A method, system and adjustment method for evaluating the spatial position accuracy of a numerical controller positioner in a group of numerical controller positioners

Abstract

The application discloses a kind of numerical control positioner group in numerical control positioner space position precision evaluation method, evaluation system and adjustment method, comprising: adjusting the posture of numerical control positioner, so that the X axis, Y axis of numerical control positioner is respectively parallel with the X axis, Y axis of assembly coordinate system and parallelism is within the first set threshold range;Control the mobile body of numerical control positioner moves to different target point position respectively, obtains the measured coordinate value when the mobile body moves to the different target point position, obtains the deviation between the theoretical coordinate value of the different target point position and the measured coordinate value, and the space position precision of numerical control positioner is evaluated according to the deviation.The position deviation of mobile body movement to different positions is obtained with assembly system as reference in the application, and the space position precision of numerical control positioner is evaluated by the position deviation, so that the evaluation result has good credibility and representativeness, and the problem that numerical control positioner group is difficult to effectively evaluate numerical control positioner space position precision in aircraft large component posture adjustment operation is well solved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of spatial position accuracy evaluation, and particularly relates to a spatial position accuracy evaluation method, an evaluation system and an adjustment method for a single numerical control positioner in a numerical control positioner group. BACKGROUND

[0002] With the increasingly wide application of digital technology in aircraft assembly, the assembly and manufacturing of aircraft gradually tend to be digitalized, automated and intelligentized. Numerical control positioners are widely applied to the pose assembly of aircraft major components due to their high control precision, convenience and flexibility. The precision of numerical control positioners directly affects the assembly quality of aircraft major components.

[0003] Traditional mechanical processing equipment belongs to plastic processing of parts, and the processing precision is guaranteed by the precision of a single machine tool. The workpiece coordinate system is only established on the basis of the equipment coordinate system of a single numerical control positioner. However, when assembling aircraft major components, the workpiece coordinate system needs to be established according to the assembly coordinate system. At this time, not only the motion precision of a single numerical control positioner in the equipment coordinate system needs to be guaranteed, but also the spatial position precision of the numerical control positioner in the assembly coordinate system needs to be guaranteed.

[0004] The precision adjustment and evaluation of a single numerical control positioner are usually evaluated by using conventional machine tool inspection standards, mainly including geometric precision, positioning precision, repeated positioning precision and other evaluation indexes. However, there is still a lack of evaluation method for the spatial position precision of numerical control positioners in the assembly system. SUMMARY

[0005] The application aims to provide a numerical control positioner spatial position precision evaluation method, an evaluation system and a spatial position adjustment method for a numerical control positioner group, so as to solve the problem that the spatial position precision of numerical control positioners in the assembly system is difficult to be effectively evaluated.

[0006] The application is implemented by the following technical scheme:

[0007] A numerical control positioner spatial position precision evaluation method for a numerical control positioner group, the numerical control positioner group comprising a plurality of numerical control positioners arranged on an assembly platform, the numerical control positioner comprising a moving body capable of moving along X, Y and Z axes, comprising:

[0008] S01, adjusting the attitude of the numerical control positioner, so that the X and Y axes of the numerical control positioner are parallel to the X and Y axes of the assembly coordinate system respectively, and the parallelism is within a first set threshold range;

[0009] S02, the moving body of the numerical control positioner is controlled to move to different target points respectively, measurement coordinate values when the moving body moves to different target points are obtained, deviations between theoretical coordinate values of different target points and the measurement coordinate values are obtained, and the spatial position accuracy of the numerical control positioner is evaluated according to the deviations.

[0010] The theoretical coordinate values and the actual coordinate values are coordinate values in an assembly coordinate system.

[0011] In some embodiments, the evaluating the spatial position accuracy of the numerical control positioner according to the deviations comprises: comparing the deviations with a second set threshold, and evaluating the spatial position accuracy of the numerical control positioner according to a comparison result.

[0012] In some embodiments, the target points are located on one or more diagonal lines of a motion range envelope model of the moving body of the numerical control positioner.

[0013] The motion range envelope model is a cuboid formed by outer contour trajectory lines when the moving body moves to limit positions along X-axis, Y-axis and Z-axis of a numerical control positioner coordinate system origin respectively.

[0014] In some embodiments, the target points are bisecting points of the diagonal lines.

