable storage medium is provided, configured in a workpiece processing apparatus, for storing a program that, when executed by a processor, implements the workpiece processing method as described in any of the above embodiments.

[0056] When the aforementioned storage medium is executed, it can automatically perform position compensation for any workpiece with positional deviation, especially workpieces with compound angles, avoiding frequent manual adjustments, ensuring product processing accuracy, and improving production efficiency.

[0057] The beneficial effects of this invention compared to the prior art include at least the following:

[0058] The workpiece processing scheme of the present invention can accurately measure the actual processing position of the workpiece and calculate the deviation between the actual processing position and the target processing position to obtain the position deviation of the workpiece; and can further calculate the compensation amount of the processing unit based on the deviation of the workpiece, so as to control the processing unit to process the workpiece according to the compensation amount, thereby realizing the compensation of the position deviation of the workpiece through the feed adjustment of the processing unit and performing precise processing on the workpiece.

[0059] The workpiece processing solution of the present invention can automatically perform position compensation for any workpiece with positional deviation, especially workpieces with compound angles, avoiding frequent manual adjustments, ensuring product processing accuracy, and improving production efficiency.

[0060] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0061] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention. It is obvious that the drawings described below are merely some embodiments of the invention, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0062] Figure 1 This diagram shows a modular schematic of the workpiece processing device in an embodiment of the present invention.

[0063] Figure 2 and Figure 3 This diagram shows a front view of the brake caliper structure in an embodiment of the present invention.

[0064] Figure 4This diagram shows a side view of the brake caliper in an embodiment of the present invention.

[0065] Figure 5 This diagram shows a cross-sectional view of the brake caliper in an embodiment of the present invention.

[0066] Figure 6 and Figure 7 This is a three-dimensional structural diagram of a brake caliper clamping a workpiece processing device in an embodiment of the present invention;

[0067] Figure 8 This diagram shows a side view of the brake caliper clamping the workpiece processing device in an embodiment of the present invention.

[0068] Figure 9 and Figure 10 This diagram illustrates the effect of the unit vector value of the machining tool moving along the X2 axis on the coordinate axes of each workpiece of the brake caliper in an embodiment of the present invention.

[0069] Figure 11 and Figure 12 This diagram illustrates the effect of the unit vector value of the machining tool moving along the Y2 axis on the coordinate axes of each workpiece of the brake caliper in an embodiment of the present invention.

[0070] Figure 13 and Figure 14 This diagram illustrates the effect of the unit vector value of the machining tool moving along the Z2 axis on the coordinate axes of each workpiece of the brake caliper in an embodiment of the present invention.

[0071] Figure 15 This diagram illustrates the steps of a workpiece processing method in an embodiment of the present invention.

[0072] Figure 16 A schematic diagram of the structure of a computer device in an embodiment of the present invention is shown. Detailed Implementation

[0073] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to fully and completely convey the concept of the exemplary embodiments to those skilled in the art.

[0074] The accompanying drawings are merely illustrative of the invention and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0075] Furthermore, the processes shown in the accompanying drawings are merely illustrative and do not necessarily include all steps. For example, some steps can be broken down, some steps can be combined or partially combined, and the actual execution order may change depending on the actual situation. The terms "first," "second," and similar terms used in the specific description do not indicate any order, quantity, or importance, but are only used to distinguish different components. It should be noted that, unless otherwise specified, embodiments of the present invention and features in different embodiments can be combined with each other.

[0076] Figure 1 The main modules of the workpiece processing device in an embodiment of the present invention are shown, with reference to Figure 1 As shown, the workpiece processing apparatus 100 provided in this embodiment of the invention includes:

[0077] Clamping part 110 is used to clamp the workpiece;

[0078] Machining section 120 is used for machining workpieces;

[0079] Measuring unit 130 is used to measure the actual machining position of the workpiece;

[0080] The control unit 140 is used to calculate the deviation between the actual machining position and the target machining position of the workpiece, calculate the compensation amount of the machining unit 120 based on the deviation amount, and control the machining unit 120 to machine the workpiece based on the compensation amount.

[0081] The clamping part 110 can be configured in any way that can clamp a workpiece, such as a pin structure for positioning the workpiece, a jaw structure for clamping the workpiece, etc. The clamping part 110 is detachable from the workpiece processing device 100 so that a suitable clamping part 110 can be replaced when processing different workpieces.

[0082] The machining section 120 can be a tool structure for machining the workpiece shaft hole, surface, or any other part that needs to be machined. The machining section 120 is also detachable from the workpiece machining device 100, so that a suitable machining section 120 can be replaced according to different machining requirements.

[0083] The measuring unit 130 can employ any instrument capable of position measurement. For example, the measuring unit 130 can be a laser measuring instrument to achieve accurate measurement of the actual machining position of the workpiece. The measuring unit 130 can also employ a manual measuring instrument as an auxiliary measurement.

[0084] The control unit 140 can be any device with control functions. For example, the control unit 140 can be a microcomputer to adapt to the workpiece processing device 100 to form a compact, automated tool processing device 100.

[0085] The clamping unit 110, the machining unit 120, and the measuring unit 130 are all communicatively connected to the control unit 140 so that they can perform corresponding functions under the control of the control unit 140.

[0086] The aforementioned workpiece processing device, through the clamping part 110, can stably clamp the workpiece so that the processing part 120 can perform precise processing on the workpiece; through the measuring part 130, the actual processing position of the workpiece is measured so that the control part 140 can calculate the deviation between the actual processing position and the target processing position of the workpiece, thereby obtaining the position deviation of the workpiece; the control part 140 further calculates the compensation amount of the processing part 120 based on the deviation amount, and controls the processing part 120 to process the workpiece based on the compensation amount, so as to compensate for the position deviation of the workpiece through the feed adjustment of the processing part 120, thereby achieving precise processing of the workpiece;

[0087] The aforementioned workpiece processing device can automatically perform position compensation for any workpiece with positional deviation, especially workpieces with compound angles, avoiding frequent manual adjustments, ensuring product processing accuracy, and improving production efficiency.

[0088] In one embodiment, the clamping part clamps the workpiece such that the main axis direction of the workpiece is at an angle to the travel direction of the machining part. This facilitates the machining part's machining of the composite angle shaft hole on the workpiece.

[0089] For example, in a machining scenario, the workpiece is a brake caliper, and the machining unit is a tool used to machine the oil inlet hole of the brake caliper. The axial direction of the oil inlet hole of the brake caliper is at an angle to the main axis direction of the brake caliper, forming a compound angle axial hole. The brake caliper is clamped by a clamping unit so that its main axis direction is at an angle to the travel direction of the machining unit. Specifically, the axial direction of the oil inlet hole and the travel direction of the machining unit are aligned in a straight line, so that the machining unit can efficiently and accurately machine the compound angle oil inlet hole of the brake caliper.

