Method for establishing spatial relationship between array clamping system and etching system

Abstract

The invention belongs to the field of digital engraving, and particularly relates to a method for establishing a spatial relationship between an array clamping system and an engraving system, which comprises the following steps of: adjusting the geometric accuracy of each axis of the engraving system to be within a required range; adjusting the geometric accuracy of each shaft in the array clamping system; setting a zero point position of the array clamping system; fitting the X-axis direction and the Y-axis direction of the engraving system; preparing a measuring tool; constructing a coordinate system in the array clamping system; the initial position of each lifting column in the first row is controlled; the initial positions of the second row of lifting columns and other lifting columns are controlled; preparing a scribing tool and a scribing observation tool; determining X, Y and Z zero coordinates of a coordinate system of the engraving system; the spatial relationship between the array clamping system (2) and the engraving system (1) is established; according to the method, the spatial relationship between the array clamping system and the engraving system can be quickly established, the workload of technicians and operators is reduced, the precision of skin engraving machining is improved, and the machining cost is saved.

Description

Technical Field

[0001] The invention belongs to the field of digital engraving, and in particular relates to a method for establishing a spatial relationship between an array clamping system and an engraving system. Background Art

[0002] The chemical milling laser engraving equipment is used for digital engraving of aircraft sheet metal skin before chemical milling. In this equipment, the core components are the array clamping system and the engraving system. Before processing, the array clamping system and the engraving system have corresponding post-processing software. After the corresponding program is generated through the theoretical digital model of the sheet metal skin, it is sent to the array clamping system and the engraving system respectively to complete the engraving of the sheet metal skin together.

[0003] Currently, the array clamping system and the engraving system each have a coordinate system and there is no direct relationship between them. After the post-processing software generates corresponding execution programs according to their respective theoretical digital model coordinate systems, the two systems perform corresponding actions according to their respective execution programs. However, since the actual coordinate systems of the array clamping system and the engraving system in the real world need to be mapped to the theoretical digital model coordinate system respectively, the operation in this process is extremely cumbersome, inefficient, and has high requirements on the operator. It is also difficult to accurately map, which is very easy to cause errors, thereby affecting the processing accuracy and causing skin engraving to exceed the tolerance. Summary of the invention

[0004] In order to solve the problem that the actual coordinate systems of the array clamping system and the engraving system cannot be efficiently and accurately mapped to the coordinate system in the theoretical digital model, which affects the processing accuracy, the present invention proposes a method for establishing the spatial relationship between the array clamping system and the engraving system, which directly establishes a connection between the array clamping system and the engraving system in space.

[0005] In order to achieve the above-mentioned invention object, the technical solution provided by this application is as follows:

[0006] A method for establishing a spatial relationship between an array clamping system and a carving system comprises the following steps:

[0007] Step 1: Adjust the geometric accuracy of each axis of the engraving system to within the required range;

[0008] Step 2: Taking the axes of the engraving system as the reference, adjust the geometric accuracy of each axis in the array clamping system;

[0009] Step 3: Set the coordinate system of the array clamping system j -xyz zero position;

[0010] Step 4: Fit the directions of the X-axis and Y-axis of the engraving system;

[0011] Step 5: Prepare the measuring tool;

[0012] Step 6: Construct coordinate system O in the array clamping system j -xyz, and determine the origin of the coordinates;

[0013] Step 7, control the Y-axis and Z-axis movement of each lifting column in the first row to determine the initial position of the lifting column in the Y-axis and Z-axis coordinates;

[0014] Step 8, control the X-axis movement of the second row of lifting columns to determine the initial position of the lifting columns in the X-axis coordinate;

[0015] Step 9, control the X-axis movement of the remaining rows of lifting columns to determine the initial position of the lifting columns in the X-axis coordinate;

[0016] Step 10: Control the Y-axis and Z-axis movements of the remaining lifting columns to determine the initial position of the lifting column in the X-axis coordinate system, and finally determine the coordinate system of each lifting column in its respective initial position. j -coordinate values ​​in xyz;

[0017] Step 11, prepare the marking tool and the marking observation tool;

[0018] Step 12: Determine the coordinate system O of the engraving system k -xyz's X-axis and Y-axis zero coordinates;

[0019] Step 13: Determine the coordinate system O of the engraving system k -xyz Z zero coordinate, at this time the spatial relationship between the array clamping system and the engraving system is established;

[0020] Step 14: When the post-processing software generates the execution program of the array clamping system and the engraving system, a connection is also established in space between the digital model of the part and the actual array clamping system and the engraving system.

[0021] Furthermore, the step 1 is specifically as follows: the linear motion axes of the engraving system mainly include the X-axis, Y-axis, and Z-axis, and the rotation axes include the C-axis and B-axis. The geometric accuracy of each axis of the engraving system needs to be adjusted to the required range (the specific range needs to be defined according to the actual situation of the engraving system). The geometric accuracy includes the straightness of each axis and the perpendicularity of each axis to each other.

[0022] Furthermore, in step 2, the motion axes of the array clamping system include the X-axis, the Y-axis, and the Z-axis, mainly including M rows, each row has N (columns) of lifting columns, so there are M×N lifting columns in total, each row can move along the X-axis, and each can move along the Y-axis and Z-axis in the corresponding row; wherein, M represents the number of rows of the array clamping system, and N represents the number of lifting columns in each row; the overall motion direction of each row in the array is the X-axis, the motion direction of the column is the Y-axis, and the up and down motion direction of each lifting column in the array is the Z direction.

[0023] Furthermore, in step 2, the geometric accuracy of each axis in the array clamping system is adjusted based on each axis of the engraving system to ensure the straightness of each axis of the array clamping system and the parallelism of each axis with each axis of the engraving system, and to ensure that the X, Y, and Z axes in the array clamping system are parallel to the X, Y, and Z axes of the engraving system, respectively, to achieve X k / / X j , Y k / / Y j , Z k / / Z j , where X k Indicates the engraving system X-axis, Y k Indicates the engraving system Y axis, Z k Indicates the engraving system Z axis, X j Indicates the array clamping system X-axis, Y j Indicates the array clamping system Y axis, Z j Represents the Z axis of the array clamping system.

