Method, device and electronic equipment for positioning the machining position of the pin hole on the bottom surface of the crankcase

Abstract

The present application provides a method, device and electronic device for positioning the processing position of the pin hole on the bottom surface of the crankcase. The method includes obtaining the theoretical B-axis of the machine tool spindle facing the bottom surface of the crankcase; determining the B-axis compensation angle according to the Z coordinate value and X coordinate value of the four corner points, and compensating the B-axis compensation angle to the B-axis; performing Z-axis rotation alignment based on the X coordinate value and Y coordinate value of the first reference pin hole and the second reference pin hole; after performing Z-axis rotation alignment, obtaining the X coordinate value and Y coordinate value of the center of the first reference pin hole measured by the machine probe, and performing zero-point translation of the coordinate system based on the X coordinate value and Y coordinate value of the center of the first reference pin hole; positioning the processing position of the pin hole on the bottom surface of the crankcase based on the processed processing coordinate system. The coordinate system obtained by B-axis alignment, Z-axis rotation alignment and zero-point translation can realize the precise positioning of the processing position of the pin hole on the bottom surface of the crankcase.

Description

Technical Field

[0001] The present application relates to the field of crankcases, and in particular, to a method, device, computer-readable storage medium and electronic device for locating a pin hole processing position on a bottom surface of a crankcase. Background Art

[0002] Generally, the crankcase is fixed to the engine bracket through the pin hole to ensure that the crankcase remains stable and does not move during the operation of the engine. In addition, the configuration of the pin hole allows the use of pins to install and remove the crankcase, making the maintenance and repair process more convenient. Furthermore, when the engine is running, vibration will be generated. The combination of the pin hole and the pin can reduce the vibration of the crankcase, thereby reducing noise and extending the service life of the engine. Therefore, the precise positioning of the pin hole processing position is particularly important.

[0003] In the current processing scheme, after the crankcase bottom surface and the reference pin hole have been processed, the pin hole on the left side of the machine body is used for positioning, and a four-axis horizontal machining center (including X-axis linear axis, Y-axis linear axis, Z-axis linear axis and B rotary axis) is used to process the non-reference pin hole on the bottom surface of the crankcase. The current positioning processing method has a large positioning error due to the inconsistency between the processing positioning reference and the product design reference, and cannot meet the crankcase bottom surface pin hole position processing requirements. Summary of the invention

[0004] The main purpose of the present application is to provide a method, device, computer-readable storage medium and electronic device for positioning the machining position of the pin hole on the bottom surface of the crankcase, so as to at least solve the problem that the current positioning machining method cannot meet the machining requirements of the pin hole position on the bottom surface of the crankcase.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a method for positioning the pin hole processing position on the bottom surface of a crankcase is provided, comprising: according to the positioning pin hole alignment fixture on the left side of the machine body, obtaining the theoretical B-axis of the machine tool spindle facing the bottom surface of the crankcase; after clamping the workpiece, controlling the B-axis of the current machining coordinate system to move to the theoretical B-axis of the posture, obtaining the Z coordinate value and the X coordinate value of the four corner points of the bottom surface of the crankcase measured by the machine probe, determining the B-axis compensation angle according to the Z coordinate value and the X coordinate value of the four corner points, and compensating the B-axis compensation angle to the theoretical B-axis of the posture; compensating the theoretical B-axis of the posture After the B axis, the X coordinate value and the Y coordinate value of the first reference pin hole and the second reference pin hole measured by the machine probe are obtained, and the Z-axis rotation alignment is performed based on the X coordinate value and the Y coordinate value of the first reference pin hole and the second reference pin hole; after the Z-axis rotation alignment, the X coordinate value and the Y coordinate value of the center of the first reference pin hole measured by the machine probe are obtained, and the coordinate system zero point translation is performed based on the X coordinate value and the Y coordinate value of the center of the first reference pin hole to obtain a processed processing coordinate system; based on the processed processing coordinate system, the pin hole processing position on the bottom surface of the crankcase is positioned.

[0006] Optionally, the four corner points are respectively a first corner point, a second corner point, a third corner point and a fourth corner point, the first corner point and the second corner point are distributed along the Y axis, the third corner point and the fourth corner point are distributed along the Y axis, the first corner point and the third corner point are distributed along the X axis, the second corner point and the fourth corner point are distributed along the X axis, and the B-axis compensation angle is determined according to the Z coordinate values ​​and the X coordinate values ​​of the four corner points, including: obtaining an average value of the Z coordinate value of the first corner point and the Z coordinate value of the second corner point to obtain a first average value; obtaining an average value of the Z coordinate value of the third corner point and the Z coordinate value of the fourth corner point to obtain a second average value; obtaining Take a first X-direction movement value between the first corner point and the third corner point, or a second X-direction movement value between the second corner point and the fourth corner point, wherein the first X-direction movement value is a difference between the X-coordinate values ​​of the first corner point and the third corner point, and wherein the second X-direction movement value is a difference between the X-coordinate values ​​of the second corner point and the fourth corner point; determine the B-axis compensation angle according to the function R1=ATAN2(H2-H1, L1), wherein R1 represents the B-axis compensation angle, H2 represents the second average value, H1 represents the first average value, and L1 represents the first X-direction movement value or the second X-direction movement value.

[0007] Optionally, Z-axis rotation alignment is performed based on the X-coordinate value and Y-coordinate value of the first reference pin hole and the second reference pin hole, including: determining a C-axis rotation angle R4 according to function R2=ATAN2(X2-X1, Y2-Y1), function R3=ATAN2(L2, L3), and function R4=R3- R2, wherein the C-axis rotation angle represents an angle of rotation around the Z-axis, wherein X1, X2, Y1, and Y2 represent the X-coordinate value of the first reference pin hole, the X-coordinate value of the second reference pin hole, the Y-coordinate value of the first reference pin hole, and the Y-coordinate value of the second reference pin hole, respectively, L2 represents the distance between the first reference pin hole and the second reference pin hole along the X direction in an ideal state, and L3 represents the distance between the first reference pin hole and the second reference pin hole along the Y direction in an ideal state.

[0008] Optionally, the coordinate system zero point is translated based on the X-coordinate value and the Y-coordinate value of the center of the first reference pin hole, including: after the Z-axis rotation alignment, the zero point of the current machining coordinate system is translated to the center of the first reference pin hole based on the X-coordinate value and the Y-coordinate value of the center of the first reference pin hole.