[0090] In one embodiment, the measuring unit measures the actual machining position by: measuring the coordinates of the trial machining area where the machining unit performs trial machining on the workpiece based on the workpiece coordinate system constructed with the workpiece reference point, as the actual machining position.

[0091] The workpiece reference point can be any suitable point on the workpiece, and the workpiece coordinate system conforms to the right-hand rule. The workpiece is trial-machined by the machining unit, and the coordinates of the trial-machined part of the workpiece in contact with the machining unit in the workpiece coordinate system are measured by the measuring unit, thus obtaining the actual machining position of the workpiece.

[0092] Furthermore, the target machining position is also represented based on the workpiece coordinate system, which makes it easier for the control unit to calculate the positional deviation between the coordinates of the trial machining part (i.e., the actual machining position) and the coordinates of the machining part marked on the drawing (i.e., the target machining position) based on the workpiece coordinate system.

[0093] Figure 2 and Figure 3 The front view of the brake caliper in the embodiment is shown. Figure 4 The side view of the brake caliper is shown. Figure 5 The cross-sectional view of the brake caliper is shown. Figure 2 The part shown is specifically the left part of the clamp body. Figure 3 The part shown is the right side of the clamp body, combined with... Figures 2 to 5 As shown, in the scenario of machining the oil inlet hole of a brake caliper:

[0094] The left caliper body 200a has a first oil inlet hole 210, and the right caliper body 200b has a second oil inlet hole 220. The angle between the axis of the first oil inlet hole 210 and the vertical center line of the rear end face of the left caliper body 200a is 25°, that is, the angle between the projection of the axis of the first oil inlet hole 210 onto the X1-Z1 plane of the workpiece coordinate system (marked as X1-Y1-Z1) and the Z1 axis is 25°; of course, this angle may vary for different brake caliper products and is not limited to 25°. Similarly, the angle between the axis of the second oil inlet hole 220 and the vertical center line of the rear end face of the right caliper body 200b is 25°, that is, the angle between the projection of the axis of the second oil inlet hole 220 onto the X1-Z1 plane of the workpiece coordinate system X1-Y1-Z1 and the Z1 axis is 25°, but it is not limited to this.

[0095] The workpiece coordinate system X1-Y1-Z1 is constructed with the center O1 of the end face of the ear that fits between the left clamp body 200a and the right clamp body 200b during assembly as the origin. Among them, the X1-Z1 plane is parallel to the end face of the spindle hole of the brake caliper 200, and the Y1 axis is parallel to the direction of the spindle axis of the brake caliper 200. The direction and sequence of the three axes are established based on the right-hand rule.

[0096] In other embodiments, the workpiece coordinate system may be constructed in other ways, not limited to the above description.

[0097] The oil inlet axis 230 of the brake caliper 200 forms an angle with the main axis 240, which is 55° between the oil inlet axis 230 and the X1-Z1 plane. Of course, this angle may vary for different brake caliper products and is not limited to 55°.

[0098] In this embodiment, under the workpiece coordinate system X1-Y1-Z1, taking mm as an example, the coordinates of the first oil inlet hole 210 of the left clamp body 200a are (X1=48, Y1=-50.2, Z1=68), which is the target machining position of the first oil inlet hole 210 of the left clamp body 200a; the coordinates of the second oil inlet hole 220 of the right clamp body 200b are (X1=86, Y1=-50.2, Z1=68), which is the target machining position of the second oil inlet hole 220 of the right clamp body 200b.

[0099] In one embodiment, the workpiece processing apparatus may further include a calculation unit for calculating the deviation between the actual processing position and the target processing position of the workpiece, calculating a compensation amount for the processing unit based on the deviation, and transmitting the calculated compensation amount to the control unit. The calculation unit may be integrated into the control unit or independent of the control unit.

[0100] In one embodiment, the control unit calculates the deviation by: calculating the coordinate deviation value of the actual machining position relative to the target machining position based on each workpiece coordinate axis of the workpiece coordinate system, so as to obtain the deviation between the actual machining position and the target machining position, that is, to obtain the position deviation of the workpiece in its workpiece coordinate system.

[0101] In one embodiment, the deviation is characterized based on the workpiece coordinate system associated with the workpiece, and the compensation is characterized based on the equipment coordinate system associated with the machining unit; the control unit calculates the compensation by: obtaining the transformation relationship between the workpiece coordinate system and the equipment coordinate system; and calculating the compensation based on the deviation according to the transformation relationship.

[0102] Based on the transformation relationship between the workpiece coordinate system and the equipment coordinate system, the deviation in the workpiece coordinate system can be converted into the compensation amount in the equipment coordinate system. This allows for subsequent control of the machining department's feed adjustment to compensate for the workpiece's positional deviation, thereby achieving precise machining of the workpiece.

[0103] Figure 6 and Figure 7 The embodiment shows the three-dimensional structure of the brake caliper clamping the workpiece machining device. Figure 8 This shows a side view of the brake caliper clamping the workpiece machining device. Figure 6 Specifically, the left clamping part is shown being mounted on the workpiece processing device. Figure 7 Specifically, the right clamping part is shown being mounted on the workpiece machining device, combined with... Figures 2 to 8 As shown, in the scenario of machining the oil inlet hole of a brake caliper:

[0104] The left clamp 200a is held in place by the worktable 100' of the workpiece processing device (the clamping part is not specifically marked). During processing, the worktable 100' needs to be rotated 115° clockwise. Figure 6 The center mark is indicated as B1 = -115°), and it is simultaneously rotated horizontally by 55°. Figure 8 The center mark is A = 55°, so that the first oil inlet hole of the left part 200a of the clamp body ( Figure 8 The composite angle oil inlet hole 200' is aligned with the machining part (specifically the machining tool 120') 120, so that the machining tool 120' can machine the composite angle oil inlet hole 200'.

[0105] Similarly, the right clamp 200b is held in place by the worktable 100' of the workpiece processing device. During processing, the worktable 100' needs to be rotated 115° counterclockwise. Figure 7 The center mark is indicated as B2 = 115°), and it is simultaneously rotated horizontally by 55°. Figure 8 The center mark is A = 55°, so that the second oil inlet hole of the right part 200b of the clamp body ( Figure 8 The composite angle oil inlet hole 200' is aligned with the machining tool 120', so that the machining tool 120' can easily machine the composite angle oil inlet hole 200'.

[0106] In other embodiments, the rotation angles B1 and B2, and the tilt angle A may vary for different brake caliper products, and are not limited to the above description.

