A method for establishing spatial relationship between array clamping system and engraving system

Abstract

The present invention belongs to the field of digital engraving, and specifically is a method for establishing a spatial relationship between an array clamping system and an engraving system, comprising the following steps: adjusting the geometric accuracy of each axis of the engraving system to within a required range; adjusting the geometric accuracy of each axis in the array clamping system; setting the zero point position of the array clamping system; fitting the directions of the X-axis and Y-axis of the engraving system; preparing a measuring tool; constructing a coordinate system in the array clamping system; controlling the initial position of each lifting column in the first row; controlling the initial positions of the lifting columns in the second row and the remaining lifting columns; preparing an engraving tool and an engraving observation tool; determining the X, Y, and Z zero coordinates of the engraving system coordinate system; and the spatial relationship between the array clamping system (2) and the engraving system (1) is established. The method can quickly establish the spatial relationship between the array clamping system and the engraving system, reduce the workload of process personnel and operators, improve the accuracy of skin engraving processing, and save processing costs.

Description

Technical Field

[0001] The present 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 skins prior to chemical milling. The core components of this equipment are the array clamping system and the engraving system. Prior to processing, the array clamping system and the engraving system each have corresponding post-processing software. This software generates the corresponding program from the theoretical digital model of the sheet metal skin and then transmits it to the array clamping system and the engraving system to complete the engraving of the sheet metal skin.

[0003] Currently, the array clamping system and the engraving system each have a coordinate system, and there's no direct relationship between them. The post-processing software generates corresponding execution programs based on their respective theoretical digital-analog coordinate systems, and the two systems then execute the 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-analog coordinate systems, this process is extremely cumbersome, inefficient, and requires high operator requirements. Accurate mapping is also difficult, which can easily lead to errors, affecting processing accuracy and causing out-of-tolerance skin engraving. Summary of the Invention

[0004] In order to solve the problem that the actual coordinate system 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 objectives, the technical solutions provided by this application are 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: Using the axes of the engraving system as a 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 coordinate origin;

[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 motions of the remaining lifting columns to determine the initial position of the lifting columns in the X-axis coordinates, and finally determine the coordinates of each lifting column in the coordinate system O at its initial position. j -coordinate values ​​in xyz;

[0017] Step 11: Prepare marking tooling and marking observation tooling;

[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 between the axes.

[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 direction of up and down motion of each lifting column in the array is the Z-direction.

[0023] Furthermore, in the 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 Z axis and X axis of the engraving system j Indicates the array clamping system X axis, Y j Indicates the array clamping system Y axis, Z j Indicates the Z axis of the array clamping system.

[0024] Furthermore, 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 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 direction 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 remains coaxial with the blind hole of the lifting column, ensuring the accuracy and consistency of the measurement results during subsequent measurements.

[0027] Furthermore, 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, which is used as the array clamping system. 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 is 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] Furthermore, step 7 is specifically as follows: keep the laser tracker stationary, place the measuring fixture on the lifting column in the first row and second column of 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] Furthermore, step 8 is specifically as follows: keep the laser tracker stationary, place the measuring fixture on the lifting column of the second row and first 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 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 Represents the spacing between adjacent rows of lifting columns in the array clamping system when they are in their initial positions, ensuring that there is no interference between rows of lifting columns.

[0030] Furthermore, step 9 is specifically as follows: keep the laser tracker stationary, place the measuring fixture on the first column (number) of the remaining rows (lines) in the array clamping system, 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] Furthermore, 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 motion of the lifting columns and measuring the data with the laser tracker, and ensure that the X-axis spacing between two adjacent lifting columns is D when they are in 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 at its initial position j -xyz coordinate values ​​are as follows:

[0032]

[0033] Furthermore, step 11 is specifically as follows: the marking tool 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 a transparent glass for observation at the upper end of the observation tool, and the transparent glass is engraved with a first "cross line", and the observation tool can be fitted on the top and side of the marking tool 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 tape to the top circular surface of the tool without exceeding the top circular surface.

[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 so that the laser nozzle is close to the top circular plane of the engraving tooling. Turn on the laser to move the X-axis to engrave a line 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 a line on the top circular plane of the engraving tooling and form a second "cross line", and record the X coordinate value X1 in the original coordinate system of the engraving system;

[0038] ④ Place the line observation tool on the top circular plane of the line observation tool, and rotate the observation tool along the Z axis so that one of the first "cross lines" on the transparent glass of the observation tool is parallel to one of the second "cross lines" formed by the 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 lines are coincident. If they are coincident, set the X / Y axis coordinate values ​​recorded in the original coordinate system of the engraving system when engraving as the coordinate system of the engraving system. k-xyz's XY zero coordinates; 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, and re-mark the lines so that the first "cross line" on the transparent glass coincides with the second "cross line" formed by the marking line, and set the X-axis and Y-axis coordinate values ​​(X1, Y1) recorded in the original coordinate system of the marking system when marking the lines as the marking 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 side end circular plane is parallel to the Y axis, and stick the tape on the side end circular plane. The tape cannot extend beyond the side end circular plane.