[0024] Further, step 3 is specifically as follows: according to the actual situation of the array clamping system, the X-axis and Y-axis of the lifting column in the first row and first column of the array clamping system are moved to a certain position, and its Z-axis is moved to a lower position, and this position is set as the coordinate system O of the array clamping system. j -xyz zero position.

[0025] Furthermore, step 4 is specifically as follows: keep the lifting column in the first row and first column of the array clamping system stationary, fix the target of the laser tracker at the end of the processing part of the engraving system, move the X-axis and Y-axis of the engraving system at a certain interval, record a point position through the laser tracker every time it moves, and fit the directions V of the X-axis and Y-axis of the engraving system through the measured points. x and V y , where V x Represents the X-axis direction of the engraving system, V y Represents the Y-axis direction of the engraving system.

[0026] Furthermore, in step 5, the measuring tool is directly mounted on the lifting column. The measuring tool has a hole for placing the target seat when measuring with a laser tracker. The axis of the hole is coaxial with the blind hole of the lifting column to ensure the accuracy and consistency of the measurement results during subsequent measurements.

[0027] Further, step 6 is specifically as follows: keep the laser tracker stationary, place and fix the measuring fixture on the lifting column of the first row and first column in the array clamping system, place the target seat on the measuring fixture, place the target on the target seat, and record the spatial coordinate value at this time by the laser tracker, and use it as the array clamping system O j -xyz zero point position, and then the X / Y direction V fitted in step 4x and V y As the X / Y direction of the coordinate system in the array clamping system, the coordinate system O in the array clamping system j -xyz is constructed, and the target on the lifting column in the first row and first column is in the coordinate system O j The coordinate value in -xyz is (0,0,0).

[0028] Further, step 7 is specifically as follows: keep the laser tracker stationary, place the measuring fixture on the lifting column of the first row and second column in the array clamping system, and place the target seat on the measuring fixture, place the target on the target seat, measure the coordinate value of the target on the current lifting column, and ensure that the coordinate value of the target on the current lifting column is (0, D y ,0), and set this position as the initial position of the lifting column, where D y Represents the spacing value between adjacent lifting columns in the same row of the array clamping system at the initial position, which can ensure that there is no interference between the lifting columns in the same row; similarly, by controlling the Y-axis and Z-axis movement of the lifting column in the first row and third column of the array clamping system, the coordinate value of the target on the current lifting column is (0,2×D y ,0), and set this position as the initial position of the lifting column until the initial position coordinate value of the last column of the first row (N-1)×D y ,0).

[0029] Further, step 8 is specifically as follows: keep the laser tracker stationary, place the measuring fixture on the lifting column of the second row and the first column (number) in the array clamping system, and place the target seat on the measuring fixture, place the target on the target seat, measure the coordinate value of the target on the current lifting column, and ensure that the X-axis coordinate value of the target on the current lifting column is D by controlling the X-axis movement of the row where the lifting column is located. x ; where D x It represents the spacing between adjacent rows of lifting columns in each row of the array clamping system when they are in the initial position, which can ensure that there is no interference between rows of lifting columns in each row.

[0030] Further, step 9 is specifically as follows: keep the laser tracker stationary, place the measuring fixture on the first column (number) of the remaining rows (rows) in the array clamping system, and place the target seat on the measuring fixture, place the target on the target seat, measure the coordinate value of the target on the current lifting column, and ensure that the X-axis coordinate value of the target on the current lifting column is (M-1)×D by controlling the X-axis movement of the row where the lifting column is located. x .

[0031] Further, step 10 is specifically as follows: repeat the relevant operations of step 7, set the initial positions of the remaining lifting columns by controlling the Y-axis and Z-axis motions of the lifting columns and measuring the data with the laser tracker, and ensure that the X-direction spacing between two adjacent lifting columns is D when they are at their respective initial positions. x , the distance between them in the Y direction is D y ; Finally, each lifting column corresponds to the coordinate system O in its initial position j -The information of the coordinate values ​​in xyz is as follows:

[0032]

[0033] Further, step 11 is specifically as follows: the engraving tooling can be directly fitted on the lifting column, and its top and sides are cylindrical, and the top and side ends are circular planes; there is transparent glass for observation at the upper end of the observation tooling, and the transparent glass is engraved with a first "cross line", and the observation tooling can be fitted on the top and sides of the engraving tooling respectively.

[0034] Furthermore, step 12 is specifically as follows:

[0035] ① Place the marking tool on the lifting column in the first row and first column of the array clamping system, and apply paper tape on the top circular plane, and the paper tape cannot exceed the top circular plane;

[0036] ② Control the lifting column in the first row and first column of the array clamping system to move to its initial position, that is, in the coordinate system O j -The zero point position under xyz is (0,0,0), and the C-axis and B-axis of the engraving system are rotated to the position of 0°;

[0037] ③ Adjust the X-axis, Y-axis, and Z-axis of the engraving system to make the laser nozzle close to the top circular plane of the engraving tooling, turn on the laser to move the X-axis to engrave on the top circular plane of the engraving tooling and form a line in the second "cross line", and record the Y coordinate value Y1 in the original coordinate system of the engraving system; turn on the laser to move the Y-axis to engrave on the top circular plane of the engraving tooling and form the second "cross line", and record the X coordinate value X1 in the original coordinate system of the engraving system;

[0038] ④ Cover the engraved line observation tool on the top circular plane of the engraved line tool, and rotate the observation tool along the Z axis to make one of the first "cross lines" on the transparent glass of the observation tool parallel to one of the second "cross lines" formed by the engraved line;

[0039] ⑤ Observe the tooling from above to see if the first "cross line" on the transparent glass and the second "cross line" formed by the engraved line are both overlapped. If they are overlapped, set the X / Y axis coordinate values ​​recorded in the original coordinate system of the engraved system when engraving as the coordinate system of the engraved system. k-xyz's XY zero coordinate; if they do not coincide, measure the spacing between the two lines in the X direction and the spacing between the two lines in the Y direction, and move the corresponding distances of the X axis and Y axis respectively, re-mark the lines so that the first "cross line" on the transparent glass coincides with the second "cross line" formed by the marking lines, and set the X-axis and Y-axis coordinate values ​​(X1, Y1) recorded in the original coordinate system of the engraving system when marking the lines as the engraving system coordinate system O k -xyz is the XY zero coordinate.