[0107] The equipment coordinate system (labeled X2-Y2-Z2) is constructed based on a reference point on the workpiece machining device. Its origin is, for example, the center of the bottom circle of the worktable 100', but not limited to this. The Z2 axis is parallel to the travel direction of the machining tool 120', thus ensuring that it is parallel to the axis of the compound angle oil inlet hole 200' when workpiece position deviation is eliminated, facilitating machining of the compound angle oil inlet hole 200' by the machining tool 120'. Figure 8 The perspective is defined by the Y2 axis extending vertically and the X2 axis extending perpendicularly to the paper. The specific orientation and order of these three axes are established based on the right-hand rule.

[0108] In other embodiments, the device coordinate system may be constructed in other ways, not limited to the above description.

[0109] Therefore, in Figures 2 to 8 In the illustrated scenario of machining the oil inlet hole of a brake caliper, the relationship between the workpiece coordinate system X1-Y1-Z1 and the equipment coordinate system X2-Y2-Z2 is as follows: the angle between the Y2 axis and the Y1 axis is 55° (generated by A = 55°); the angle between the Z1 axis and the Z2 axis is 25° (generated by B1 = -115° / B2 = 115°). The angle between the two X axes is the same as the angle between the two Z axes.

[0110] In one embodiment, the control unit obtains the transformation relationship between the workpiece coordinate system and the equipment coordinate system, including: controlling the machining part to move along each equipment coordinate axis of the equipment coordinate system; projecting the movement stroke of the machining part along each equipment coordinate axis onto the workpiece coordinate system to calculate the projected length of each unit length of each equipment coordinate axis to each workpiece coordinate axis of the workpiece coordinate system; and obtaining the transformation relationship based on the projected length of each unit length of each equipment coordinate axis to each workpiece coordinate axis.

[0111] Specifically, the control unit can control the machining unit to move a unit vector value (e.g., 1 mm) along each equipment coordinate axis, thereby facilitating the decomposition of the unit length of each equipment coordinate axis into the projected length of each workpiece coordinate axis through vector decomposition. This is equivalent to obtaining the coefficient of each equipment coordinate axis projected onto each workpiece coordinate axis, thereby obtaining the transformation relationship between the workpiece coordinate system and the equipment coordinate system.

[0112] Table 1 shows the transformation relationship between the workpiece coordinate system X1-Y1-Z1 and the equipment coordinate system X2-Y2-Z2:

[0113]

[0114] As shown in Table 1, the movement of the machining part along the X2 axis is projected onto the workpiece coordinate system X1-Y1-Z1. Through vector decomposition, the changes in the unit vector value of the X2 axis to the X1, Y1, and Z1 axes are M1, M2, and M3, respectively. The movement of the machining part along the Y2 axis is projected onto the workpiece coordinate system X1-Y1-Z1. Through vector decomposition, the changes in the unit vector value of the Y2 axis to the X1, Y1, and Z1 axes are N1, N2, and N3, respectively. The movement of the machining part along the Z2 axis is projected onto the workpiece coordinate system X1-Y1-Z1. Through vector decomposition, the changes in the unit vector value of the Z2 axis to the X1, Y1, and Z1 axes are L1, L2, and L3, respectively.

[0115] Subsequently, based on the transformation relationship between the workpiece coordinate system X1-Y1-Z1 and the equipment coordinate system X2-Y2-Z2 shown in Table 1, the deviation under the workpiece coordinate system X1-Y1-Z1 can be conveniently and accurately converted into the compensation amount under the equipment coordinate system X2-Y2-Z2.

[0116] In one embodiment, the deviation includes coordinate deviation values ​​based on each workpiece coordinate axis; the control unit calculates a compensation amount based on the deviation according to the transformation relationship, including: listing a system of linear equations with coordinate compensation values ​​of each equipment coordinate axis as variables, wherein each linear equation in the system of linear equations takes the coordinate deviation value of a workpiece coordinate axis as the result and the projected length of each equipment coordinate axis to the workpiece coordinate axis as the coefficient of each variable; solving the system of linear equations to obtain a compensation amount including coordinate compensation values ​​based on each equipment coordinate axis.

[0117] Based on Table 1 above, the deviation values ​​based on the workpiece coordinate axes X1, Y1, and Z1 are K1, K2, and K3, respectively. Using the coordinate compensation values ​​of each equipment coordinate axis as variables (denoted as X2', Y2', and Z2'), and the projected length of each equipment coordinate axis to the corresponding workpiece coordinate axis as the coefficients of each variable (i.e., the coefficients M, N, and L in Table 1 above), and the coordinate deviation values ​​of the corresponding workpiece coordinate axes as the results, a system of three linear equations relating to the compensation amount is listed as follows:

[0118]

[0119] Therefore, by solving this system of three linear equations, the compensation amount {X2',Y2',Z2'} of the machining part can be obtained.

[0120] In one embodiment, the control unit controls the processing unit to process the workpiece according to the compensation amount, including: adjusting the position of the processing unit according to the compensation amount so that the processing unit travels to the target processing position; and controlling the processing unit to process the workpiece at the target processing position.

[0121] Taking the compensation amount as {X2',Y2',Z2'} as an example, after obtaining the compensation amount, the control unit first adjusts the position of the machining unit according to the compensation amount. Specifically, it adjusts the machining unit in the opposite direction so that X2 = -X2', Y2 = -Y2', Z2 = -Z2', in order to eliminate the positional deviation of the workpiece, so that the machining unit moves to the target machining position of the workpiece, and then controls the machining unit to perform precise machining on the workpiece at the accurate target machining position.

[0122] The following section explains the process of obtaining the transformation relationship between the workpiece coordinate system X1-Y1-Z1 and the equipment coordinate system X2-Y2-Z2, using the oil inlet hole machining scenario of a brake caliper as an example.

[0123] Combination Figures 2 to 8 The following is a machining scenario for the oil inlet hole of a brake caliper: The Y1 axis of the workpiece coordinate system is parallel to the main axis of the workpiece, and the Y2 axis of the equipment coordinate system is at an angle a1 (specifically 55°) to the Y1 axis; the Z2 axis of the equipment coordinate system is parallel to the travel direction of the machining part, and the Z1 axis of the workpiece coordinate system is at an angle a2 (specifically 25°) to the Z2 axis, and the X1 axis of the workpiece coordinate system is at an angle a2 (25°) to the X2 axis of the equipment coordinate system.