[0009] Optionally, after determining the B-axis compensation angle according to the Z coordinate values ​​and X coordinate values ​​of the four corner points, and before obtaining the X coordinate values ​​and Y coordinate values ​​of the first reference pin hole and the second reference pin hole measured by the machine probe, the method further includes: obtaining the Z coordinate value of the first center point, wherein the first center point is the midpoint of a line connecting the first corner point and the third corner point, and the second center point is the midpoint of a line connecting the second corner point and the fourth corner point; obtaining the difference between the Z coordinate value of the first center point and the Z coordinate value of the second center point; if the absolute value of the difference is greater than a preset difference, it is determined that the workpiece is incorrectly clamped or the verticality of the bottom surface and the left surface of the assembled workpiece is out of tolerance.

[0010] Optionally, if the absolute value of the difference is greater than a preset difference, it is determined that the workpiece is incorrectly clamped or the verticality between the bottom surface and the left surface of the workpiece after assembly is out of tolerance, the method also includes: generating a prompt message, the prompt message is used to prompt to suspend processing of the workpiece, wherein the prompt message is represented by voice information or text information or indicator light.

[0011] Optionally, the first reference pin hole and the second reference pin hole are distributed diagonally, and there are two positioning pin holes, namely a first positioning pin hole and a second positioning pin hole, and the first positioning pin hole and the second positioning pin hole are distributed diagonally.

[0012] According to another aspect of the present application, a positioning device for the pin hole processing position on the bottom surface of a crankcase is provided, comprising: an alignment unit, used for aligning a fixture according to the positioning pin hole on the left side of a machine body, and obtaining a theoretical B-axis of the machine tool spindle facing the bottom surface of the crankcase; a first processing unit, used for controlling the B-axis of the current machining coordinate system to move to the theoretical B-axis of the attitude after clamping the workpiece, obtaining the Z coordinate value and the X coordinate value of the four corner points of the bottom surface of the crankcase measured by the machine probe, determining the B-axis compensation angle according to the Z coordinate value and the X coordinate value of the four corner points, and compensating the B-axis compensation angle to the theoretical B-axis of the attitude; a second processing unit, used for compensating the theoretical B-axis of the attitude After the B axis, the X coordinate value and the Y coordinate value of the first reference pin hole and the second reference pin hole measured by the machine probe are obtained, and the Z-axis rotation alignment is performed based on the X coordinate value and the Y coordinate value of the first reference pin hole and the second reference pin hole; the third processing unit is used to obtain the X coordinate value and the Y coordinate value of the center of the first reference pin hole measured by the machine probe after the Z-axis rotation alignment, and perform a coordinate system zero point translation based on the X coordinate value and the Y coordinate value of the center of the first reference pin hole to obtain a processed processing coordinate system; the positioning unit is used to position the pin hole processing position on the bottom surface of the crankcase based on the processed processing coordinate system.

[0013] According to another aspect of the present application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein when the program is run, the device where the computer-readable storage medium is located is controlled to execute any one of the methods for positioning the processing position of the pin hole on the bottom surface of the crankcase.

[0014] According to another aspect of the present application, an electronic device is provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include a method for executing any one of the positioning methods for the machining position of the pin hole on the bottom surface of the crankcase.

[0015] By applying the technical solution of the present application, the theoretical B-axis of the machine tool spindle facing the bottom surface of the crankcase is obtained by aligning the fixture according to the positioning pin hole on the left side of the machine body, and after the workpiece is clamped, the B-axis of the current machining coordinate system is controlled to move to the theoretical B-axis, and the Z coordinate values ​​and X coordinate values ​​of the four corner points of the bottom surface of the crankcase measured by the machine probe are obtained, and the B-axis compensation angle is determined according to the Z coordinate values ​​and X coordinate values ​​of the four corner points, and the B-axis compensation angle is compensated to the B-axis, and after compensating the B-axis, the X coordinate values ​​and Y coordinate values ​​of the first reference pin hole and the second reference pin hole measured by the machine probe are obtained, and the Z-axis rotation alignment is performed based on the X coordinate values ​​and Y coordinate values ​​of the first reference pin hole and the second reference pin hole; and after the Z-axis rotation alignment is performed, the X coordinate value and Y coordinate value of the center of the first reference pin hole measured by the machine probe are obtained, and the coordinate system zero point translation is performed based on the X coordinate value and Y coordinate value of the center of the first reference pin hole, so as to obtain the processed machining coordinate system. The solution of the present application obtains a processed machining coordinate system through B-axis alignment, B-axis compensation, Z-axis alignment and zero-point translation, and locates the machining position of the pin hole on the bottom surface of the crankcase based on the processed machining coordinate system. Based on the processed machining coordinate system, accurate positioning of the machining position of the pin hole on the bottom surface of the crankcase is achieved with low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0017] Figure 1 A hardware structure block diagram of a mobile terminal for executing a method for locating a pin hole processing position on a bottom surface of a crankcase provided in an embodiment of the present application is shown;

[0018] Figure 2 A schematic flow chart of a method for locating a pin hole machining position on a bottom surface of a crankcase provided in accordance with an embodiment of the present application is shown;

[0019] Figure 3 A schematic diagram of the position of a processing element provided according to an embodiment of the present application is shown;

[0020] Figure 4 A flow chart for determining a B-axis compensation angle provided according to an embodiment of the present application is shown;

[0021] Figure 5 A schematic diagram of workpiece quality identification provided according to an embodiment of the present application is shown;

[0022] Figure 6 A structural block diagram of a positioning device for machining a pin hole on a bottom surface of a crankcase provided in accordance with an embodiment of the present application is shown.

[0023] The above drawings include the following reference numerals:

[0024] 01. First positioning pin hole; 02. Second positioning pin hole; 03. First reference pin hole; 04. Second reference pin hole; 05. First corner point; 06. Second corner point; 07. Third corner point; 08. Fourth corner point; 09. First center point; 10. Second center point; 11. First pin hole to be processed; 12. Second pin hole to be processed; 13. Third pin hole to be processed; 14. Cylinder hole; 15. Engine body; 16. Crankshaft hole; 17. Crankcase; 18. Crankcase bottom. DETAILED DESCRIPTION

[0025] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0026] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] As introduced in the background technology, the positioning processing method in the prior art cannot meet the positioning processing requirements of the pin hole position on the bottom surface of the crankcase. In order to solve the problem that the positioning processing method cannot meet the positioning processing requirements of the pin hole position on the bottom surface of the crankcase, the embodiments of the present application provide a positioning method, device, computer-readable storage medium and electronic device for the pin hole processing position on the bottom surface of the crankcase.