[0040] Furthermore, step 13 is specifically as follows:

[0041] ① Continue to place the marking tool on the lifting column of the first row and first column of the array clamping system, and ensure that the circular plane of its side end is parallel to the Y axis, and apply paper tape on the circular plane of its side end, and the paper tape cannot exceed the circular plane of the side end;

[0042] ② Control the lifting column in the first row and first column of the array clamping system to move to the coordinate system O j -xyz coordinate value (0,0,Z 0 ) position, Z 0 The Z-direction lifting distance of the lifting column is equal to the distance from the B-axis rotation axis of the engraving system to the engraved line point. The C-axis of the engraving system is rotated to the 0° position, and the B-axis is rotated to the 90° position;

[0043] ③ Adjust the XYZ axis of the engraving system to make the laser nozzle close to the side end circular plane of the engraving tooling, turn on the laser to move the Y axis to engrave on the side end circular plane of the engraving tooling to form a "straight line", and record the Z axis coordinate value Z1 in the original coordinate system of the engraving system;

[0044] ④ Move the Y axis to the Y axis zero coordinate, turn on the laser and move the Z axis up and down to carve a line on the side end circle plane of the marking tooling to form a "straight line". At this time, a "cross line" is formed on the paper tape;

[0045] ⑤ Cover the engraved line observation tool on the side end circular plane of the engraved line tool, and rotate the observation tool along the X-axis to make the vertical line of the first "cross line" on the transparent glass of the observation tool parallel to the vertical line of the second "cross line" formed by the engraved line;

[0046] ⑥ Observe the tooling from the side to see if the first "cross line" on the transparent glass coincides with the second "cross line" formed by the engraved line. If so, set the Z-axis coordinate value Z1 recorded in the original coordinate system of the engraved system when engraving as the engraved system coordinate system O. k-xyz Z-axis zero coordinate; if they do not coincide, measure the spacing between the two lines in the Z direction, move the corresponding distance of the Z axis, re-mark the line, so that the first "cross line" on the transparent glass coincides with the second "cross line" formed by the marking line, and set the Z-axis coordinate value Z1 recorded in the original coordinate system of the engraving system when marking the line as the engraving system coordinate system O k -xyz Z-axis zero coordinate. At this point, the spatial relationship between the array clamping system and the engraving system is established.

[0047] Further, step 14 is specifically as follows: when the post-processing software generates the execution program of the array clamping system and the engraving system, a coordinate system O-XYZ is established in the theoretical digital model according to the placement relationship between the skin and the array clamping system. At this time, the coordinate system is consistent with the coordinate system O of the array clamping system in the three-dimensional digital model. j -xyz coincides, so when generating the execution program of the array clamping system and the engraving system, the reference coordinate system of the program selects the established coordinate system O-XYZ. At this time, the execution programs of the array clamping system and the engraving system are all in this coordinate system, and the digital model of the part and the actual array clamping system and the engraving system are also connected in space. The post-processing software is the existing technology.

[0048] The beneficial effects of the present invention are:

[0049] 1. The method provided by the present invention can quickly establish the spatial relationship between the array clamping system and the engraving system, so that the coordinate system in the real world can be accurately mapped to the theoretical digital model coordinate system. At the same time, when the post-processing software generates the execution program of the array clamping system and the engraving system, there is no need to convert the relevant data. The execution program can be directly sent to the array clamping system and the engraving system, which reduces the workload of process personnel and operators, improves the accuracy of skin engraving processing, avoids the situation of parts being scrapped due to out-of-tolerance, and saves processing costs.

[0050] 2. This method is simple, fast and easy to implement, does not require expensive instruments, and effectively reduces manpower and material costs.

[0051] 3. The present invention places a measuring tool on the lifting column of the array clamping system, and uses a laser tracker to determine the direction of the coordinate axis of the array clamping system through the axes of the engraving system. The lifting column at the first row and first column in the array clamping system is set as the zero point of the coordinate system of the array clamping system, so that the axis of the actual axis of the array clamping system can be accurately mapped to the virtual space, thereby quickly and accurately determining the coordinate system of the array clamping system.

[0052] 4. The present invention uses a laser tracker and an established coordinate system of the array clamping system to determine the initial position of each lifting column of the array clamping system at a certain interval, which is convenient for determining the initial position of each lifting column of the array clamping system in the theoretical numerical model of the post-processing software, and effectively avoids interference between lifting columns in the same row and interference between rows of lifting columns.

[0053] 5. The present invention places a marking tool on the lifting column of the array clamping system, marks the lines with paper tape on the marking tool, and observes the marking lines with an observation tool, thereby adjusting and determining the coordinate system of the marking system, so that the relationship between the marking system and the array clamping system in space can be established quickly and accurately.

[0054] 6. When the post-processing software of the present invention generates the execution program of the array clamping system and the engraving system, a coordinate system O-XYZ is established in the theoretical digital model according to the placement position relationship between the skin and the array clamping system. At this time, the coordinate system represents the coordinate system of the array clamping system. Therefore, when the execution program is generated, the reference coordinate system of the program selects the established coordinate system O-XYZ. At this time, the execution programs of the array clamping system and the engraving system are all in this coordinate system, and a connection is also established between the digital model of the part and the actual array clamping system and the engraving system, thereby solving the problem of cumbersome and error-prone operation when generating the execution program. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 It is a schematic diagram of the process involved in the present invention.

[0056] Figure 2 It is a schematic diagram of the array clamping system and the engraving system involved in the present invention.

[0057] Figure 3-Figure 4 It is a schematic diagram of the array clamping system involved in the present invention.

[0058] Figure 5 It is a schematic diagram of a top view of an array clamping system according to the present invention.

[0059] Figure 6 It is a schematic diagram of the measuring tool involved in the present invention.