[0015] In some embodiments, before step S01, the method further comprises a step of measuring and adjusting geometric accuracy of the numerical control positioner, the geometric accuracy of the numerical control positioner comprising straightness of X-axis, Y-axis and Z-axis of the numerical control positioner and perpendicularity between X-axis, Y-axis and Z-axis of the numerical control positioner.

[0016] The straightness of X-axis, Y-axis and Z-axis of the numerical control positioner is controlled in a third set threshold range respectively.

[0017] The perpendicularity between X-axis, Y-axis and Z-axis of the numerical control positioner is controlled in a fourth set threshold range respectively.

[0018] In some embodiments, before step S01, the method further comprises a step of measuring and adjusting positioning accuracy and repeat positioning accuracy of the numerical control positioner.

[0019] The positioning accuracy and the repeat positioning accuracy of the numerical control positioner are controlled in a fifth set threshold and a sixth set threshold range respectively.

[0020] A system for evaluating spatial position accuracy of a numerical control positioner in a group of numerical control positioners, comprising:

[0021] A control unit is configured to control a moving body of the numerical control positioner to move to a target point according to a theoretical coordinate value of the target point.

[0022] A measurement data acquisition unit is configured to acquire a measurement coordinate value of a moving body of the numerical control positioner moving to a current target point in the coordinate system.

[0023] A calculation unit is configured to calculate a deviation between the theoretical coordinate value of the current target point and the measurement coordinate value.

[0024] An evaluation unit is configured to evaluate the spatial position accuracy of the numerical control positioner according to the deviation between the theoretical coordinate value and the measurement coordinate value of each target point.

[0025] Further, the method further comprises:

[0026] A target point selection unit is configured to select a target point.

[0027] A target point theoretical coordinate value acquisition unit is configured to acquire a theoretical coordinate value of the target point in the assembly coordinate system.

[0028] Further, the target point selection unit further comprises a motion range envelope model construction unit configured to construct a motion range envelope model of the moving body of the numerical control positioner according to the motion parameters of the numerical control positioner.

[0029] A numerical control positioner spatial position adjustment method in a numerical control positioner group comprises the following steps:

[0030] L01, adjust the posture of each numerical control positioner installed on the assembly platform, so that the X-axis and the Y-axis of each numerical control positioner are respectively parallel to the X-axis and the Y-axis of the assembly coordinate system, and the parallelism is within a first set threshold range;

[0031] L02, control the moving body of the numerical control positioner to move to different target points respectively, acquire the deviation between the theoretical coordinate value and the measurement coordinate value according to the theoretical coordinate value and the measurement coordinate value of the moving body in the assembly coordinate system at different target points, and evaluate the spatial position accuracy of the numerical control positioner according to the deviation;

[0032] L03, when the spatial position accuracy of the numerical control positioner does not meet the requirements, adjust the posture of the numerical control positioner;

[0033] L04, repeat steps L02 and L03 until the spatial position accuracy of each numerical control positioner meets the requirements.

[0034] In some embodiments, before step L01, the method further comprises:

[0035] Adjust the geometric accuracy, positioning accuracy, and repeat positioning accuracy of the numerical control positioner.

[0036] The application establishes the mapping relationship between the numerical control positioner and the assembly system by adjusting the pose of the numerical control positioner in the assembly system, calculates the position deviation of the moving body of the numerical control positioner when moving to different positions under the assembly system, realizes the evaluation of the spatial position accuracy of the numerical control positioner in the assembly system through the position deviation, and solves the problem that the spatial position accuracy of the numerical control positioner group in the aircraft large component pose adjustment operation is difficult to effectively evaluate.

[0037] In the evaluation method, the motion range envelope model of the numerical control positioner is established, and the target point for evaluation is selected on the diagonal line of the motion range envelope model, so that the data amount required for evaluation can be reduced under the condition of ensuring the credibility and reliability of the evaluation result, thereby reducing the operation amount and improving the evaluation efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the application, the drawings in the embodiments will be briefly introduced as follows. It should be understood that the following drawings only show some of the embodiments of the application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0039] Figure 1 The figure is a schematic diagram of the structure of the numerical control positioner in the embodiment of the application.

[0040] Figure 2 The figure is a schematic diagram of the spatial layout of the numerical control positioner group in the embodiment of the application.