[0029] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0030] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 1 is a hardware structure block diagram of a mobile terminal for positioning a crankcase bottom pin hole processing position according to an embodiment of the present invention. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0031] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the method for positioning the pin hole processing position on the bottom surface of the crankcase in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The transmission device 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0032] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0033] In this embodiment, a method for locating the processing position of the pin hole on the bottom surface of a crankcase running on a mobile terminal, a computer terminal or a similar computing device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and, although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0034] Figure 2 1 is a flow chart of a method for locating the pin hole processing position on the bottom surface of a crankcase according to an embodiment of the present application. Figure 2 As shown, the method comprises the following steps:

[0035] Step S201, aligning the fixture according to the positioning pin hole on the left side of the machine body, and obtaining the theoretical B-axis of the machine tool spindle facing the bottom of the crankcase;

[0036] See Figure 3 There are two positioning pin holes on the left side of the machine body, namely the first positioning pin hole 01 and the second positioning pin hole 02, and Figure 3 The first positioning pin hole 01 and the second positioning pin hole 02 are distributed diagonally.

[0037] In actual application, the first positioning pin hole and the second positioning pin hole may not be distributed in a strict diagonal sense, but the first positioning pin hole and the second positioning pin hole are located at different ends of the left side of the body;

[0038] Step S202, after clamping the workpiece, control the B axis of the current machining coordinate system to move to the posture theoretical B axis, obtain the Z coordinate values ​​and X coordinate values ​​of the four corner points of the bottom surface of the crankcase measured by the machine probe, determine the B axis compensation angle according to the Z coordinate values ​​and X coordinate values ​​of the four corner points, and compensate the B axis compensation angle to the posture theoretical B axis;

[0039] Step S203, after compensating the theoretical B axis of the posture, obtain the X coordinate value and the Y coordinate value of the first reference pin hole and the second reference pin hole measured by the machine probe, and perform Z-axis rotation alignment based on the X coordinate value and the Y coordinate value of the first reference pin hole and the second reference pin hole;

[0040] Figure 3 As shown, the first reference pin hole 03 and the second reference pin hole 04 are distributed diagonally.

[0041] In practical applications, the first reference pin hole and the second reference pin hole may not be distributed in a strict diagonal sense, but the first reference pin hole and the second reference pin hole are located at two ends of the bottom surface of the crankcase.

[0042] Step S204, after Z-axis rotation alignment, obtain the X coordinate value and Y coordinate value of the center of the first reference pin hole measured by the machine probe, perform zero point translation of the coordinate system based on the X coordinate value and Y coordinate value of the center of the first reference pin hole, and obtain a processed machining coordinate system;

[0043] Step S205: positioning the pin hole processing position on the bottom surface of the crankcase based on the processed processing coordinate system.

[0044] The positioning method for the pin hole processing position on the bottom surface of the crankcase as described above is to obtain the theoretical B-axis of the machine tool spindle facing the bottom surface of the crankcase by aligning the fixture according to the positioning pin hole on the left side of the machine body, and after clamping the workpiece, the B-axis of the current machining coordinate system is controlled to move to the theoretical B-axis, and the Z coordinate value and X coordinate value of the four corner points of the bottom surface of the crankcase measured by the machine probe are obtained, and the B-axis compensation angle is determined according to the Z coordinate value and X coordinate value of the four corner points, and the B-axis compensation angle is compensated to the B-axis, and after compensating the B-axis, the X coordinate value and Y coordinate value of the first reference pin hole and the second reference pin hole measured by the machine probe are obtained, and the Z-axis rotation alignment is performed based on the X coordinate value and Y coordinate value of the first reference pin hole and the second reference pin hole; and after the Z-axis rotation alignment is performed, the X coordinate value and Y coordinate value of the center of the first reference pin hole measured by the machine probe are obtained, and the coordinate system zero point translation is performed based on the X coordinate value and Y coordinate value of the center of the first reference pin hole, so as to obtain the processed machining coordinate system. The solution of the present application obtains a processed machining coordinate system through B-axis alignment, B-axis compensation, Z-axis alignment and zero-point translation, and locates the machining position of the pin hole on the bottom surface of the crankcase based on the processed machining coordinate system, and realizes accurate positioning of the machining position of the pin hole on the bottom surface of the crankcase based on the processed machining coordinate system with low cost. It also minimizes human involvement, has high work efficiency and high reliability.

[0045] Furthermore, the four corner points are respectively a first corner point, a second corner point, a third corner point and a fourth corner point, the first corner point and the second corner point are distributed along the Y axis, the third corner point and the fourth corner point are distributed along the Y axis, the first corner point and the third corner point are distributed along the X axis, and the second corner point and the fourth corner point are distributed along the X axis, such as Figure 4 As shown, the B-axis compensation angle is determined according to the Z coordinate values ​​and X coordinate values ​​of the four corner points, including:

[0046] Step S401, obtaining an average value of the Z coordinate value of the first corner point and the Z coordinate value of the second corner point to obtain a first average value;

[0047] Step S402, obtaining an average value of the Z coordinate value of the third corner point and the Z coordinate value of the fourth corner point to obtain a second average value;

[0048] See Figure 3 , the first corner point 05, the second corner point 06, the third corner point 07 and the fourth corner point 08 are located at the four corners of the bottom surface of the crankcase;

[0049] Step S403, obtaining a first X-direction movement value between the first corner point and the third corner point, or a second X-direction movement value between the second corner point and the fourth corner point, wherein the first X-direction movement value is a difference between the X-coordinate values ​​of the first corner point and the third corner point, and wherein the second X-direction movement value is a difference between the X-coordinate values ​​of the second corner point and the fourth corner point;

[0050] Step S404, determining the B-axis compensation angle according to the function R1=ATAN2(H2-H1, L1), wherein R1 represents the B-axis compensation angle, H2 represents the second average value, H1 represents the first average value, and L1 represents the first X-direction movement value or the second X-direction movement value.

[0051] That is, the B-axis compensation angle is determined according to the Z coordinate values ​​and X coordinate values ​​of the four corner points to achieve compensation for the B-axis.

[0052] In a specific implementation, Z-axis rotation alignment is performed based on the X-coordinate value and the Y-coordinate value of the first reference pin hole and the second reference pin hole, including:

[0053] The C-axis rotation angle R4 is determined according to the function R2=ATAN2(X2-X1, Y2-Y1), the function R3=ATAN2(L2, L3), and the function R4=R3-R2. The C-axis rotation angle represents the angle of rotation around the Z axis, wherein X1, X2, Y1, and Y2 represent the X coordinate value of the first reference pin hole, the X coordinate value of the second reference pin hole, the Y coordinate value of the first reference pin hole, and the Y coordinate value of the second reference pin hole, respectively. L2 represents the distance between the first reference pin hole and the second reference pin hole along the X direction under an ideal state, and L3 represents the distance between the first reference pin hole and the second reference pin hole along the Y direction under an ideal state. The distance under an ideal state is the distance obtained by calibration.