[0124] Figure 9 and Figure 10 The illustration shows the effect of a unit vector value of the machining tool's movement along the X2 axis on the workpiece coordinate axes of the brake caliper. Figure 9 The illustration specifically depicts the machining scenario of the left part of the clamp body. Figure 10 The illustration specifically depicts the machining scenario of the right part of the clamp body, for reference. Figure 9 and Figure 10 , combined Figures 2 to 8 As shown:

[0125] Control the machining tool 120' to move a unit vector value along the X2 axis. Figure 9 and Figure 10 The diagram shows that the axis 120” of the machining tool 120' moves by X2 = 1 (in mm). Therefore:

[0126] Overall, the projected lengths of a unit length of the X2 axis onto the X1, Y1, and Z1 axes are cosa2, 0, and sina2, respectively; specifically, in Figure 9 In the machining scenario of the left clamp part 200a shown, when X2 = 1, X1 = -cosα2 = -cos25°, the Y1 axis is unaffected, i.e., Y1 = 0, Z1 = -sinα2 = -sin25°; Figure 10 In the machining scenario of the right part 200b of the clamp body shown, when X2=1, X1=-cosa2=-cos25°, the Y1 axis is unaffected, that is, Y1=0, Z1=sina2=sin25°.

[0127] Figure 9 and Figure 10 The axis of the oil inlet hole, 230, is also marked for reference coordinate system position.

[0128] Figure 11 and Figure 12 The illustration shows the effect of a unit vector value of the machining tool's movement along the Y2 axis on the workpiece coordinate axes of the brake caliper. Figure 11 The illustration specifically depicts the machining scenario of the left part of the clamp body. Figure 12 The illustration specifically depicts the machining scenario of the right part of the clamp body, for reference. Figure 11 and Figure 12 , combined Figures 2 to 8 As shown:

[0129] Control the machining tool 120' to move a unit vector value along the Y2 axis. Figure 11 and Figure 12 The diagram shows that the axis 120” of the machining tool 120' moves by Y2 = 1 (in mm). Therefore:

[0130] Overall, the projected lengths of a unit length of the Y2 axis onto the X1, Y1, and Z1 axes are: sina1sina2, cosa1, and sina1cosa2, respectively; specifically, in Figure 11 In the machining scenario of the left clamp piece 200a shown, with Y2 = 1, X1 = sina1sina2 = sin55°sin25°, Y1 = -cosa1 = -cos55°, Z1 = -sina1cosa2 = -sin55°cos25°; Figure 12In the machining scenario of the right part 200b of the clamp body shown, when Y2=1, X1=-sina1sina2=-sin55°sin25°, Y1=-cosa1=-cos55°, Z1=-sina1cosa2=-sin55°cos25°.

[0131] Figure 11 and Figure 12 The axis of the oil inlet hole, 230, is also marked for reference coordinate system position.

[0132] Figure 13 and Figure 14 The illustration shows the effect of a unit vector value of the machining tool's movement along the Z2 axis on the workpiece coordinate axes of the brake caliper. Figure 13 The illustration specifically depicts the machining scenario of the left part of the clamp body. Figure 14 The illustration specifically depicts the machining scenario of the right part of the clamp body, for reference. Figure 13 and Figure 14 , combined Figures 2 to 8 As shown:

[0133] Control the machining tool 120' to move a unit vector value along the Z2 axis. Figure 13 and Figure 14 The diagram shows that the axis 120” of the machining tool 120' moves by Z2 = 1 (in mm). Therefore:

[0134] Overall, the projected lengths of a unit length of the Z2 axis onto the X1, Y1, and Z1 axes are cosa1sina2, sina1, and cosa1cosa2, respectively; specifically, in Figure 13 In the machining scenario of the left clamp piece 200a shown, with Z2 = 1, X1 = -cosα1sα2 = -cos55°sin25°, Y1 = -sα1 = -sin55°, Z1 = cosα1cosα2 = cos55°cos25°; Figure 14 In the machining scenario of the right part 200b of the clamp body shown, when Z2=1, X1=cosa1sina2=cos55°sin25°, Y1=-sina1=-sin55°, Z1=cosa1cosa2=cos55°cos25°.

[0135] Figure 13 and Figure 14 The axis of the oil inlet hole, 230, is also marked for reference coordinate system position.

[0136] Therefore, based on the angle between the coordinate axes of the workpiece coordinate system X1-Y1-Z1 calibrated by the workpiece and the coordinate axes of the equipment coordinate system X2-Y2-Z2 calibrated by the machining department, the projected length of each unit length of the equipment coordinate axis to each workpiece coordinate axis is obtained by vector decomposition using the Pythagorean theorem.

[0137] Table 2 shows the specific values ​​of the transformation relationship between the workpiece coordinate system X1-Y1-Z1 (left part of the clamp body) and the equipment coordinate system X2-Y2-Z2:

[0138]

[0139] Referring to Table 2 above, in a specific example, the positional deviation of the oil inlet hole on the left side of the clamp body is {X1=0.1,Y1=0.2,Z1=0.3}. Assuming the compensation amount of the machining tool is {X2',Y2',Z2'}, then the system of three linear equations relating to the compensation amount is as follows:

[0140]

[0141] By solving this system of three linear equations, the compensation amount of the machining tool {X2'=-0.2174,Y2'=-0.3028,Z2'=-0.0321} can be obtained. Finally, the axis coordinates of the machining tool are adjusted in the opposite direction, so that the axis coordinates of the machining tool are moved {X2=0.2174,Y2=0.3028,Z2=0.0321}, thus eliminating the positional deviation of the oil inlet hole on the left side of the clamp body.

[0142] Table 3 shows the specific values ​​of the transformation relationship between the workpiece coordinate system X1-Y1-Z1 (right part of the clamp body) and the equipment coordinate system X2-Y2-Z2:

[0143]

[0144] Referring to Table 3 above, in a specific example, the positional deviation of the oil inlet hole on the right side of the clamp body is {X1=0.1,Y1=0.2,Z1=0.3}. Assuming the compensation amount of the machining tool is {X2',Y2',Z2'}, then the system of three linear equations relating to the compensation amount is as follows:

[0145]

[0146] By solving this system of three linear equations, the compensation amount of the machining tool {X2'=0.0362,Y2'=-0.3721,Z2'=0.0164} can be obtained. Finally, the axis coordinates of the machining tool are adjusted in the opposite direction, so that the axis coordinates of the machining tool are moved {X2=-0.0362,Y2=0.3721,Z2=-0.0164}, thus eliminating the positional deviation of the oil inlet hole on the right side of the clamp body.

[0147] Furthermore, in one embodiment, the transformation relationship between the obtained workpiece coordinate system X1-Y1-Z1 and the equipment coordinate system X2-Y2-Z2 can be stored in an Excel table; thus, after measuring and calculating the workpiece deviation, only the coordinate deviation values ​​of X1 / Y1 / Z1 need to be entered into the Excel table, and Excel will automatically calculate according to the equation solution method to automatically and efficiently obtain the coordinate values ​​that the machining department needs to adjust.