[0041] Figure 3 The figure is a schematic diagram of the corresponding relationship between the numerical control positioner coordinate system and the assembly coordinate system in the embodiment of the application.

[0042] Figure 4 The figure is a schematic diagram of the motion range envelope model of a single numerical control positioner and a target point in the embodiment of the application.

[0043] Wherein:

[0044] 1-numerical control positioner coordinate system, 2-assembly coordinate system;

[0045] 3-motor, 4-moving body, 5-numerical control positioner Z axis, 6-numerical control positioner X axis, 7-numerical control positioner Y axis, 8-numerical control positioner;

[0046] 9-origin of the numerical control positioner coordinate system, 10-equally divided point, 11-diagonal line. DETAILED DESCRIPTION

[0047] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application.

[0048] Embodiment one

[0049] The embodiment is a method for evaluating the spatial position accuracy of a numerical control positioner in a numerical control positioner group. The numerical control positioner group includes a plurality of numerical control positioners arranged on an assembly platform. The evaluation method is used to evaluate the spatial position accuracy of the numerical control positioner in the assembly system.

[0050] As shown in Figure 1 , the numerical control positioner used in the embodiment is a three-axis numerical control positioner, which includes a moving body. The moving body can move along its X-axis, Y-axis and Z-axis under the drive of a motor, so as to move to any position within the adjustment range of the numerical control positioner. The moving body is usually arranged in a ball-and-socket structure, which is connected with an aircraft major component. When the position of the moving body on the numerical control positioner is adjusted, the pose of the aircraft major component is adjusted.

[0051] The spatial position accuracy evaluation method of the numerical control positioner in the embodiment refers to Figure 2 , Figure 3 , and includes the following steps:

[0052] S001, measuring and adjusting the geometric accuracy of the numerical control positioner;

[0053] The geometric accuracy of the numerical control positioner includes the straightness of the X-axis, Y-axis and Z-axis of the numerical control positioner, and the perpendicularity between the X-axis, Y-axis and Z-axis of the numerical control positioner.

[0054] A ruler, a protractor and the like are used to detect and adjust the straightness of the X-axis, Y-axis and Z-axis of the numerical control positioner, so as to control the straightness of the X-axis, Y-axis and Z-axis of the numerical control positioner within a third set threshold range, respectively. Here, the threshold ranges of the straightness of the X-axis, Y-axis and Z-axis of the numerical control positioner are set as δ3 X , δ3 Y , δ3 Z , respectively.

[0055] A ruler, a protractor and the like are used to detect and adjust the perpendicularity between the X-axis and Y-axis, the X-axis and Z-axis, and the Y-axis and Z-axis of the numerical control positioner, so as to control the perpendicularity between the X-axis, Y-axis and Z-axis of the numerical control positioner within a fourth set threshold range, respectively. Here, the threshold ranges of the perpendicularity between the X-axis, Y-axis and Z-axis of the numerical control positioner are set as δ4 XY , δ4XZ , δ4 YZ .

[0056] S002, measuring and adjusting the positioning accuracy and the repeat positioning accuracy of the numerical control positioner;

[0057] The positioning accuracy and the repeat positioning accuracy of the moving body along the X-axis, the Y-axis and the Z-axis when moving are measured by using a laser interferometer, and the accuracy is adjusted and compensated; the positioning accuracy and the repeat positioning accuracy are evaluated by using the statistical test method for machine tool operation accuracy and positioning accuracy of VDI3441, so as to control the positioning accuracy of the numerical control positioner within the fifth set threshold range and control the repeat positioning accuracy of the numerical control positioner within the sixth set threshold range; here, the threshold range of the repeat positioning accuracy of the numerical control positioner is δ5 X , δ5 Y , δ5 Z , and the threshold range of the repeat positioning accuracy of the numerical control positioner is δ6 X , δ6 Y , δ6 Z .

[0058] The purpose of the above two steps is to ensure the accuracy of the numerical control positioner itself, and the third, fourth, fifth and sixth set thresholds are determined according to the accuracy requirement of the assembly system.

[0059] S01, numerical control positioner pose adjustment; comprising:

[0060] S011, establishing an assembly coordinate system;

[0061] Specifically, the plane of the assembly platform where the group of numerical control positioners is located is taken as the XY plane of the assembly coordinate system, the X-axis and the Y-axis of the assembly coordinate system are determined on the XY plane, and the Z-axis of the assembly coordinate system is obtained, so as to determine the origin P0(X0, Y0, Z0) of the assembly coordinate system, as shown in Figure 3 .