[0060] Figure 7 It is a schematic diagram of the measuring tool involved in the present invention being sleeved and installed on a lifting column.

[0061] Figure 8 It is a schematic diagram of the engraving tooling involved in the present invention.

[0062] Fig. 9 It is a schematic diagram of placing the engraving tooling involved in the present invention on a lifting column.

[0063] Figure 10-12It is a schematic diagram of the observation tooling involved in the present invention.

[0064] Fig.13 It is a schematic diagram of placing the observation tooling involved in the present invention on the marking tooling.

[0065] Figure 14-15 The present invention relates to a schematic diagram of observing "cross lines" engraved on the top circular plane and the side end circular plane of a line engraving tool through an observation tool.

[0066] In the figure, 1. Engraving system, 2. Array clamping system, 3. Lifting column, 4. j -xyz zero position, 5.O j -xyz coordinate value (0,0,Z 0 ) position, 6. measuring tool, 7. target seat, 8. marking tool, 9. laser nozzle, 10. observation tool, 11. top circular plane, 12. side circular plane, 13. lifting column in the first row and first column, 14. transparent glass, 15. first "cross line", 16. second "cross line". DETAILED DESCRIPTION

[0067] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is to explain the present invention rather than to limit the present invention. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0068] The specific implementation method of the present invention is described below with reference to the accompanying drawings and examples, but the present invention is not limited to this embodiment.

[0069] Example 1

[0070] A method for establishing a spatial relationship between an array clamping system and a carving system comprises the following steps:

[0071] Step 1, adjust the geometric accuracy of each axis of the engraving system 1 to within the required range;

[0072] Step 2: Taking the axes of the engraving system 1 as reference, adjust the geometric accuracy of the axes in the array clamping system 2;

[0073] Step 3: Set the coordinate system O of the array clamping system 2 j -xyz zero position 4;

[0074] Step 4: Fit the directions of the X-axis and Y-axis of the engraving system 1;

[0075] Step 5: Prepare measuring tool 6;

[0076] Step 6: Construct coordinate system O in array clamping system 2 j -xyz, and determine the origin of the coordinates;

[0077] Step 7, control the Y-axis and Z-axis movement of each lifting column 3 in the first row to determine the initial position of the lifting column 3 in the Y-axis and Z-axis coordinates;

[0078] Step 8, control the X-axis movement of the second row of lifting columns 3 to determine the initial position of the lifting columns 3 in the X-axis coordinate;

[0079] Step 9, control the X-axis movement of the remaining rows of lifting columns 3 to determine the initial position of the lifting columns 3 in the X-axis coordinate;

[0080] Step 10: Control the Y-axis and Z-axis movements of the remaining lifting columns 3 to determine the initial position of the lifting column 3 in the X-axis coordinate system, and finally determine the coordinate system of each lifting column 3 at its respective initial position. j -coordinate values ​​in xyz;

[0081] Step 11, prepare the marking tool 8 and the marking observation tool 10;

[0082] Step 12: Determine the coordinate system O of the engraving system 1 k -xyz's X-axis and Y-axis zero coordinates;

[0083] Step 13: Determine the coordinate system O of the engraving system 1 k -xyz Z zero coordinate, at this time the spatial relationship between the array clamping system 2 and the engraving system 1 is established;

[0084] Step 14: When the post-processing software generates the execution program of the array clamping system 2 and the engraving system 1, a connection is also established in space between the digital model of the part and the actual array clamping system 2 and the engraving system 1.

[0085] Example 2

[0086] The present invention is described in detail below in conjunction with the accompanying drawings, and the specific implementation steps are as follows:

[0087] Step 1: The linear motion axes of the engraving system 1 mainly include the X-axis, Y-axis, and Z-axis, and the rotation axes include the C-axis and the B-axis. The geometric accuracy of each axis of the engraving system 1 needs to be adjusted to the required range (the specific range needs to be defined according to the actual situation of the engraving system 1), including the straightness of each axis and the perpendicularity between the axes;

[0088] Step 2: The movement axes of the array clamping system 2 include the X-axis, the Y-axis, and the Z-axis, and mainly include M rows (lines), each row has N (columns) of lifting columns 3, so there are a total of M×N lifting columns 3, each row can move along the X-axis, and each can move along the Y-axis and Z-axis in the corresponding row. Among them, M represents the number of rows (lines) of the array clamping system 2, and N represents the number of lifting columns in each row. The overall movement direction of each row in the array is the X-axis, the movement direction of the column is the Y-axis, and the direction of up and down movement of each lifting column 3 in the array is the Z direction.

[0089] Taking the axes of the engraving system 1 as the reference, adjust the geometric accuracy of the axes in the array clamping system 2 to ensure the straightness of the axes of the array clamping system 2 and the parallelism of the axes with the axes of the engraving system 1, and ensure that the X / Y / Z axes in the array clamping system 2 are parallel to the X / Y / Z axes of the engraving system 1, that is, X k / / X j , Y k / / Y j , Z k / / Z j , where X k Indicates engraving system 1X axis, Y k Indicates the engraving system 1Y axis, Z k Indicates engraving system 1Z axis, X j Indicates the array clamping system 2X axis, Y j Indicates the array clamping system 2Y axis, Z j Represents the array clamping system 2Z axis.

[0090] Step 3: According to the actual situation of the array clamping system 2, the X / Y axis of the lifting column 13 in the first row and first column of the array clamping system 2 is moved to a certain position, and its Z axis is moved to a lower position, and this position is set as the coordinate system O of the array clamping system 2. j -xyz zero position 4.

[0091] Step 4: Keep the lifting column 13 of the first row and first column of the array clamping system 2 stationary, fix the target of the laser tracker at the end of the processing part of the engraving system 1, move the engraving system 1 X / Y axis at a certain interval, and record the point position once each time it moves. The direction V of the engraving system 1 X / Y axis is fitted through the measured point positions. x and V y , where V x Represents the engraving system 1X axis direction, V y Represents the Y-axis direction of the engraving system 1.