[0054] In a specific implementation, the zero point translation of the coordinate system is performed based on the X coordinate value and the Y coordinate value of the center of the first reference pin hole, including: after Z-axis rotation alignment, the zero point of the current processing coordinate system is translated to the center of the first reference pin hole based on the X coordinate value and the Y coordinate value of the center of the first reference pin hole. That is, after Z-axis rotation alignment is achieved, the zero point translation step is performed to obtain a more accurate processing coordinate system, which is convenient for subsequent positioning of the pin hole.

[0055] In addition, after determining the B-axis compensation angle according to the Z coordinate values ​​and X coordinate values ​​of the four corner points, and before obtaining the X coordinate values ​​and Y coordinate values ​​of the first reference pin hole and the second reference pin hole measured by the machine probe, as Figure 5 As shown, the method also includes:

[0056] Step S501, obtaining a Z coordinate value of a first center point and a Z coordinate value of a second center point, wherein the first center point is the midpoint of a line connecting the first corner point and the third corner point, and the second center point is the midpoint of a line connecting the second corner point and the fourth corner point;

[0057] Step S502, obtaining the difference between the Z coordinate value of the first center point and the Z coordinate value of the second center point;

[0058] Figure 3 A first center point 09 and a second center point 10 are shown. Figure 3 Also shown are three pin holes to be processed: a first pin hole 11 to be processed, a second pin hole 12 to be processed, and a third pin hole 13 to be processed;

[0059] Figure 3 Also shown are the cylinder bore 14, the engine block 15, the crankshaft bore 16, the crankcase 17, and the crankcase bottom surface 18.

[0060] Step S503: If the absolute value of the difference is greater than the preset difference, it is determined that the workpiece is incorrectly clamped or the verticality between the bottom surface and the left side surface of the assembled workpiece exceeds the tolerance.

[0061] Specifically, the preset difference value may be set to 0.05, and of course the preset difference value may be adjusted according to actual processing requirements.

[0062] That is, after B-axis compensation and before Z-axis rotation alignment, determine whether the quality of the workpiece meets the requirements.

[0063] Furthermore, if the absolute value of the difference is greater than the preset difference, it is determined that the workpiece is incorrectly clamped or the verticality between the bottom surface and the left surface of the assembled workpiece exceeds the tolerance, the method further includes: generating a prompt message, the prompt message is used to prompt the suspension of processing of the workpiece, wherein the prompt message is represented by voice information or text information or indicator light. That is, the operator is reminded that the quality of the workpiece does not meet the requirements and the processing is no longer continued.

[0064] In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the implementation process of the method for locating the pin hole processing position on the bottom surface of the crankcase of the present application will be described in detail below in combination with specific embodiments.

[0065] This embodiment relates to a specific method for positioning the pin hole processing position on the bottom surface of the crankcase, including the following steps. Figure 3 :

[0066] Step S1: aligning the fixture according to the relative sizes of the first positioning pin hole 01 and the second positioning pin hole 02 to obtain the theoretical B-axis of the machine tool spindle facing the bottom surface of the crankcase;

[0067] Step S2: After clamping the workpiece, run the CNC machining program to the theoretical B-axis posture of the bottom surface of the crankcase, and use the on-machine probe to measure the Z values ​​of the first corner point 05, the second corner point 06, the third corner point 07, and the fourth corner point 08 of the bottom surface of the crankcase respectively. The average Z value of the first corner point 05 and the second corner point 06 is R128, and the average Z value of the third corner point 07 and the fourth corner point 08 is R132. The difference between R132 and R128 and the X-direction movement value L1 are used to establish the trigonometric function of the corrected B-axis angle, and the compensated B-axis angle is calculated to be R119=ATAN2(R132-R128, L1).

[0068] Step S3: Run the coordinate system subroutine to compensate R119 to the B axis of the machining coordinate system. The current machining coordinate system has aligned the B axis based on the crankcase bottom surface measurement value;

[0069] Step S4: measuring the Z values ​​of the first center point 09 and the second center point 10 of the bottom surface of the crankcase on the machine respectively, and comparing the Z values ​​of the two points. If the difference is greater than 0.05, it indicates that the workpiece is incorrectly clamped or the verticality between the bottom surface and the left side surface of the assembled workpiece exceeds the tolerance;

[0070] Step S5: measuring the first reference pin hole 03 on the machine to obtain the X coordinate R100 and the Y coordinate R101 of the center of the pin hole; measuring the second reference pin hole 04 on the machine to obtain the X coordinate R104 and the Y coordinate R105 of the center of the pin hole;

[0071] Step S6: Based on the above measured values, the angle R108=ATAN2 (R104-R100, R105-R101) between the line connecting the first reference pin hole 03 and the second reference pin hole 04 of the workpiece and the positive X direction can be calculated. Based on the relative dimensions L2 and L3 in the X and Y directions of the first reference pin hole 03 and the second reference pin hole 04 at their ideal positions, the theoretical angle R109=ATAN2 (L2, L3) between the line connecting the first reference pin hole 03 and the second reference pin hole 04 and the L2 direction can be calculated. In order to achieve the requirement of Φ0.06 for the machining position accuracy of the first pin hole 11 to be machined, the second pin hole 12 to be machined, and the third pin hole 13 to be machined, a machining coordinate system needs to be established based on the first reference pin hole and the second reference pin hole, and Z-axis rotation alignment is performed based on the difference between R108 and R109.

[0072] Step S7: the current machining coordinate system has aligned the B axis and completed the rotation alignment of the machining coordinate system around the Z axis according to the relative sizes of the first reference pin hole 03 and the second reference pin hole 04;

[0073] Step S8: Measure the first reference pin hole 03 on the machine in the current machining coordinate system to obtain the center X coordinate R102 and Y coordinate R103 of the first reference pin hole 03. The zero point of the workpiece coordinate system is translated to the center of the first reference pin hole 03. At this time, the machining coordinate system has undergone B-axis alignment, rotation alignment around the Z axis, and coordinate system zero point translation based on the first reference pin hole 03.

[0074] Using the workpiece coordinate system measured and compensated on the machine to machine the pin hole on the bottom surface of the crankcase can eliminate the influence of the positioning error on the machining accuracy and achieve the requirement of the reference position accuracy of the pin hole to be machined relative to the reference pin hole of Φ0.06.