[0062] S012, adjusting the attitude of the numerical control positioner, so that the X-axis and the Y-axis of the numerical control positioner are respectively parallel to the X-axis and the Y-axis of the assembly coordinate system and the parallelism is within the first set threshold range;

[0063] Since the Z-axis of the three-axis numerical control positioner is perpendicular to the XY plane formed by the X-axis and the Y-axis, as long as the parallelism between the X-axis and the Y-axis of the numerical control positioner and the X-axis and the Y-axis of the assembly coordinate system is within the first set threshold range, the parallelism between the Z-axis of the numerical control positioner and the Z-axis of the assembly coordinate system can meet the requirement, that is, the parallelism between the two Z-axes does not need to be adjusted separately.

[0064] Specifically, the parallelism measurement and adjustment method between the X-axis of the numerical control positioner and the X-axis of the assembly coordinate system is:

[0065] Controlling the mobile body to move along the X-axis of the numerical control positioner from one end limit position to another end limit position, measuring the movement trajectory of the mobile body by the laser tracker and fitting it into a straight line, taking the fitted straight line as the X-axis of the numerical control positioner coordinate system, and measuring the parallelism between the X-axis of the numerical control positioner coordinate system and the X-axis of the assembly coordinate system; according to the measured parallelism, adjusting the posture of the numerical control positioner, and controlling the parallelism between the X-axis of the numerical control positioner coordinate system and the X-axis of the assembly coordinate system within a set threshold range, where the parallelism threshold range of the X-axis is set as δ1 X .

[0066] Similarly, the parallelism measurement and adjustment method between the Y-axis of the numerical control positioner and the Y-axis of the assembly coordinate system is as follows:

[0067] Controlling the mobile body to move along the Y-axis of the numerical control positioner from one end limit position to another end limit position, measuring the movement trajectory of the mobile body by the laser tracker and fitting it into a straight line, taking the fitted straight line as the Y-axis of the numerical control positioner coordinate system, and measuring the parallelism between the Y-axis of the numerical control positioner coordinate system and the Y-axis of the assembly coordinate system; according to the measured parallelism, adjusting the posture of the numerical control positioner, and controlling the parallelism between the Y-axis of the numerical control positioner coordinate system and the Y-axis of the assembly coordinate system within a set threshold range, where the parallelism threshold range of the Y-axis is set as δ1 Y .

[0068] S02, numerical control positioner space position evaluation; including:

[0069] S021, establishing a numerical control positioner mobile body movement range envelope model;

[0070] Taking the cuboid formed by the outer contour trajectory lines formed when the mobile body moves along the X-axis, Y-axis and Z-axis of the numerical control positioner coordinate system from the origin to the limit position as the numerical control positioner mobile body movement range envelope model, the established numerical control positioner mobile body movement range envelope model is as shown in Figure 4 .

[0071] S022, selecting target points in the movement range envelope model, controlling the mobile body of the numerical control positioner to move to different target points, and obtaining the measurement coordinate values when the mobile body moves to different target points;

[0072] Here, the target points for evaluation can be selected arbitrarily as needed, or the target points on the diagonal of the cuboid of the movement range envelope model can be selected, which have better representativeness in evaluation and can reduce the number of target points required in the evaluation process, thereby reducing the computational load.

[0073] In some embodiments, the following methods can be used:

[0074] AsFigure 4 As shown, four diagonal lines of the cuboid of the motion range envelope model are equally divided, diagonal line AG is equally divided into n segments, diagonal line BH is equally divided into i segments, diagonal line CE is equally divided into k segments, and diagonal line DF is equally divided into k segments.