[0092] Step 5: Prepare the measuring tool 6. The measuring tool 6 can be directly mounted on the lifting column 3. There is a hole on it for placing the target seat 7 when measuring with a laser tracker. The axis of the hole must be coaxial with the blind hole of the lifting column 3 to ensure the accuracy and consistency of the measurement results during subsequent measurements.

[0093] Step 6: Keep the laser tracker still, place and fix the measuring fixture 6 on the lifting column 13 of the first row and first column in the array clamping system, place the target seat 7 on the measuring fixture 6, place the target on the target seat 7, and record the spatial coordinate value at this time through the laser tracker, which is used as the array clamping system O j -xyz zero position 4, and then the X / Y direction V fitted in step 4 x and V y As the XY direction of the coordinate system in the array clamping system 2, at this time, the coordinate system O in the array clamping system 2 j -xyz is constructed, and the target on the lifting column 13 in the first row and first column is in the coordinate system O j The coordinate value in -xyz is (0,0,0).

[0094] Step 7: Keep the laser tracker still, place the measuring fixture 6 on the lifting column 3 in the first row and second column of the array clamping system, and place the target seat 7 on the measuring fixture 6. Place the target on the target seat 7, measure the coordinate value of the target on the current lifting column 3, and ensure that the coordinate value of the target on the current lifting column 3 is (0, D y ,0), and set this position as the initial position of the lifting column 3, where D y Represents the spacing between adjacent lifting columns in the same row of the array clamping system at the initial position, which can ensure that there is no interference between the lifting columns in the same row. Similarly, by controlling the Y / Z axis movement of the lifting column 3 in the 1st row and 3rd column of the array clamping system, the coordinate value of the target on the current lifting column 3 is (0,2×D y ,0), and set this position as the initial position of the lifting column 3, until the initial position coordinate value of the last column (number) of the lifting column 3 in the first row is (0, (N-1) × D y ,0).

[0095] Step 8: Keep the laser tracker still, place the measuring fixture 6 on the lifting column 3 in the 2nd row and 1st column of the array clamping system, and place the target seat on the measuring fixture 6, place the target on the target seat 7, measure the coordinate value of the target on the current lifting column 3, and ensure that the X-axis coordinate value of the target on the current lifting column 3 is D by controlling the X-axis movement of the row where the lifting column 3 is located. x . Where D xIt represents the spacing between adjacent rows of lifting columns in each row of the array clamping system when they are in the initial position, which can ensure that there is no interference between rows of lifting columns in each row.

[0096] Step 9: Keep the laser tracker stationary, place the measuring fixture 6 on the first column (number) of the remaining rows (rows) in the array clamping system 2, and place the target seat 7 on the measuring fixture 6, place the target on the target seat 7, measure the coordinate value of the target on the current lifting column 3, and ensure that the X-axis coordinate value of the target on the current lifting column 3 is (M-1)×D by controlling the X-axis movement of the row where the lifting column 3 is located. x .

[0097] Step 10: Repeat the relevant operations in step 7, set the initial positions of the remaining lifting columns 3 by controlling the YZ axis motion of the lifting column 3 and measuring the data with the laser tracker, and ensure that the X-direction spacing between two adjacent lifting columns 3 is D when they are at their respective initial positions. x , the distance between them in the Y direction is D y Therefore, each lifting column 3 finally corresponds to the coordinate system O at its initial position. j -The information of the coordinate values ​​in xyz is as follows:

[0098]

[0099] Step 11: Prepare the engraving tooling 8 and the engraving observation tooling 10. The engraving tooling 8 can be directly mounted on the lifting column 3, and its top and sides are cylindrical, and the top and side ends are circular planes; the upper end of the observation tooling 10 is provided with a transparent glass 14 for observation, and the transparent glass 14 is engraved with a "cross line" 15, and the observation tooling 10 can be respectively mounted on the top and side of the engraving tooling 8.

[0100] Step 12: Determine the coordinate system O of the engraving system 1 k -X / Y zero coordinate of xyz.

[0101] ① Place the marking tool 8 on the lifting column 13 in the first row and first column of the array clamping system 2, and apply paper tape on the top circular plane 11 thereof, and the paper tape cannot exceed the top circular plane 11;

[0102] ② Control the lifting column 13 in the first row and first column of the array clamping system to move to its initial position, that is, in the coordinate system O j -The zero point position under xyz is (0,0,0), and the C axis and B axis in the engraving system 1 are rotated to the position of 0°;

[0103] ③ Adjust the X / Y / Z axis of the engraving system 1 so that the laser nozzle 9 is close to the top circular plane 11 of the engraving tooling, turn on the laser to move the X axis to engrave on the top circular plane 11 of the engraving tooling and form a line in the second "cross line" 16, and record the Y coordinate value Y1 in the original coordinate system of the engraving system 1; turn on the laser to move the Y axis to engrave on the top circular plane 11 of the engraving tooling and form the second "cross line" 16, and record the X coordinate value X1 in the original coordinate system of the engraving system 1;

[0104] ④ Cover the engraved line observation tool 10 on the top circular plane 11 of the engraved line tool, and rotate the observation tool 10 along the Z axis to make one of the "cross lines" 15 on the transparent glass of the observation tool parallel to one of the second "cross lines" 16 formed by the engraved lines;

[0105] ⑤ Observe the tooling 10 from above to see whether the "cross line" 15 on the transparent glass and the second "cross line" 16 formed by the engraved line are both overlapped. If they are overlapped, set the X / Y axis coordinate values ​​recorded in the original coordinate system of the engraved system 1 when engraving the line as the coordinate system O of the engraved system 1. k -xyz's X / Y zero coordinate; if they do not coincide, measure the spacing between the two lines in the X direction and the spacing between the two lines in the Y direction, and move the corresponding distances of the X axis and the Y axis respectively, re-mark the lines so that the "cross line" 15 on the transparent glass coincides with the second "cross line" 16 formed by the marking lines, and set the X / Y axis coordinate values ​​(X1, Y1) recorded in the original coordinate system of the engraving system 1 when marking the lines as the coordinate system O of the engraving system 1 k -xyz's X / Y zero coordinate.