[0148] Based on the content of Table 2 above, Table 4 below shows an Excel-automated calculation of the position deviation of the oil inlet hole on the left side of the brake caliper body minus the compensation for the machining tool position in the oil inlet hole machining scenario:

[0149]

[0150] Table 4 above illustrates the positional deviation of the oil inlet hole on the left side of the clamp body as {X1=0.1,Y1=0.2,Z1=0.3}. In other machining scenarios of the oil inlet hole on the left side of the clamp body, the X1Y1Z1 coordinate deviation values ​​can be input according to the actual situation to obtain the compensation amount of the machining tool {X2',Y2',Z2'}.

[0151] Based on the content of Table 3 above, Table 5 below shows an Excel-automated calculation of the position deviation of the oil inlet hole on the right side of the brake caliper body minus the compensation for the machining tool position in the oil inlet hole machining scenario:

[0152]

[0153] Table 5 above illustrates the positional deviation of the oil inlet hole on the right side of the clamp body as {X1=0.1,Y1=0.2,Z1=0.3}. In other machining scenarios of the oil inlet hole on the right side of the clamp body, the X1Y1Z1 coordinate deviation values ​​can be input according to the actual situation to obtain the compensation amount of the machining tool {X2',Y2',Z2'}.

[0154] By combining the equation solution with an Excel spreadsheet, the system can automatically calculate and run the adjustment values ​​for the machining department, saving manpower and measurement resource costs, improving product delivery capabilities, and shortening product changeover time.

[0155] In summary, the workpiece processing apparatus of the present invention, when the workpiece has a positional deviation, based on the influence of the unit vector of movement of the equipment coordinate axes X2 / Y2 / Z2 on the workpiece coordinate axes X1 / Y1 / Z1, lists a system of three linear equations in three variables, using the coordinate compensation value of each equipment coordinate axis as the variable, the projection length of the unit length of each equipment coordinate axis to the corresponding workpiece coordinate axis as the coefficient of each variable, and the coordinate deviation value of the corresponding workpiece coordinate axis as the result. By solving the system of three linear equations in three variables, the compensation amount of the processing unit is obtained, and the positional deviation of the workpiece is compensated by adjusting the feed of the processing unit.

[0156] The workpiece processing device of the present invention can eliminate the positional deviation of the workpiece in one go through the feed adjustment of the processing part, so that the processing part and the workpiece are adjusted to the optimal state value. This avoids the drawbacks of long downtime and high scrap rate caused by multiple manual adjustments, improves the efficiency of on-site production debugging and product delivery capability, reduces the debugging time after product changeover on the production line, and saves manpower and coordinate measuring resources.

[0157] Furthermore, in one embodiment, after obtaining the workpiece coordinate system X1-Y1-Z1 and the equipment coordinate system X2-Y2-Z2, the transformation matrix between the workpiece coordinate system X1-Y1-Z1 and the equipment coordinate system X2-Y2-Z2 can also be solved, and the compensation amount of the machining part can be calculated based on the workpiece deviation according to the transformation matrix.

[0158] Specifically, it can be assumed that after rotating the workpiece coordinate system X1-Y1-Z1 around its X1 axis by an angle α, around its Y1 axis by an angle β, and around its Z1 axis by an angle γ, the equipment coordinate system X2-Y2-Z2 can be obtained. Then, after assembling the workpiece onto the workpiece processing device, based on the coordinates of three or more points on the workpiece / workpiece processing device in the workpiece coordinate system X1-Y1-Z1 and the equipment coordinate system X2-Y2-Z2 respectively, the following transformation matrix T can be obtained:

[0159]

[0160] When calculating the compensation amount of the machining part, the coordinates (X, Y, Z) of the target machining position of the workpiece in the workpiece coordinate system X1-Y1-Z1 can be measured. 11 ,Y 11 Z 11 The coordinates of the target machining position are transformed to the equipment coordinate system X2-Y2-Z2 using the transformation matrix T, thus obtaining the coordinates (X, Y, Z) of the target machining position in the equipment coordinate system. 22 ,Y 22 Z 22 ); and in the workpiece coordinate system X1-Y1-Z1, measure the coordinates (X, Y, Z) of the actual machining position (X, Y, Z) of the workpiece during trial machining by the machining department. 11 ',Y 11 ',Z 11 The coordinates of the actual machining position are transformed to the equipment coordinate system X2-Y2-Z2 using the transformation matrix T, thus obtaining the coordinates (X, Y, Z) of the actual machining position in the equipment coordinate system. 22 ',Y 22 ',Z 22 '); then, calculate (X) respectively. 22 -X 22 '), (Y 22 -Y 22 '), (Z 22-Z 22 By using '), the compensation amount of the processing department can be obtained.

[0161] This invention also provides a workpiece machining method, which can be implemented based on the workpiece machining apparatus described in any of the above embodiments. The features and principles of the workpiece machining apparatus described in any of the above embodiments can be applied to the following workpiece machining method embodiments. In the following workpiece machining method embodiments, the features and principles regarding workpiece machining and deviation adjustment already explained will not be repeated.

[0162] Figure 15 The main steps of the workpiece processing method in this embodiment of the invention are shown below, with reference to Figure 5 As shown, the workpiece processing method provided in this embodiment of the invention includes:

[0163] Step S510: The workpiece being clamped is trial-processed by the machining unit to measure the actual machining position of the workpiece.

[0164] Step S520: Calculate the deviation between the actual machining position and the target machining position of the workpiece;

[0165] Step S530: Calculate the compensation amount of the machining part based on the deviation amount;

[0166] Step S540: Based on the compensation amount, control the machining department to process the workpiece.

[0167] The above-described workpiece processing method involves the machining unit performing trial processing on the clamped workpiece to accurately measure the actual machining position of the workpiece, thereby calculating the deviation between the actual machining position and the target machining position to obtain the positional deviation of the workpiece; and further calculating the compensation amount of the machining unit based on the deviation amount, so as to control the machining unit to process the workpiece according to the compensation amount, thereby realizing the compensation of the positional deviation of the workpiece through the feed adjustment of the machining unit, and achieving precise machining of the workpiece.

[0168] The above-described workpiece processing method can automatically perform position compensation for any workpiece with positional deviation, especially workpieces with compound angles, avoiding frequent manual adjustments, ensuring product processing accuracy, and improving production efficiency.

[0169] In one embodiment, the workpiece is clamped such that its main axis is at an angle to the travel direction of the machining section. By clamping the workpiece so that its main axis is at an angle to the travel direction of the machining section, it is easier to machine the composite angle shaft hole of the workpiece.