[0075] The processing scheme of the crankcase bottom pin hole of the present application is applied to a 4-axis horizontal machining center, realizing the automatic alignment of the 4-axis horizontal machining center with 5 degrees of freedom (X-axis linear axis, Y-axis linear axis, Z-axis linear axis, B-rotation axis, C-rotation axis). It should be noted that in the art, the rotation around the X-axis is called the A-axis rotation, the rotation around the Y-axis is called the B-axis rotation, and the rotation around the Z-axis is called the C-axis rotation.

[0076] The embodiment of the present application also provides a positioning device for the pin hole processing position on the bottom surface of the crankcase. It should be noted that the positioning device for the pin hole processing position on the bottom surface of the crankcase in the embodiment of the present application can be used to execute the positioning method for the pin hole processing position on the bottom surface of the crankcase provided in the embodiment of the present application. The device is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware for a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0077] The following is an introduction to the positioning device for machining the pin hole on the bottom surface of the crankcase provided in an embodiment of the present application.

[0078] Figure 6 Schematic diagram of a positioning device for machining a pin hole on the bottom surface of a crankcase according to an embodiment of the present application. Figure 6 As shown, the device comprises:

[0079] The alignment unit 61 is used to align the fixture according to the positioning pin hole on the left side of the machine body to obtain the theoretical B-axis posture of the machine tool spindle facing the bottom surface of the crankcase;

[0080] The first processing unit 62 is used to control the B axis of the current machining coordinate system to move to the posture theoretical B axis after clamping the workpiece, obtain the Z coordinate values ​​and X coordinate values ​​of the four corner points of the bottom surface of the crankcase measured by the machine probe, determine the B axis compensation angle according to the Z coordinate values ​​and X coordinate values ​​of the four corner points, and compensate the B axis compensation angle to the B axis;

[0081] The second processing unit 63 is used to obtain the X coordinate value and the Y coordinate value of the first reference pin hole and the second reference pin hole measured by the machine probe after compensating the B axis, and perform Z-axis rotation alignment based on the X coordinate value and the Y coordinate value of the first reference pin hole and the second reference pin hole;

[0082] The third processing unit 64 is used to obtain the X coordinate value and the Y coordinate value of the center of the first reference pin hole measured by the machine probe after Z-axis rotation alignment, and perform zero point translation of the coordinate system based on the X coordinate value and the Y coordinate value of the center of the first reference pin hole to obtain a processed machining coordinate system;

[0083] The positioning unit 65 is used to locate the processing position of the pin hole on the bottom surface of the crankcase based on the processed processing coordinate system.

[0084] The positioning device for the pin hole processing position on the bottom surface of the crankcase of the present application, the alignment unit aligns the fixture of the positioning pin hole on the left side of the machine body, obtains the theoretical B-axis posture of the machine tool spindle facing the bottom surface of the crankcase, and after the first processing unit clamps the workpiece, controls the B-axis of the current processing coordinate system to move to the theoretical B-axis posture, obtains the Z coordinate value and X coordinate value of the four corner points of the bottom surface of the crankcase measured by the machine probe, determines the B-axis compensation angle according to the Z coordinate value and X coordinate value of the four corner points, and compensates the B-axis compensation angle to the B-axis. After the second processing unit compensates the B-axis, it obtains the Z coordinate value and X coordinate value of the four corner points measured by the machine probe. The X-coordinate value and Y-coordinate value of the first reference pin hole and the second reference pin hole, and Z-axis rotation alignment is performed based on the X-coordinate value and Y-coordinate value of the first reference pin hole and the second reference pin hole; after the third processing unit performs Z-axis rotation alignment, the X-coordinate value and Y-coordinate value of the center of the first reference pin hole measured by the machine probe are obtained, and the coordinate system zero point translation is performed based on the X-coordinate value and Y-coordinate value of the center of the first reference pin hole to obtain a processed processing coordinate system, and the positioning unit locates the processing position of the pin hole on the bottom surface of the crankcase based on the processed processing coordinate system. The solution of the present application obtains a processed processing coordinate system through B-axis alignment, B-axis compensation, Z-axis alignment and zero point translation, and realizes accurate positioning of the processing position of the pin hole on the bottom surface of the crankcase based on the processed processing coordinate system at a low cost.

[0085] In an optional embodiment, the four corner points are respectively a first corner point, a second corner point, a third corner point and a fourth corner point, the first corner point and the second corner point are distributed along the Y axis, the third corner point and the fourth corner point are distributed along the Y axis, the first corner point and the third corner point are distributed along the X axis, and the second corner point and the fourth corner point are distributed along the X axis, the first processing unit includes a first acquisition module, a second acquisition module, a third acquisition module and a determination module, the first acquisition module is used to obtain the average value of the Z coordinate value of the first corner point and the Z coordinate value of the second corner point to obtain a first average value; the second acquisition module is used to obtain the average value of the Z coordinate value of the third corner point and the Z coordinate value of the fourth corner point to obtain a second average value The third acquisition module is used to obtain a first X-direction movement value between the first corner point and the third corner point, or a second X-direction movement value between the second corner point and the fourth corner point, wherein the first X-direction movement value is the difference between the X-coordinate values ​​of the first corner point and the third corner point, and wherein the second X-direction movement value is the difference between the X-coordinate values ​​of the second corner point and the fourth corner point; the determination module is used to determine the B-axis compensation angle according to the function R1=ATAN2(H2-H1, L1), wherein R1 represents the B-axis compensation angle, H2 represents the second average value, H1 represents the first average value, and L1 represents the first X-direction movement value or the second X-direction movement value.

[0086] In an optional embodiment, the second processing unit includes an alignment module, which is used to perform Z-axis rotation alignment based on the X-coordinate value and Y-coordinate value of the first reference pin hole and the second reference pin hole. The alignment module is specifically implemented by determining the C-axis rotation angle according to the function R2=ATAN2(X2-X1, Y2-Y1), and the C-axis rotation angle represents the angle of rotation around the Z-axis, wherein X1, X2, Y1, and Y2 represent the X-coordinate value of the first reference pin hole, the X-coordinate value of the second reference pin hole, the Y-coordinate value of the first reference pin hole, and the Y-coordinate value of the second reference pin hole, respectively.

[0087] In an optional embodiment, the third processing unit includes a translation module, which is used to translate the zero point of the coordinate system based on the X-coordinate value and the Y-coordinate value of the center of the first reference pin hole. The translation module is specifically implemented by translating the zero point of the current processing coordinate system to the center of the first reference pin hole based on the X-coordinate value and the Y-coordinate value of the center of the first reference pin hole after Z-axis rotation and alignment.