[0106] Step 13: Determine the coordinate system O of the engraving system 1 k -Z zero coordinate of xyz.

[0107] ① Continue to place the marking tool 8 on the lifting column 13 of the first row and first column of the array clamping system, and ensure that its side end circular plane 12 is parallel to the Y axis, and stick paper tape on its side end circular plane 12 and the paper tape cannot exceed the side end circular plane 12;

[0108] ② Control the lifting column 13 in the first row and first column of the array clamping system to move to the coordinate system O j -xyz coordinate value (0,0,Z 0 ) at position 5, Z 0 The lifting distance of the lifting column 3Z is equal to the distance from the rotation axis of the B axis of the engraving system 1 to the engraved line point. The C axis of the engraving system 1 is rotated to the position of 0°, and the B axis is rotated to the position of 90°;

[0109] ③ Adjust the XYZ axis of the engraving system 1 so that the laser nozzle 9 is close to the circular plane 12 of the side end of the engraving tool, turn on the laser to move the Y axis to engrave on the circular plane 12 of the side end of the engraving tool to form a "straight line", and record the Z axis coordinate value Z1 in the original coordinate system of the engraving system 1;

[0110] ④ Move the Y axis to the Y axis zero coordinate, turn on the laser and move the Z axis up and down to carve a line on the side end circular plane 12 of the marking tool to form a "straight line", and at this time a "cross line" is formed on the paper tape;

[0111] ⑤ Cover the engraved line observation tool 10 on the side end circular plane 12 of the engraved line tool, and rotate the observation tool along the X-axis axis so that the vertical line of the "cross line" 15 on the transparent glass of the observation tool is parallel to the vertical line of the second "cross line" 16 formed by the engraved line;

[0112] ⑥ Observe the tooling 10 from the side to see whether the horizontal line of the "cross line" 15 on the transparent glass coincides with the horizontal line of the second "cross line" 16 formed by the engraved line. If so, set the Z-axis coordinate value Z1 in the original coordinate system of the engraved system 1 recorded during the engraving to the coordinate system O of the engraved system 1. k -xyz Z-axis zero coordinate; if they do not coincide, measure the spacing between the two lines in the Z direction, move the corresponding distance of the Z axis, re-mark the line, so that the "cross line" 15 on the transparent glass and the second "cross line" 16 formed by the marking line coincide, and set the Z-axis coordinate value Z1 recorded in the original coordinate system of the engraving system 1 when marking the line as the coordinate system O of the engraving system 1 k -xyz Z-axis zero coordinate. At this point, the spatial relationship between the array clamping system 2 and the engraving system 1 is established.

[0113] Step 14: When the post-processing software generates the execution program of the array clamping system 2 and the engraving system 1, a coordinate system O-XYZ is established in the theoretical digital model according to the placement relationship between the skin and the array clamping system 2. At this time, the coordinate system is consistent with the coordinate system O of the array clamping system 2 in the three-dimensional digital model. j -xyz coincides, so when generating the execution program of the array clamping system 2 and the engraving system 1, the reference coordinate system of the program selects the established coordinate system O-XYZ. At this time, the execution programs of the array clamping system 2 and the engraving system 1 are all in this coordinate system, and a connection is also established in space between the digital model of the part and the actual array clamping system 2 and the engraving system 1.

[0114] The above description is only a preferred embodiment of the present invention and does not constitute any form of hindrance to the present invention. Any simple modification or equivalent changes made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A method for establishing a spatial relationship between an array clamping system and a carving system, characterized in that: The steps include: Step 1, adjusting the geometric accuracy of each axis of the engraving system (1) to within the required range; Step 2, taking the axes of the engraving system (1) as a reference, adjusting the geometric accuracy of the axes in the array clamping system (2); Step 3: Set the coordinate system O of the array clamping system (2) j -xyz zero position (4); Step 4: Fit the directions of the X-axis and Y-axis of the engraving system (1); Step 5: Prepare the measuring tool (6); Step 6: Construct the coordinate system O in the array clamping system (2) j -xyz, and determine the origin of the coordinates; Step 7, controlling the Y-axis and Z-axis movement of each lifting column (3) in the first row to determine the initial position of the lifting column (3) in the Y-axis and Z-axis coordinates; Step 8, controlling the X-axis movement of the second row of lifting columns (3) to determine the initial position of the lifting columns (3) in the X-axis coordinate; Step 9, controlling the X-axis movement of the remaining rows of lifting columns (3) to determine the initial position of the lifting columns (3) in the X-axis coordinate; Step 10: Control the Y-axis and Z-axis movements of the remaining lifting columns (3), determine the initial position of the lifting column (3) in the X-axis coordinate, and finally determine the coordinate system O corresponding to each lifting column (3) at its respective initial position. j -coordinate values ​​in xyz; Step 11, preparing a marking tool (8) and a marking observation tool (10); Step 12: Determine the coordinate system O of the engraving system (1) k -xyz's X-axis and Y-axis zero coordinates; Step 13: Determine the coordinate system O of the engraving system (1) k -xyz Z zero coordinate, at which point the spatial relationship between the array clamping system (2) and the engraving system (1) is established; Step 14: When the post-processing software generates the execution program of the array clamping system (2) and the engraving system (1), a connection is also established in space between the digital model of the part and the actual array clamping system (2) and the engraving system (1).

2. The method for establishing the spatial relationship between the array clamping system and the engraving system according to claim 1, characterized in that: The step 1 specifically comprises: the linear motion axes of the engraving system (1) include an X-axis, a Y-axis, and a Z-axis, and the rotation axes include a C-axis and a B-axis. The geometric accuracy of each axis of the engraving system (1) is adjusted to within a required range. The geometric accuracy includes the straightness of each axis and the perpendicularity of each axis to each other.