[0075] n, i, j, and k are all natural numbers greater than 1;

[0076] The theoretical coordinate values of each of the equally divided points obtained by calculation can be respectively expressed as:

[0077] The theoretical coordinate values of the equally divided points on diagonal line AG are respectively P m _AG1(X1, Y1, Z1), P m _AG2(X2, Y2, Z2),..., P m _AG n-1 (X n-1 , Y n-1 , Z n-1 );

[0078] The theoretical coordinate values of the equally divided points on diagonal line BH are respectively P m _BH1(X1, Y1, Z1), P m _BH2(X2, Y2, Z2),..., P m _BH i-1 (X i-1 , Y i-1 , Z i-1 );

[0079] The theoretical coordinate values of the equally divided points on diagonal line CE are respectively P m _CE1(X1, Y1, Z1), P m _CE2(X2, Y2, Z2),..., P m _CE j-1 (X j-1 , Y j-1 , Z j-1 );

[0080] The theoretical coordinate values of the equally divided points on diagonal line DF are respectively P m _DF1(X1, Y1, Z1), P m _DF2(X2, Y2, Z2),..., P m _DF k-1 (X k-1 , Y k-1 , Z k-1 );

[0081] In the above expression, the subscript m represents the number of the numerical control positioner in the group of numerical control positioners.

[0082] Because these target points are located on the diagonal of the motion range envelope model of the CNC positioner's moving body, it is easy to calculate their coordinate values ​​in the CNC positioner coordinate system. By combining the established mapping relationship between the assembly coordinate system and the CNC positioner coordinate system, the theoretical coordinate values ​​of each target point in the assembly coordinate system can be obtained by converting the coordinate values ​​in the CNC positioner coordinate system into the coordinate values ​​in the assembly coordinate system.

[0083] S023. After the moving body controlled by the CNC positioner moves to the target position, the actual coordinate value of the current moving body in the assembly coordinate system is measured using a laser tracker to obtain the measured coordinate value.

[0084] Specifically, the measured coordinate values ​​corresponding to the different target points mentioned above can be expressed as follows:

[0085] P m _ag1(x1,y1,z1), P m _ag2(x2,y2,z2), ...,P m _ag n (x n ,y n ,z n );

[0086] P m _bh1(x1,y1,z1), P m _bh2(x2,y2,z2), ...,P m _bh i (x i ,y i ,z i );

[0087] P m _ce1(x1,y1,z1), P m _ce2(x2,y2,z2), ...,P m _ce j (x j ,y j ,z j );

[0088] P m _df1(x1,y1,z1), P m _df2(x2,y2,z2), ...,P m _df k (x k ,y k ,z k ).

[0089] S024. Based on the measured coordinates and theoretical coordinates of the moving body at different target points, calculate the deviation between the theoretical coordinates and the measured coordinates at different target points.

[0090] Taking the movement of the CNC positioner numbered 1 to the first equally divided point on the diagonal AG as an example, the deviation between the theoretical coordinates and the measured coordinates of this target point can be calculated using the following formula:

[0091]

[0092] The deviations for the remaining target points can be calculated using the same method. The deviations for each target point can be expressed as follows:

[0093]

[0094]

[0095]

[0096]

[0097] The deviation between the theoretical and measured coordinates of each target point on each diagonal can be represented using sets, for example:

[0098] The set of deviations on the diagonal AG is called DAG. n ={Δ1, Δ2, Δ3...Δn}; where Δ1, Δ2, Δ3...Δn represent the deviation values ​​of the 1st, 2nd, 3rd...nth points on the diagonal of AC, respectively;

[0099] The set of deviations on the diagonal BH is DBH i ={Δ1, Δ2, Δ3···Δi};

[0100] The set of deviations on the diagonal CE is DCE j ={Δ1, Δ2, Δ3···Δj};

[0101] The set of deviations on the diagonal DF is DDF. k ={Δ1, Δ2, Δ3···Δk};

[0102] S026. Evaluate the spatial positioning accuracy of the CNC positioner based on the aforementioned deviation;

[0103] Set the second threshold value to δ2, when the deviation set DAG n DBH i DCE j DDF kIf each value in the deviation set is less than the second set threshold, it indicates that the spatial position accuracy of the numerical control positioner meets the requirements; if there is a value in the deviation set greater than the second set threshold, it indicates that the spatial position accuracy of the numerical control positioner does not meet the requirements, thereby achieving the evaluation of the spatial position accuracy of the numerical control positioner in the group of numerical control positioners.

[0104] The second set threshold can be determined according to the accuracy requirement to be achieved by the assembly system. In actual application, if the assembly system does not have special accuracy requirement, setting the first set threshold to 0.2 MM / m can meet the accuracy requirement of the conventional assembly system.

[0105] Embodiment Two

[0106] The embodiment is a system for evaluating the spatial position accuracy of a numerical control positioner in a group of numerical control positioners, comprising:

[0107] A control unit is configured to control the moving body of the numerical control positioner to move to a target point according to a theoretical coordinate value of the target point.