[0088] In an optional embodiment, the device also includes a first acquisition unit, a second acquisition unit and a determination unit, the first acquisition unit being used to acquire the Z coordinate value of the first center point and the Z coordinate value of the second center point after determining the B-axis compensation angle according to the Z coordinate value and the X coordinate value of the four corner points and before acquiring the X coordinate value and the Y coordinate value of the first reference pin hole and the second reference pin hole measured by the machine probe, wherein the first center point is the midpoint of the line connecting the first corner point and the third corner point, and the second center point is the midpoint of the line connecting the second corner point and the fourth corner point; the second acquisition unit is used to acquire the difference between the Z coordinate value of the first center point and the Z coordinate value of the second center point; the determination unit is used to determine that the workpiece is incorrectly clamped or the verticality of the bottom surface and the left surface of the assembled workpiece is out of tolerance if the absolute value of the difference is greater than a preset difference.

[0089] In an optional embodiment, the device also includes a generation unit, which is used to generate a prompt message after determining that the workpiece is incorrectly clamped or the verticality between the bottom surface and the left surface of the workpiece after assembly is out of tolerance if the absolute value of the difference is greater than a preset difference. The prompt message is used to prompt to suspend processing of the workpiece, wherein the prompt message is represented by voice information, text information or indicator light.

[0090] In an optional embodiment, the first reference pin hole and the second reference pin hole are distributed diagonally, there are two positioning pin holes, namely the first positioning pin hole and the second positioning pin hole, and the first positioning pin hole and the second positioning pin hole are distributed diagonally.

[0091] The positioning device for machining the pin hole on the bottom surface of the crankcase includes a processor and a memory. The alignment unit, the first processing unit, the second processing unit, the third processing unit and the positioning unit are all stored in the memory as program units, and the processor executes the program units stored in the memory to realize the corresponding functions. The modules are all located in the same processor; or, the modules are located in different processors in any combination.

[0092] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the precise positioning of the pin hole processing position on the bottom surface of the axle box can be achieved by adjusting the kernel parameters.

[0093] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0094] An embodiment of the present invention provides an electronic device, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include a method for executing any one of the positioning methods for the pin hole processing position on the bottom surface of the crankcase.

[0095] An embodiment of the present invention provides a computer-readable storage medium, which includes a stored program, wherein when the program is run, the device where the computer-readable storage medium is located is controlled to execute a method for locating a pin hole processing position on a bottom surface of a crankcase.

[0096] Specifically, the method for locating the pin hole processing position on the bottom surface of the crankcase includes:

[0097] Step S201, aligning the fixture according to the positioning pin hole on the left side of the machine body, and obtaining the theoretical B-axis of the machine tool spindle facing the bottom of the crankcase;

[0098] Step S202, after clamping the workpiece, control the B axis of the current machining coordinate system to move to the posture theoretical B axis, obtain the Z coordinate values ​​and X coordinate values ​​of the four corner points of the bottom surface of the crankcase measured by the machine probe, determine the B axis compensation angle according to the Z coordinate values ​​and X coordinate values ​​of the four corner points, and compensate the B axis compensation angle to the B axis;

[0099] Step S203, after compensating the B axis, obtaining the X coordinate value and the Y coordinate value of the first reference pin hole and the second reference pin hole measured by the machine probe, and performing Z-axis rotation alignment based on the X coordinate value and the Y coordinate value of the first reference pin hole and the second reference pin hole;

[0100] Step S204, after Z-axis rotation alignment, obtain the X coordinate value and Y coordinate value of the center of the first reference pin hole measured by the machine probe, perform zero point translation of the coordinate system based on the X coordinate value and Y coordinate value of the center of the first reference pin hole, and obtain a processed machining coordinate system;

[0101] Step S205: positioning the pin hole processing position on the bottom surface of the crankcase based on the processed processing coordinate system.

[0102] An embodiment of the present invention provides a processor, which is used to run a program, wherein a method for locating a pin hole processing position on a bottom surface of a crankcase is executed when the program is run.

[0103] Step S201, aligning the fixture according to the positioning pin hole on the left side of the machine body, and obtaining the theoretical B-axis of the machine tool spindle facing the bottom of the crankcase;

[0104] Step S202, after clamping the workpiece, control the B axis of the current machining coordinate system to move to the posture theoretical B axis, obtain the Z coordinate values ​​and X coordinate values ​​of the four corner points of the bottom surface of the crankcase measured by the machine probe, determine the B axis compensation angle according to the Z coordinate values ​​and X coordinate values ​​of the four corner points, and compensate the B axis compensation angle to the B axis;

[0105] Step S203, after compensating the B axis, obtaining the X coordinate value and the Y coordinate value of the first reference pin hole and the second reference pin hole measured by the machine probe, and performing Z-axis rotation alignment based on the X coordinate value and the Y coordinate value of the first reference pin hole and the second reference pin hole;

[0106] Step S204, after Z-axis rotation alignment, obtain the X coordinate value and Y coordinate value of the center of the first reference pin hole measured by the machine probe, perform zero point translation of the coordinate system based on the X coordinate value and Y coordinate value of the center of the first reference pin hole, and obtain a processed machining coordinate system;

[0107] Step S205: positioning the pin hole processing position on the bottom surface of the crankcase based on the processed processing coordinate system.

[0108] An embodiment of the present invention provides a device, the device comprising a processor, a memory, and a program stored in the memory and executable on the processor, and when the processor executes the program, at least the following steps are implemented:

[0109] Step S201, aligning the fixture according to the positioning pin hole on the left side of the machine body, and obtaining the theoretical B-axis of the machine tool spindle facing the bottom of the crankcase;

[0110] Step S202, after clamping the workpiece, control the B axis of the current machining coordinate system to move to the posture theoretical B axis, obtain the Z coordinate values ​​and X coordinate values ​​of the four corner points of the bottom surface of the crankcase measured by the machine probe, determine the B axis compensation angle according to the Z coordinate values ​​and X coordinate values ​​of the four corner points, and compensate the B axis compensation angle to the B axis;

[0111] Step S203, after compensating the B axis, obtaining the X coordinate value and the Y coordinate value of the first reference pin hole and the second reference pin hole measured by the machine probe, and performing Z-axis rotation alignment based on the X coordinate value and the Y coordinate value of the first reference pin hole and the second reference pin hole;

[0112] Step S204, after Z-axis rotation alignment, obtain the X coordinate value and Y coordinate value of the center of the first reference pin hole measured by the machine probe, perform zero point translation of the coordinate system based on the X coordinate value and Y coordinate value of the center of the first reference pin hole, and obtain a processed machining coordinate system;

[0113] Step S205: positioning the pin hole processing position on the bottom surface of the crankcase based on the processed processing coordinate system.