3. The method for establishing the spatial relationship between the array clamping system and the engraving system according to claim 1, characterized in that: In step 2, the movement axes of the array clamping system (2) include an X-axis, a Y-axis, and a Z-axis, and include M rows, each row having N lifting columns (3), with a total of M×N lifting columns (3), each row being able to move along the X-axis, and each one being able to move along the Y-axis and the Z-axis in the corresponding row; wherein M represents the number of rows of the array clamping system (2), and N represents the number of lifting columns in each row; the overall movement direction of each row in the array is the X-axis, the movement direction of the column is the Y-axis, and the direction of up and down movement of each lifting column (3) in the array is the Z-direction.

4. The method for establishing the spatial relationship between the array clamping system and the engraving system according to claim 1, characterized in that: In the step 2, the geometric accuracy of each axis in the array clamping system (2) is adjusted based on each axis of the engraving system (1), the straightness of each axis of the array clamping system (2) and the parallelism of each axis with each axis of the engraving system (1) are ensured, and the X, Y, and Z axes in the array clamping system (2) are respectively parallel to the X, Y, and Z axes of the engraving system (1), so as to achieve X k / / X j , Y k / / Y j , Z k / / Z j , where X k Indicates the engraving system (1) X axis, Y k Indicates the engraving system (1) Y axis, Z k Indicates the engraving system (1) Z axis, X j Indicates the array clamping system (2) X axis, Y j Indicates the array clamping system (2) Y axis, Z j Represents the Z axis of the array clamping system (2).

5. The method for establishing the spatial relationship between the array clamping system and the engraving system according to claim 1, characterized in that: Step 3 is specifically as follows: according to the actual situation of the array clamping system (2), the X-axis and Y-axis of the lifting column (13) in the first row and first column of the array clamping system (2) are moved to a certain position, and the Z-axis thereof is moved to a lower position, and the position is set as the coordinate system O of the array clamping system (2). j -xyz zero position (4).

6. The method for establishing the spatial relationship between the array clamping system and the engraving system according to claim 1, characterized in that: Step 4 is specifically as follows: keep the lifting column (13) in the first row and first column of the array clamping system (2) stationary, fix the target of the laser tracker at the end of the processing part of the engraving system (1), move the X-axis and Y-axis of the engraving system (1) at a certain interval, record a point position once each time the laser tracker moves, and fit the directions V of the X-axis and Y-axis of the engraving system (1) respectively through the measured points. x and V y , where V x Represents the engraving system (1) X-axis direction, V y Represents the Y-axis direction of the engraving system (1).

7. The method for establishing the spatial relationship between the array clamping system and the engraving system according to claim 1, characterized in that: In step 5, the measuring tool (6) is directly mounted on the lifting column (3). The measuring tool (6) has a hole for placing the target seat (7) when measuring with a laser tracker, and the axis of the hole is coaxial with the blind hole of the lifting column (3).

8. The method for establishing the spatial relationship between the array clamping system and the engraving system according to claim 1, characterized in that: Step 6 specifically includes: keeping the laser tracker stationary, placing and fixing the measuring fixture (6) on the lifting column (13) in the first row and first column of the array clamping system, placing the target seat (7) on the measuring fixture (6), placing the target on the target seat (7), and recording the spatial coordinate value at this time by the laser tracker, and using it as the array clamping system O j -xyz zero point position (4), and then the X / Y direction V fitted in step 4 x and V y As the X / Y direction of the coordinate system in the array clamping system (2), at this time, the coordinate system O in the array clamping system (2) j -xyz will complete the build.

9. The method for establishing the spatial relationship between the array clamping system and the engraving system according to claim 1, characterized in that: Step 7 specifically includes: keeping the laser tracker stationary, placing the measuring fixture (6) on the lifting column (3) in the first row and second column of the array clamping system, and placing the target seat (7) on the measuring fixture (6), placing the target on the target seat (7), measuring the coordinate value of the target on the current lifting column (3), and controlling the Y-axis and Z-axis movement of the lifting column (3) to ensure that the coordinate value of the target on the current lifting column (3) is (0, D y ,0), and set this position as the initial position of the lifting column (3), where D y represents the spacing value between adjacent lifting columns in the same row of the array clamping system at the initial position; similarly, by controlling the Y-axis and Z-axis movement of the lifting column (3) in the first row and third column of the array clamping system, the coordinate value of the target on the current lifting column (3) is ensured to be (0,2×D y ,0), and set this position as the initial position of the lifting column (3), until the initial position coordinate value of the lifting column (3) in the last column of the first row is (0, (N-1) × D y ,0).

10. The method for establishing the spatial relationship between the array clamping system and the engraving system according to claim 1, characterized in that:Step 8 specifically includes: keeping the laser tracker stationary, placing the measuring fixture (6) on the lifting column (3) in the second row and first column of the array clamping system, and placing the target seat on the measuring fixture (6), placing the target on the target seat (7), measuring the coordinate value of the target on the current lifting column (3), and ensuring that the X-axis coordinate value of the target on the current lifting column (3) is D by controlling the X-axis movement of the row where the lifting column (3) is located. x ; where D x Represents the spacing between adjacent rows of lifting columns in the array clamping system when each row is in the initial position.

11. The method for establishing the spatial relationship between the array clamping system and the engraving system according to claim 1, characterized in that: Step 9 specifically includes: keeping the laser tracker stationary, placing the measuring fixture (6) on the first column of the lifting column (3) of the remaining rows (lines) in the array clamping system (2), and placing the target seat (7) on the measuring fixture (6), placing the target on the target seat (7), measuring the coordinate value of the target on the current lifting column (3), and ensuring that the X-axis coordinate value of the target on the current lifting column (3) is (M-1)×D by controlling the X-axis movement of the row where the lifting column (3) is located. x .

12. The method for establishing the spatial relationship between the array clamping system and the engraving system according to claim 1, characterized in that: Step 10 is specifically as follows: repeat the relevant operations of step 7, set the initial positions of the remaining lifting columns (3) by controlling the Y-axis and Z-axis movements of the lifting columns (3) and measuring the data with the laser tracker, and ensure that the X-direction spacing between two adjacent lifting columns (3) is D when they are at their respective initial positions. x , the distance between them in the Y direction is D y ; Finally, each lifting column (3) corresponds to the coordinate system O at its initial position j -The information of the coordinate values ​​in xyz is as follows:

13. The method for establishing the spatial relationship between the array clamping system and the engraving system according to claim 1, characterized in that: Step 11 specifically includes: the engraving tool (8) can be directly mounted on the lifting column (3), and the top and side parts thereof are both cylindrical, and the top end and side ends are both circular planes; the upper end of the observation tool (10) is provided with a transparent glass (14) for observation, and the transparent glass (14) is engraved with a first "cross line" (15), and the observation tool (10) can be respectively mounted on the top and side parts of the engraving tool (8).