[0108] A measurement data acquisition unit is configured to acquire a measurement coordinate value of the moving body of the numerical control positioner when moving to the target point.

[0109] A calculation unit is configured to calculate a deviation between the theoretical coordinate value and the measurement coordinate value of the target point.

[0110] An evaluation unit is configured to evaluate the spatial position accuracy of the numerical control positioner according to the deviation between the theoretical coordinate value and the measurement coordinate value of each target point.

[0111] The above units cooperate with each other to complete the evaluation of the spatial position accuracy of the numerical control positioner in the group of numerical control positioners.

[0112] In another embodiment of the present application, the system for evaluating the spatial position accuracy of the numerical control positioner in the group of numerical control positioners further comprises:

[0113] A target point selection unit is configured to select a target point.

[0114] In actual application, in order to make the target point more representative, a point on one or more diagonal lines of the envelope model of the moving range of the moving body of the numerical control positioner is selected as the target point.

[0115] Further, in order to reduce the amount of calculation, an equally divided point on the diagonal line of the envelope model of the moving range of the moving body of the numerical control positioner is selected as the target point.

[0116] A target point theoretical coordinate value acquisition unit is configured to acquire a theoretical coordinate value of the target point in the assembly coordinate system.

[0117] In another embodiment of the present application, the target point selection unit further comprises a motion range envelope model construction unit configured to construct a motion range envelope model of the moving body of the numerical controller according to the motion parameters of the numerical controller.

[0118] Embodiment three

[0119] The embodiment is a method for adjusting the spatial position of a numerical controller in a group of numerical controllers.

[0120] The method comprises the following steps:

[0121] L01: Adjust the posture of each numerical controller mounted on the assembly platform so that the X-axis and Y-axis of each numerical controller are parallel to the X-axis and Y-axis of the assembly coordinate system respectively, and the parallelism is within a first set threshold range;

[0122] L02: Control the moving body of the numerical controller to move to different target points respectively, obtain the deviation between the theoretical coordinate value and the measured coordinate value of the moving body in the assembly coordinate system at different target points according to the theoretical coordinate value and the measured coordinate value, and evaluate the spatial position accuracy of the numerical controller according to the deviation;

[0123] L03: When the spatial position accuracy of the numerical controller does not meet the requirements, adjust the posture of the numerical controller;

[0124] L04: Repeat steps L02 and L03 until the spatial position accuracy of each numerical controller meets the requirements.

[0125] In another embodiment of the present application, before step L01, the method further comprises adjusting the geometric accuracy, positioning accuracy and repeat positioning accuracy of the numerical controller.

[0126] The purpose of this step is to ensure the positioning accuracy of each numerical controller in the group of numerical controllers.

[0127] The above is only a preferred embodiment of the present application, and does not limit the application in any form. Any simple modification or equivalent change based on the technical essence of the present application to the above embodiment falls within the protection scope of the present application.

Claims

1. A method for evaluating spatial position accuracy of a numerical controller positioner in a group of numerical controller positioners, the group of numerical controller positioners including a plurality of numerical controller positioners disposed on an assembly platform, the numerical controller positioner including a moving body capable of movement along an X-axis, a Y-axis, and a Z-axis thereof, characterized by, Comprise: S001, the geometric accuracy of the numerical control positioner is measured and adjusted, the geometric accuracy of the numerical control positioner includes the straightness of the X axis, Y axis and Z axis of the numerical control positioner, and the perpendicularity between the X axis, Y axis and Z axis of the numerical control positioner; The straightness of the X axis, Y axis and Z axis of the numerical control positioner is controlled in the third set threshold range respectively; The perpendicularity between the X axis, Y axis and Z axis of the numerical control positioner is controlled in the fourth set threshold range respectively; S002, the positioning accuracy and the repeat positioning accuracy of the numerical control positioner are measured and adjusted, and the positioning accuracy and the repeat positioning accuracy of the numerical control positioner are controlled in the fifth set threshold and the sixth set threshold range respectively; S01, adjust the posture of the numerical control positioner, so that the X axis and Y axis of the numerical control positioner are parallel to the X axis and Y axis of the assembly coordinate system respectively, and the parallelism is within the first set threshold range; S02, control the moving body of the numerical control positioner to move to different target points respectively, obtain the measurement coordinate value when the moving body moves to different target points, obtain the deviation between the theoretical coordinate value and the measurement coordinate value of different target points, evaluate the spatial position accuracy of the numerical control positioner according to the deviation, and the theoretical coordinate value is obtained by coordinate conversion according to the mapping relationship between the assembly coordinate system and the numerical control positioner coordinate system through the coordinate value of the target point in the numerical control positioner coordinate system; The theoretical coordinate value and the measurement coordinate value are both coordinate values in the assembly coordinate system; Wherein, the target point is located on one or more diagonal lines of the motion range envelope model of the moving body; the motion range envelope model is a cuboid formed by the outer contour track lines of the moving body moving along the X axis, Y axis and Z axis respectively from the origin of the numerical control positioner coordinate system to the limit position; The evaluation of the spatial position accuracy of the numerical control positioner according to the deviation includes: comparing the deviation with the second set threshold, and evaluating the spatial position accuracy of the numerical control positioner according to the comparison result.