[0170] In one embodiment, measuring the actual machining position of the workpiece includes: measuring the coordinates of the trial machining area where the machining unit performs trial machining on the workpiece, based on a workpiece coordinate system constructed with the workpiece reference point, as the actual machining position. By measuring the actual machining position of the workpiece during trial machining based on the workpiece coordinate system constructed with the workpiece reference point, it is easier to subsequently determine whether there is a positional deviation between the actual machining position and the target machining position of the workpiece.

[0171] In one embodiment, the target machining position is represented based on the workpiece coordinate system. Calculating the deviation between the actual machining position and the target machining position of the workpiece includes: calculating the coordinate deviation value of the actual machining position relative to the target machining position based on each workpiece coordinate axis of the workpiece coordinate system to obtain the deviation. Therefore, based on the actual machining position and the target machining position represented by the workpiece coordinate system, the positional deviation of the workpiece in its workpiece coordinate system can be accurately calculated.

[0172] In one embodiment, the deviation is characterized based on the workpiece coordinate system associated with the workpiece, and the compensation is characterized based on the equipment coordinate system associated with the machining unit. Calculating the compensation for the machining unit based on the deviation includes: obtaining the transformation relationship between the workpiece coordinate system and the equipment coordinate system; and calculating the compensation based on the deviation based on the transformation relationship. By converting the deviation in the workpiece coordinate system to the compensation in the equipment coordinate system, it is easier to subsequently control the machining unit to compensate for the workpiece's positional deviation through its feed adjustment, thereby achieving precise machining of the workpiece.

[0173] In one embodiment, obtaining the transformation relationship between the workpiece coordinate system and the equipment coordinate system includes: controlling the machining part to move along each equipment coordinate axis of the equipment coordinate system; projecting the movement stroke of the machining part along each equipment coordinate axis onto the workpiece coordinate system to calculate the unit length of each equipment coordinate axis decomposed into the projection length of each workpiece coordinate axis in the workpiece coordinate system; and obtaining the transformation relationship based on the projection length of each equipment coordinate axis decomposed into each workpiece coordinate axis.

[0174] By controlling the movement of the machining part along each equipment coordinate axis and projecting the movement stroke of the machining part along each equipment coordinate axis onto the workpiece coordinate system, it is possible to obtain the projection length of each unit length of each equipment coordinate axis onto each workpiece coordinate axis based on vector decomposition, thereby obtaining the transformation relationship between the workpiece coordinate system and the equipment coordinate system.

[0175] In one embodiment, the workpiece coordinate system is set as X1-Y1-Z1 coordinate system, and the equipment coordinate system is set as X2-Y2-Z2 coordinate system; wherein, the Y1 axis is parallel to the main axis direction of the workpiece, and the Y2 axis makes an angle α1 with the Y1 axis; the Z2 axis is parallel to the travel direction of the processing part, and the Z1 axis makes an angle α2 with the Z2 axis, and the X1 axis makes an angle α2 with the X2 axis; the projected lengths of the unit length of the X2 axis decomposed to the X1 axis, Y1 axis, and Z1 axis are cosα2, α, and sina2, respectively; the projected lengths of the unit length of the Y2 axis decomposed to the X1 axis, Y1 axis, and Z1 axis are sina1sina2, cosα1, and sina1cosα2, respectively; the projected lengths of the unit length of the Z2 axis decomposed to the X1 axis, Y1 axis, and Z1 axis are sina1sina2, sina1, and cosα1cosα2, respectively.

[0176] Therefore, based on the angle between the coordinate axes of the workpiece coordinate system calibrated by the workpiece and the coordinate axes of the equipment coordinate system calibrated by the machining department, the projected length of each unit length of the equipment coordinate axis to each workpiece coordinate axis is obtained by vector decomposition using the Pythagorean theorem.

[0177] In one embodiment, the deviation includes coordinate deviation values ​​based on each workpiece coordinate axis; based on the transformation relationship, the compensation amount is calculated according to the deviation, including: listing a system of linear equations with coordinate compensation values ​​of each equipment coordinate axis as variables, wherein each linear equation in the system of linear equations results in a coordinate deviation value of a workpiece coordinate axis and the coefficients of each variable are the projected length of each equipment coordinate axis decomposed to the workpiece coordinate axis; solving the system of linear equations to obtain the compensation amount including coordinate compensation values ​​based on each equipment coordinate axis.

[0178] Therefore, by using the coordinate deviation of each equipment coordinate axis as a variable, the projected length of each equipment coordinate axis to the corresponding workpiece coordinate axis as the coefficient of each variable, and the coordinate deviation of the corresponding workpiece coordinate axis as the result, a system of multiple linear equations about the compensation amount can be listed. By solving this system of multiple linear equations, the compensation amount of the machining department can be obtained.

[0179] In one embodiment, controlling the machining unit to process the workpiece according to the compensation amount includes: adjusting the position of the machining unit according to the compensation amount so that the machining unit travels to the target machining position; and controlling the machining unit to process the workpiece at the target machining position. Thus, based on the compensation amount, the machining unit is first controlled to travel to the target machining position of the workpiece, and then, at the accurate target machining position, the machining unit is controlled to perform precise machining on the workpiece.

[0180] Each step in the workpiece processing method has been described in detail in the above embodiments of the workpiece processing apparatus. The specific principles and implementation processes of each step can be referred to the descriptions of the above embodiments of the workpiece processing apparatus, and will not be repeated here.

[0181] Furthermore, in one embodiment, the workpiece is a brake caliper, and the machining part is a cutting head for machining the oil inlet hole of the brake caliper; by using the workpiece machining method of the present invention, efficient and accurate machining of the compound angle oil inlet hole of the brake caliper can be achieved.

[0182] Combination Figures 2 to 14 The illustrated scenario depicts the machining of an oil inlet hole in a brake caliper. Taking the machining of a compound angle oil inlet hole in a brake caliper as an example, in a specific example, the workpiece machining method includes:

[0183] Step 1: Rotate / flip the worktable to the appropriate machining position according to the machining requirements of the composite angle oil inlet hole;

[0184] Step 2: Measure and calculate the positional deviation between the actual machining position and the target machining position of the composite angle oil inlet hole in the workpiece coordinate system X1-Y1-Z1.

[0185] Step 3: Calculate the vector influence values ​​on the X1 / Y1 / Z1 coordinate axes of each workpiece based on the unit movement vector of the equipment coordinate axis X2; calculate the vector influence values ​​on the X1 / Y1 / Z1 coordinate axes of each workpiece based on the unit movement vector of the equipment coordinate axis Y2; calculate the vector influence values ​​on the X1 / Y1 / Z1 coordinate axes of each workpiece based on the unit movement vector of the equipment coordinate axis Z2.