[0114] The devices in this article can be servers, PCs, PADs, mobile phones, etc.

[0115] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing at least the following method steps:

[0116] Step S201, aligning the fixture according to the positioning pin hole on the left side of the machine body, and obtaining the theoretical B-axis of the machine tool spindle facing the bottom of the crankcase;

[0117] Step S202, after clamping the workpiece, control the B axis of the current machining coordinate system to move to the posture theoretical B axis, obtain the Z coordinate values ​​and X coordinate values ​​of the four corner points of the bottom surface of the crankcase measured by the machine probe, determine the B axis compensation angle according to the Z coordinate values ​​and X coordinate values ​​of the four corner points, and compensate the B axis compensation angle to the B axis;

[0118] Step S203, after compensating the B axis, obtaining the X coordinate value and the Y coordinate value of the first reference pin hole and the second reference pin hole measured by the machine probe, and performing Z-axis rotation alignment based on the X coordinate value and the Y coordinate value of the first reference pin hole and the second reference pin hole;

[0119] Step S204, after Z-axis rotation alignment, obtain the X coordinate value and Y coordinate value of the center of the first reference pin hole measured by the machine probe, perform zero point translation of the coordinate system based on the X coordinate value and Y coordinate value of the center of the first reference pin hole, and obtain a processed machining coordinate system;

[0120] Step S205: positioning the pin hole processing position on the bottom surface of the crankcase based on the processed processing coordinate system.

[0121] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0122] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0123] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0124] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0125] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0126] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0127] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0128] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, tape and disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0129] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0130] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0131] 1) The positioning method for the pin hole processing position on the bottom surface of the crankcase of the present application is to obtain the theoretical B-axis of the machine tool spindle facing the bottom surface of the crankcase by aligning the positioning pin hole fixture on the left side of the machine body, and after clamping the workpiece, control the current machining coordinate system B axis to move to the theoretical B-axis, obtain the Z coordinate value and X coordinate value of the four corner points of the bottom surface of the crankcase measured by the machine probe, determine the B-axis compensation angle according to the Z coordinate value and X coordinate value of the four corner points, compensate the B-axis compensation angle to the B-axis, and after compensating the B-axis, obtain the X coordinate value and Y coordinate value of the first reference pin hole and the second reference pin hole measured by the machine probe, and perform Z-axis rotation alignment based on the X coordinate value and Y coordinate value of the first reference pin hole and the second reference pin hole; and after performing Z-axis rotation alignment, obtain the X coordinate value and Y coordinate value of the center of the first reference pin hole measured by the machine probe, perform coordinate system zero point translation based on the X coordinate value and Y coordinate value of the center of the first reference pin hole, and obtain the processed machining coordinate system. The solution of the present application obtains a processed machining coordinate system through B-axis alignment, B-axis compensation, Z-axis alignment and zero-point translation, and locates the machining position of the pin hole on the bottom surface of the crankcase based on the processed machining coordinate system. Based on the processed machining coordinate system, accurate positioning of the machining position of the pin hole on the bottom surface of the crankcase is achieved with low cost.

[0132] 2) The positioning device for the pin hole processing position on the bottom surface of the crankcase of the present application, the alignment unit aligns the fixture according to the positioning pin hole on the left side of the machine body, obtains the theoretical B-axis of the machine tool spindle facing the bottom surface of the crankcase, and after the first processing unit clamps the workpiece, controls the B-axis of the current processing coordinate system to move to the theoretical B-axis, obtains the Z coordinate value and X coordinate value of the four corner points of the bottom surface of the crankcase measured by the machine probe, determines the B-axis compensation angle according to the Z coordinate value and X coordinate value of the four corner points, and compensates the B-axis compensation angle to the B-axis. After the second processing unit compensates the B-axis, it obtains the Z coordinate value and X coordinate value of the four corner points measured by the machine probe. The X-coordinate value and Y-coordinate value of the first reference pin hole and the second reference pin hole are obtained, and the Z-axis rotation alignment is performed based on the X-coordinate value and Y-coordinate value of the first reference pin hole and the second reference pin hole; after the third processing unit performs the Z-axis rotation alignment, the X-coordinate value and Y-coordinate value of the center of the first reference pin hole measured by the machine probe are obtained, and the coordinate system zero point translation is performed based on the X-coordinate value and Y-coordinate value of the center of the first reference pin hole to obtain the processed processing coordinate system, and the positioning unit locates the processing position of the pin hole on the bottom surface of the crankcase based on the processed processing coordinate system. The solution of the present application obtains the processed processing coordinate system through B-axis alignment, B-axis compensation, Z-axis alignment and zero point translation, and realizes the precise positioning of the processing position of the pin hole on the bottom surface of the crankcase based on the processed processing coordinate system with low cost.

[0133] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for positioning the pin hole processing position on the bottom surface of a crankcase, characterized in that: include: According to the locating pin hole on the left side of the machine body, the fixture is aligned to obtain the theoretical B-axis of the machine tool spindle facing the bottom of the crankcase; After clamping the workpiece, the B axis of the current machining coordinate system is controlled to move to the theoretical B axis of the posture, the Z coordinate values ​​and X coordinate values ​​of the four corner points of the bottom surface of the crankcase measured by the machine probe are obtained, and the B axis compensation angle is determined according to the Z coordinate values ​​and X coordinate values ​​of the four corner points, and the B axis compensation angle is compensated to the theoretical B axis of the posture; After compensating the theoretical B axis of the posture, the X coordinate value and the Y coordinate value of the first reference pin hole and the second reference pin hole measured by the machine probe are obtained, and the Z-axis rotation alignment is performed based on the X coordinate value and the Y coordinate value of the first reference pin hole and the second reference pin hole; After performing the Z-axis rotation alignment, obtaining the X-coordinate value and the Y-coordinate value of the center of the first reference pin hole measured by the machine probe, performing a zero-point translation of the coordinate system based on the X-coordinate value and the Y-coordinate value of the center of the first reference pin hole, and obtaining a processed machining coordinate system; The pin hole processing position on the bottom surface of the crankcase is located based on the processed processing coordinate system. The four corner points are respectively a first corner point, a second corner point, a third corner point and a fourth corner point, the first corner point and the second corner point are distributed along the Y axis, the third corner point and the fourth corner point are distributed along the Y axis, the first corner point and the third corner point are distributed along the X axis, and the second corner point and the fourth corner point are distributed along the X axis, and the B-axis compensation angle is determined according to the Z coordinate values ​​and the X coordinate values ​​of the four corner points, including: Obtain an average value of the Z coordinate value of the first corner point and the Z coordinate value of the second corner point to obtain a first average value; Obtain an average value of the Z coordinate value of the third corner point and the Z coordinate value of the fourth corner point to obtain a second average value; Obtaining a first X-direction movement value between the first corner point and the third corner point, or a second X-direction movement value between the second corner point and the fourth corner point, wherein the first X-direction movement value is a difference between the X-coordinate values ​​of the first corner point and the third corner point, and wherein the second X-direction movement value is a difference between the X-coordinate values ​​of the second corner point and the fourth corner point; The B-axis compensation angle is determined according to the function R1=ATAN2(H2-H1, L1), wherein R1 represents the B-axis compensation angle, H2 represents the second average value, H1 represents the first average value, and L1 represents the first X-direction movement value or the second X-direction movement value.