14. The method for establishing the spatial relationship between the array clamping system and the engraving system according to claim 1, characterized in that: Step 12 is as follows: ① Place the marking tool (8) on the lifting column (13) in the first row and first column of the array clamping system (2), and apply paper tape to the top circular plane (11) thereof, and the paper tape cannot exceed the top circular plane (11); ② Control the lifting column (13) in the first row and first column of the array clamping system to move to its initial position, that is, in the coordinate system O j - The zero point position (0,0,0) under xyz is set, and the C-axis and B-axis in the engraving system (1) are rotated to the position of 0°; ③ Adjust the X-axis, Y-axis, and Z-axis of the engraving system (1) so that the laser nozzle (9) is close to the top circular plane (11) of the engraving tool, turn on the laser to move the X-axis to engrave a line on the top circular plane (11) of the engraving tool and form a line in the second "cross line" (16), and record the Y coordinate value Y1 in the original coordinate system of the engraving system (1); turn on the laser to move the Y-axis to engrave a line on the top circular plane (11) of the engraving tool and form a second "cross line" (16), and record the X coordinate value X1 in the original coordinate system of the engraving system (1); ④ Cover the engraved line observation tool (10) on the top circular plane (11) of the engraved line tool, and rotate the observation tool (10) along the Z axis so that one of the first "cross lines" (15) on the transparent glass of the observation tool is parallel to one of the second "cross lines" (16) formed by the engraved lines; ⑤ Observe the tooling (10) from above to see whether the first "cross line" (15) on the transparent glass and the second "cross line" (16) formed by the engraved lines are both overlapped. If they are overlapped, set the X / Y axis coordinate values ​​recorded in the original coordinate system of the engraved system (1) when engraving the lines as the coordinate system O of the engraved system (1). k -xyz's XY zero coordinate; if they do not coincide, measure the spacing between the two lines in the X direction and the spacing between the two lines in the Y direction, and move the corresponding distances of the X axis and the Y axis respectively, and re-mark the lines so that the first "cross line" (15) on the transparent glass coincides with the second "cross line" (16) formed by the marking lines, and set the X-axis and Y-axis coordinate values ​​(X1, Y1) recorded in the original coordinate system of the engraving system (1) when marking the lines as the coordinate system O of the engraving system (1). k -xyz is the XY zero coordinate.

15. The method for establishing the spatial relationship between the array clamping system and the engraving system according to claim 1, characterized in that: Step 13 is as follows: ① Continue to place the marking tool (8) on the lifting column (13) in the first row and first column of the array clamping system, and ensure that the side end circular plane (12) is parallel to the Y axis, and stick paper tape on the side end circular plane (12) and the paper tape cannot exceed the side end circular plane (12); ② Control the lifting column (13) in the first row and first column of the array clamping system to move to the position in the coordinate system O j -xyz coordinate value (0,0,Z0) at position (5), Z0 is the Z-direction rising distance of the lifting column (3), which is equal to the distance from the B-axis rotation axis of the engraving system (1) to the engraving line point, the C-axis in the engraving system (1) is rotated to the position of 0°, and the B-axis is rotated to the position of 90°; ③ Adjust the XYZ axis of the engraving system (1) so that the laser nozzle (9) is close to the circular plane (12) on the side of the engraving tool, turn on the laser to move the Y axis to engrave on the circular plane (12) on the side of the engraving tool to form a "straight line", and record the Z axis coordinate value Z1 in the original coordinate system of the engraving system (1); ④ Move the Y axis to the Y axis zero coordinate, turn on the laser and move the Z axis up and down to carve a line on the side end circular plane (12) of the marking tool to form a "straight line", and at this time a "cross line" is formed on the paper tape; ⑤ Cover the engraved line observation tool (10) on the side end circular plane (12) of the engraved line tool, and rotate the observation tool along the X-axis so that the vertical line of the first "cross line" (15) on the transparent glass of the observation tool is parallel to the vertical line of the second "cross line" (16) formed by the engraved line; ⑥ Observe the tooling (10) from the side to see whether the first "cross line" (15) on the transparent glass coincides with the second "cross line" (16) formed by the engraved line. If so, set the Z-axis coordinate value Z1 in the original coordinate system of the engraved system (1) recorded during the engraving process as the coordinate system O of the engraved system (1). k -xyz is the zero coordinate in the Z direction; if they do not coincide, measure the spacing between the two lines in the Z direction, move the corresponding distance of the Z axis, and re-mark the lines so that the first "cross line" (15) on the transparent glass coincides with the second "cross line" (16) formed by the marking lines, and set the Z axis coordinate value Z1 recorded in the original coordinate system of the engraving system (1) when marking the lines as the coordinate system O of the engraving system (1). k -xyz Z-axis zero coordinate; at this time, the spatial relationship between the array clamping system (2) and the engraving system (1) is established.

16. The method for establishing the spatial relationship between the array clamping system and the engraving system according to claim 1, characterized in that: Step 14 is specifically as follows: when the post-processing software generates the execution program of the array clamping system (2) and the engraving system (1), a coordinate system O-XYZ is established in the theoretical digital model according to the placement relationship between the skin and the array clamping system (2). At this time, the coordinate system is consistent with the coordinate system O of the array clamping system (2) in the three-dimensional digital model. j -xyz coincides, so when generating the execution program of the array clamping system (2) and the engraving system (1), the reference coordinate system of the program selects the established coordinate system O-XYZ. At this time, the execution programs of the array clamping system (2) and the engraving system (1) are all in this coordinate system, and a connection is also established in space between the digital model of the part and the actual array clamping system (2) and the engraving system (1).

Images