[0186] Step 4: Based on the position deviation in Step 2 and the vector influence of the device coordinate axes X2 / Y2 / Z2 movement unit vector in Step 3 on each workpiece coordinate axis X1 / Y1 / Z1, list a set of three linear equations for the position compensation value of each device coordinate axis.

[0187] Step 5: Solve the system of three linear equations to obtain the position compensation values ​​for the X2 / Y2 / Z2 coordinate axes of each device;

[0188] Step 6: Based on the position compensation values ​​of the X2 / Y2 / Z2 axes of each equipment, adjust the machining tool in the reverse direction to eliminate the position deviation values ​​of the X1 / Y1 / Z1 axes of each workpiece, so that the machining tool reaches the theoretical machining position of the compound angle oil inlet hole, i.e., the target machining position.

[0189] In one embodiment, the transformation relationship between the workpiece coordinate system X1-Y1-Z1 and the equipment coordinate system X2-Y2-Z2 can also be stored in a table, as shown in Table 5 above. The calculated equation coefficients are stored in an Excel table. Subsequently, whenever there is a workpiece position deviation, only the deviation values ​​of each workpiece coordinate axis X1 / Y1 / Z1 need to be entered, and the Excel table can automatically calculate the corresponding adjustment values ​​of each equipment coordinate axis X2 / Y2 / Z2. This facilitates operation and reduces unnecessary frequent adjustments. At the same time, it avoids dependence on manual experience and avoids repeated adjustments that fail to achieve the ideal state, thereby reducing labor costs, saving coordinate measuring machine resources, shortening changeover time, and greatly improving product quality and delivery capability.

[0190] The solution to the positional deviation of the brake caliper compound angle oil inlet hole of the present invention is also applicable to the positional deviation adjustment of other compound angle shaft holes, such as exhaust holes. It is convenient, quick, efficient and accurate, and far superior to the traditional method relying on human experience. It has a great effect and significance on improving factory operating efficiency and product quality.

[0191] This invention also provides a computer device assembled in the workpiece processing apparatus described in any of the above embodiments. For example, the computer device may be a control unit in the workpiece processing apparatus, or a combination of a control unit and a measuring unit, or a combination of a control unit, a computing unit, and a measuring unit, etc.

[0192] The computer device specifically includes a processor and a memory. The memory stores executable instructions. When the executable instructions are executed by the processor, they implement the workpiece processing method described in any of the above embodiments.

[0193] The computer device of the present invention can control the workpiece processing device and automatically perform position compensation for any workpiece with positional deviation, especially workpieces with compound angles, avoiding frequent manual adjustments, ensuring product processing accuracy, and improving production efficiency.

[0194] Figure 16 This is a schematic diagram of the structure of a computer device in an embodiment of the present invention. It should be understood that... Figure 16 The modules are merely shown schematically. These modules can be virtual software modules or actual hardware modules. The merging, splitting, and addition of other modules are all within the scope of protection of this invention.

[0195] like Figure 16 As shown, the computer device 600 is presented in the form of a general-purpose computing device. The components of the computer device 600 include, but are not limited to: at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different platform components (including storage unit 620 and processing unit 610), a display unit 640, etc.

[0196] The storage unit 620 stores program code, which can be executed by the processing unit 610, causing the processing unit 610 to perform the steps of the workpiece processing method described in any of the above embodiments. For example, the processing unit 610 can perform, as follows: Figure 15 The steps are shown.

[0197] Storage unit 620 may include a readable medium in the form of a volatile storage unit, such as random access memory (RAM) 6201 and / or cache memory 6202, and may further include a read-only memory (ROM) 6203.

[0198] Storage unit 620 may also include a program / utility 6204 having one or more program modules 6205, such program modules 6205 including but not limited to: operating system, one or more application programs, other program modules and program data, each or some combination of these examples may include an implementation of a network environment.

[0199] Bus 630 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0200] Computer device 600 can also communicate with one or more external devices, such as keyboards, pointing devices, Bluetooth devices, etc. These external devices enable users to interact and communicate with computer device 600. Computer device 600 can also communicate with one or more other computing devices, including routers and modems. This communication can be performed via input / output (I / O) interface 650. Furthermore, computer device 600 can communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via network adapter 660. Network adapter 660 can communicate with other modules of computer device 600 via bus 630. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with computer device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms.

[0201] This invention also provides a computer-readable storage medium configured in a workpiece processing apparatus, such as deployed in the control unit of the workpiece processing apparatus. The storage medium stores a program that, when executed, implements the workpiece processing method described in any of the above embodiments.

[0202] In some possible implementations, various aspects of the present invention can also be implemented as a program product comprising program code that, when the program product is run on a terminal device (i.e., a workpiece processing apparatus), causes the workpiece processing apparatus to perform the workpiece processing method described in any of the above embodiments.

[0203] When the storage medium of the present invention is executed by the processor, it can control the workpiece processing device and automatically perform position compensation for any workpiece with positional deviation, especially workpieces with compound angles, avoiding frequent manual adjustments, ensuring product processing accuracy, and improving production efficiency.

[0204] The storage medium may be a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the storage medium of the present invention is not limited thereto, and may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0205] The storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media include, but are not limited to: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0206] A readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying readable program code. This propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable signal medium may also be any readable medium other than a readable storage medium, capable of transmitting, propagating, or transmitting a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the readable signal medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0207] Program code for performing the operations of this invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device, for example, via the Internet using an Internet service provider.

[0208] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the scope of protection of the present invention.

Claims

1. A workpiece processing device, characterized in that, include: Clamping part, used to clamp the workpiece; A processing unit for processing the workpiece, wherein the clamping unit clamps the workpiece such that the main axis direction of the workpiece is at an angle to the travel direction of the processing unit; The measuring unit is used to measure the actual machining position of the workpiece; The control unit is used to calculate the deviation between the actual machining position and the target machining position of the workpiece, calculate the compensation amount of the machining unit based on the deviation, and control the machining unit to process the workpiece based on the compensation amount. The deviation is characterized based on the workpiece coordinate system associated with the workpiece, and the deviation includes the coordinate deviation value of each workpiece coordinate axis based on the workpiece coordinate system. The compensation is characterized based on the equipment coordinate system associated with the machining unit. The control unit calculates the compensation amount by: controlling the processing part to move along each of the equipment coordinate axes of the equipment coordinate system, and projecting the movement stroke of the processing part along each of the equipment coordinate axes onto each of the workpiece coordinate axes, to calculate the projected length of each unit length of the equipment coordinate axis onto each of the workpiece coordinate axes; obtaining the transformation relationship between the workpiece coordinate system and the equipment coordinate system based on the projected length of each unit length of the equipment coordinate axis onto each of the workpiece coordinate axes; and listing a system of linear equations with the coordinate compensation value of each of the equipment coordinate axes as variables, wherein each linear equation has a coordinate deviation value of a workpiece coordinate axis as the result and the projected length of each unit length of the equipment coordinate axis onto the workpiece coordinate axis as the coefficient of each variable; and solving the system of linear equations to obtain the compensation amount including the coordinate compensation value based on each of the equipment coordinate axes.