2. The method according to claim 1, characterized in that Performing Z-axis rotation alignment based on the X-coordinate values ​​and the Y-coordinate values ​​of the first reference pin hole and the second reference pin hole includes: The C-axis rotation angle R4 is determined according to function R2=ATAN2(X2-X1, Y2-Y1), function R3=ATAN2(L2, L3), and function R4=R3-R2. The C-axis rotation angle represents the angle of rotation around the Z axis, wherein X1, X2, Y1, and Y2 represent the X coordinate value of the first reference pin hole, the X coordinate value of the second reference pin hole, the Y coordinate value of the first reference pin hole, and the Y coordinate value of the second reference pin hole, respectively; L2 represents the distance between the first reference pin hole and the second reference pin hole along the X direction in an ideal state; and L3 represents the distance between the first reference pin hole and the second reference pin hole along the Y direction in an ideal state.

3. The method according to claim 1, characterized in that The coordinate system zero point translation is performed based on the X coordinate value and the Y coordinate value of the center of the first reference pin hole, including: After the Z-axis rotation alignment is performed, the zero point of the current machining coordinate system is translated to the center of the first reference pin hole based on the X coordinate value and the Y coordinate value of the center of the first reference pin hole.

4. The method according to claim 1, characterized in that: After determining the B-axis compensation angle according to the Z coordinate values ​​and the X coordinate values ​​of the four corner points, and before obtaining the X coordinate values ​​and the Y coordinate values ​​of the first reference pin hole and the second reference pin hole measured by the machine probe, the method further includes: Obtain a Z coordinate value of a first center point and a Z coordinate value of a second center point, wherein the first center point is the midpoint of a line connecting the first corner point and the third corner point, and the second center point is the midpoint of a line connecting the second corner point and the fourth corner point; Obtaining a difference between a Z coordinate value of the first center point and a Z coordinate value of the second center point; If the absolute value of the difference is greater than the preset difference, it is determined that the workpiece is incorrectly clamped or the verticality between the bottom surface and the left surface of the assembled workpiece exceeds the tolerance.

5. The method according to claim 4, characterized in that If the absolute value of the difference is greater than the preset difference, after determining that the workpiece is incorrectly clamped or the verticality between the bottom surface and the left side surface of the assembled workpiece exceeds the tolerance, the method further includes: Generate prompt information, where the prompt information is used to prompt the user to suspend processing of the workpiece, wherein the prompt information is represented by voice information, text information, or indicator light.

6. The method according to any one of claims 1 to 5, characterized in that The first reference pin hole and the second reference pin hole are distributed diagonally, and there are two positioning pin holes, namely the first positioning pin hole and the second positioning pin hole, and the first positioning pin hole and the second positioning pin hole are distributed diagonally.

7. A positioning device for machining the pin hole on the bottom surface of a crankcase, characterized in that: include: The alignment unit is used to align the fixture according to the positioning pin hole on the left side of the machine body to obtain the theoretical B-axis posture of the machine tool spindle facing the bottom of the crankcase; The first processing unit is used for controlling the B axis of the current machining coordinate system to move to the theoretical B axis of the posture after clamping the workpiece, obtaining the Z coordinate values ​​and X coordinate values ​​of the four corner points of the bottom surface of the crankcase measured by the machine probe, determining the B axis compensation angle according to the Z coordinate values ​​and X coordinate values ​​of the four corner points, and compensating the B axis compensation angle to the theoretical B axis of the posture; A second processing unit is used for obtaining the X coordinate value and the Y coordinate value of the first reference pin hole and the second reference pin hole measured by the machine stylus after compensating the theoretical B axis of the posture, and performing Z-axis rotation alignment based on the X coordinate value and the Y coordinate value of the first reference pin hole and the second reference pin hole; a third processing unit, configured to obtain, after performing the Z-axis rotation alignment, an X coordinate value and a Y coordinate value of the center of the first reference pin hole measured by the machine probe, and perform a zero point translation of the coordinate system based on the X coordinate value and the Y coordinate value of the center of the first reference pin hole to obtain a processed machining coordinate system; A positioning unit is used to locate the processing position of the pin hole on the bottom surface of the crankcase based on the processed processing coordinate system, The four corner points are respectively a first corner point, a second corner point, a third corner point and a fourth corner point, the first corner point and the second corner point are distributed along the Y axis, the third corner point and the fourth corner point are distributed along the Y axis, the first corner point and the third corner point are distributed along the X axis, the second corner point and the fourth corner point are distributed along the X axis, and the first processing unit includes: A first acquisition module, used to acquire an average value of the Z coordinate value of the first corner point and the Z coordinate value of the second corner point to obtain a first average value; A second acquisition module is used to acquire an average value of the Z coordinate value of the third corner point and the Z coordinate value of the fourth corner point to obtain a second average value; a third acquisition module, configured to acquire a first X-direction movement value between the first corner point and the third corner point, or a second X-direction movement value between the second corner point and the fourth corner point, wherein the first X-direction movement value is a difference between the X-coordinate values ​​of the first corner point and the third corner point, and wherein the second X-direction movement value is a difference between the X-coordinate values ​​of the second corner point and the fourth corner point; A determination module is used to determine the B-axis compensation angle according to the function R1=ATAN2(H2-H1, L1), wherein R1 represents the B-axis compensation angle, H2 represents the second average value, H1 represents the first average value, and L1 represents the first X-direction movement value or the second X-direction movement value.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method for positioning the machining position of the pin hole on the bottom surface of the crankcase according to any one of claims 1 to 6.

9. An electronic device, characterized in that: include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include a method for positioning the crankcase bottom surface pin hole processing position as described in any one of claims 1 to 6.

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