2. The method of claim 1, wherein The target point is a point of equal division of the diagonal line.

3. A system for evaluating the spatial position accuracy of a CNC positioner in a group of CNC positioners, operating with the method for evaluating the spatial position accuracy of a CNC positioner in a group of CNC positioners according to claim 1 or 2, characterized in that, Comprise: A control unit is used to control the moving body of the numerical control positioner to move to the target point according to the theoretical coordinate value of the target point; A measurement data acquisition unit is used to obtain the measurement coordinate value of the moving body of the numerical control positioner moving to the current target point; A calculation unit is used to calculate the deviation between the theoretical coordinate value and the measurement coordinate value of the current target point; An evaluation unit is used to evaluate the spatial position accuracy of the numerical control positioner according to the deviation between the theoretical coordinate value and the measurement coordinate value of each target point.

4. A system for evaluating the spatial position accuracy of CNC positioners in a group of CNC positioners according to claim 3, characterized in that, Also comprise: A target point selection unit is used to select the target point; A target point theoretical coordinate value acquisition unit is used to obtain the theoretical coordinate value of the target point in the assembly coordinate system.

5. A system for evaluating the spatial position accuracy of a CNC positioner in a group of CNC positioners according to claim 4, characterized in that, The target point selection unit further comprises a motion range envelope model construction unit, configured to construct a motion range envelope model of the moving body of the numerical control positioner according to motion parameters of the numerical control positioner.

6. A method for adjusting the spatial position of a numerically controlled positioner in a group of numerically controlled positioners, characterized in that, The method comprises the following steps: Adjusting the geometric accuracy, positioning accuracy and repeat positioning accuracy of the numerical control positioner, controlling the straightness of the X-axis, Y-axis and Z-axis of the numerical control positioner within a third set threshold range respectively, controlling the perpendicularity between the X-axis, Y-axis and Z-axis of the numerical control positioner within a fourth set threshold range respectively, and controlling the positioning accuracy and repeat positioning accuracy of the numerical control positioner within a fifth set threshold and a sixth set threshold range respectively; L01, adjusting the posture of each numerical control positioner mounted on the assembly platform so that the X-axis and Y-axis of each numerical control positioner are parallel to the X-axis and Y-axis of the assembly coordinate system with a parallelism within a first set threshold range; L02, controlling the moving body of the numerical control positioner to move to different target points, obtaining the deviation between the theoretical coordinate value and the measured coordinate value of the moving body in the assembly coordinate system at different target points, and evaluating the spatial position accuracy of the numerical control positioner according to the deviation; The target point is located on one or more diagonal lines of the motion range envelope model of the moving body of the numerical control positioner; the motion range envelope model is a cuboid formed by the outer contour trajectory lines of the moving body moving along the X-axis, Y-axis and Z-axis of the numerical control positioner coordinate system from the origin to the limit position respectively; The evaluation of the spatial position accuracy of the numerical control positioner according to the deviation comprises comparing the deviation with a second set threshold, and evaluating the spatial position accuracy of the numerical control positioner according to the comparison result; L03, when the spatial position accuracy of the numerical control positioner does not meet the requirements, adjusting the posture of the numerical control positioner; L04, repeating steps L02 and L03 until the spatial position accuracy of each numerical control positioner meets the requirements.

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