2. The workpiece processing apparatus as described in claim 1, characterized in that, The measuring unit is a laser measuring instrument.

3. The workpiece processing apparatus as described in claim 1, characterized in that, The measuring unit measures the actual processing position, including: Based on the workpiece coordinate system constructed with the workpiece reference point, the coordinates of the trial processing part where the machining department performs trial processing on the workpiece are measured and used as the actual processing position.

4. The workpiece processing apparatus as described in claim 3, characterized in that, The target machining position is characterized based on the workpiece coordinate system; The control unit calculates the deviation, including: Based on each workpiece coordinate axis of the workpiece coordinate system, the coordinate deviation value of the actual machining position relative to the target machining position is calculated to obtain the deviation amount.

5. The workpiece processing apparatus as described in claim 1, characterized in that, it is provided with The workpiece coordinate system is the X1-Y1-Z1 coordinate system, and the equipment coordinate system is the X2-Y2-Z2 coordinate system. Wherein, the Y1 axis is parallel to the main axis of the workpiece, and the Y2 axis makes an angle a1 with the Y1 axis; the Z2 axis is parallel to the travel direction of the processing part, and the Z1 axis makes an angle a2 with the Z2 axis, and the X1 axis makes an angle a2 with the X2 axis; The unit length of the X2 axis is decomposed into the projected lengths of the X1, Y1 and Z1 axes, respectively: cosa2, 0, sina2; The unit length of the Y2 axis is decomposed into the projected lengths of the X1, Y1 and Z1 axes as follows: sina1sina2, cosa1, sina1cosa2; The unit length of the Z2 axis is decomposed into the projected lengths of the X1, Y1, and Z1 axes as follows: cosa1sina2, sina1, cosa1cosa2.

6. The workpiece processing apparatus as described in claim 1, characterized in that, The control unit controls the processing unit to process the workpiece according to the compensation amount, including: The position of the processing unit is adjusted according to the compensation amount, so that the processing unit moves to the target processing position; The machining unit is controlled to process the workpiece at the target machining position.

7. The workpiece processing apparatus as described in claim 1, characterized in that, The control unit is a microcomputer.

8. The workpiece processing apparatus according to any one of claims 1-7, characterized in that, The workpiece is a brake caliper; The machining section is a cutting tool used to machine the oil inlet hole of the brake caliper.

9. A workpiece machining method, characterized in that, include: The workpiece is subjected to trial processing by the processing unit to measure the actual processing position of the workpiece, wherein the workpiece is clamped such that the main axis direction of the workpiece is at an angle to the travel direction of the processing unit. Calculate the deviation between the actual machining position and the target machining position of the workpiece; Calculate the compensation amount of the machining part based on the deviation amount; Based on the compensation amount, the processing unit is controlled to process the workpiece; The deviation is characterized based on the workpiece coordinate system associated with the workpiece, and the deviation includes the coordinate deviation value of each workpiece coordinate axis based on the workpiece coordinate system. The compensation is characterized based on the equipment coordinate system associated with the machining unit. The control unit calculates the compensation amount by: controlling the machining part to move along each of the equipment coordinate axes of the equipment coordinate system, and projecting the movement stroke of the machining part along each of the equipment coordinate axes onto each of the workpiece coordinate axes, to calculate the projected length of each unit length of the equipment coordinate axis onto each of the workpiece coordinate axes; obtaining the transformation relationship between the workpiece coordinate system and the equipment coordinate system based on the projected length of each unit length of the equipment coordinate axis onto each of the workpiece coordinate axes; and listing a system of linear equations with the coordinate compensation value of each of the equipment coordinate axes as variables, wherein each linear equation has a coordinate deviation value of a workpiece coordinate axis as the result and the projected length of each unit length of the equipment coordinate axis onto the workpiece coordinate axis as the coefficient of each variable; and solving the system of linear equations to obtain the compensation amount including the coordinate compensation value based on each of the equipment coordinate axes.

10. The workpiece processing method as described in claim 9, characterized in that, The measurement of the actual machining position of the workpiece includes: Based on the workpiece coordinate system constructed with the workpiece reference point, the coordinates of the trial processing part where the machining department performs trial processing on the workpiece are measured and used as the actual processing position.

11. The workpiece processing method as described in claim 10, characterized in that, The target machining position is characterized based on the workpiece coordinate system; The calculation of the deviation between the actual machining position and the target machining position of the workpiece includes: Based on each workpiece coordinate axis of the workpiece coordinate system, the coordinate deviation value of the actual machining position relative to the target machining position is calculated to obtain the deviation amount.

12. The workpiece processing method as described in claim 9, characterized in that, a The workpiece coordinate system is the X1-Y1-Z1 coordinate system, and the equipment coordinate system is the X2-Y2-Z2 coordinate system. Wherein, the Y1 axis is parallel to the main axis of the workpiece, and the Y2 axis makes an angle a1 with the Y1 axis; the Z2 axis is parallel to the travel direction of the processing part, and the Z1 axis makes an angle a2 with the Z2 axis, and the X1 axis makes an angle a2 with the X2 axis; The unit length of the X2 axis is decomposed into the projected lengths of the X1, Y1 and Z1 axes, respectively: cosa2, 0, sina2; The unit length of the Y2 axis is decomposed into the projected lengths of the X1, Y1 and Z1 axes as follows: sina1sina2, cosa1, sina1cosa2; The unit length of the Z2 axis is decomposed into the projected lengths of the X1, Y1, and Z1 axes as follows: cosa1sina2, sina1, cosa1cosa2.

13. The workpiece processing method as described in claim 9, characterized in that, The step of controlling the processing unit to process the workpiece according to the compensation amount includes: The position of the processing unit is adjusted according to the compensation amount, so that the processing unit moves to the target processing position; The machining unit is controlled to process the workpiece at the target machining position.

14. The workpiece processing method according to any one of claims 9-13, characterized in that, The workpiece is a brake caliper; The machining section is a cutting head used to machine the oil inlet hole of the brake caliper.

15. A computer device configured in a workpiece processing apparatus, characterized in that, include: processor; A memory, wherein executable instructions are stored; When the executable instructions are executed by the processor, they implement the workpiece processing method as described in any one of claims 9-14.

16. A computer-readable storage medium, disposed in a workpiece processing apparatus, for storing a program, characterized in that, When the program is executed by the processor, it implements the workpiece processing method as described in any one of claims 9-14.

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