[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,Z0), Z0 is the Z-axis rising distance of the lifting column, which is equal to the distance from the B-axis rotation axis of the engraving system to the engraved line point. Rotate the C-axis of the engraving system to the 0° position and the B-axis to the 90° position;

[0043] ③ Adjust the XYZ axis of the engraving system so that the laser nozzle is close to the side end circular plane of the engraving tooling, turn on the laser to move the Y axis to engrave a line 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 tool to form a "straight line". At this time, a "cross line" is formed on the paper tape;

[0045] ⑤ Place 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 so that the vertical line of the first "cross line" on the transparent glass of the observation tool is parallel to the vertical line of the second "cross line" formed by the engraved line;

[0046] ⑥Observe 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 engraving line. If so, set the Z-axis coordinate value Z1 recorded in the original coordinate system of the engraving system when engraving as the engraving system coordinate system O. k -xyz Z-axis zero coordinate; if they do not coincide, measure the distance between the two lines in the Z direction, move the corresponding distance of the Z axis, and 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 marking system when marking the line as the marking system coordinate system Ok -xyz Z-axis zero coordinate. At this point, the spatial relationship between the array clamping system and the engraving system is established.

[0047] Furthermore, 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 coincide with each other. Therefore, when generating the execution program of the array clamping system and the engraving system, the reference coordinate system of the program is selected as the established coordinate system O-XYZ. At this time, the execution program of the array clamping system and the engraving system is both in this coordinate system, and a spatial connection is established between the digital model of the part and the actual array clamping system and the engraving system. 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-analog 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. It 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 position of the lifting column in the first row and first column of the array clamping system is set as the zero point position 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 the 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 facilitates the determination of 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 a sticker 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 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, which solves 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 the array clamping system involved in the present invention.

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

[0060] Figure 7 This 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] Figure 9 This is a schematic diagram of placing the marking tooling involved in the present invention on a lifting column.

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

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

[0065] Figure 14-15The 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,Z0), 6. Measuring tooling, 7. Target seat, 8. Marking tooling, 9. Laser nozzle, 10. Observation tooling, 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] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are intended to explain the present invention rather than to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall 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: Using the axes of the engraving system 1 as a reference, adjust the geometric accuracy of each axis 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 coordinate origin;

[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 on 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 on the X-axis coordinate;

[0080] Step 10: Control the Y-axis and Z-axis motions of the remaining lifting columns 3 to determine the initial position of the lifting columns 3 in the X-axis coordinates, and finally determine the position of each lifting column 3 in the coordinate system O corresponding to its 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 with reference to 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 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 array clamping system 2's motion axes include the X, Y, and Z axes, primarily consisting of M rows. Each row has N columns of lifting columns 3, resulting in a total of M×N lifting columns 3. Each row can move along the X axis, and each column can move along both the Y and Z axes within its corresponding row. M represents the number of rows in the array clamping system 2, and N represents the number of lifting columns in each row. Each row in the array moves along the X axis, while the columns move along the Y axis. The vertical movement of each lifting column 3 in the array is in the Z direction.

[0089] With 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, move the X / Y axis of the lifting column 13 in the first row and first column of the array clamping system 2 to a certain position, and move its Z axis to a lower position, and set this position as the coordinate system of the array clamping system 2. j -xyz zero position 4.

[0091] Step 4: 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, and move the engraving system 1 X / Y axis at a certain interval. Each time it moves, the laser tracker records a point position. The direction V of the engraving system 1 X / Y axis is fitted based on 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 fixture 6. The measuring fixture 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 stationary, 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 4x 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 stationary, 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 holder 7 on the measuring fixture 6. Place the target on the target holder 7 and measure the coordinate value of the target on the lifting column 3. By controlling the Y / Z axis movement of the lifting column 3, ensure that the coordinate value of the target on the 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 guaranteed 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 last column of the first row (N-1)×D y ,0).

[0095] Step 8: Keep the laser tracker stationary, 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 . Among them D x Represents the spacing between adjacent rows of lifting columns in the array clamping system when they are in their initial positions, ensuring that there is no interference between rows of lifting columns.

[0096] Step 9: Keep the laser tracker stationary, place the measuring fixture 6 on the first column (number) of the remaining rows (lines) in the array clamping system 2, and place the target holder 7 on the measuring fixture 6. Place the target on the target holder 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, and 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, ensuring that the X-axis distance between two adjacent lifting columns 3 is D when they are in their respective initial positions. x , the distance between them in the Y direction is D y Therefore, each lifting column 3 is finally in its initial position corresponding to the coordinate system O j -xyz coordinate values ​​are as follows:

[0098]

[0099] Step 11: Prepare the marking tool 8 and the marking observation tool 10. The marking tool 8 can be directly mounted on the lifting column 3, and its top and side are cylindrical, and the top and side are circular planes; the upper end of the observation tool 10 has a transparent glass 14 for observation, and the transparent glass 14 is engraved with a "cross line" 15, and the observation tool 10 can be respectively mounted on the top and side of the marking tool 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 tape to the top circular plane 11 thereof, and the tape must not 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 axes 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 scribe 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 scribe 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;

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

[0105] ⑤ Observe the tooling 10 from above to see if the "cross line" 15 on the transparent glass and the second "cross line" 16 formed by the engraved lines are coincident. If they are coincident, set the X / Y axis coordinate values ​​recorded in the original coordinate system of the engraved system 1 when engraving the lines to the coordinate system of the engraved system 1. k -xyz's X / Y zero coordinates; 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, and re-mark the lines so that the "cross line" 15 on the transparent glass and the second "cross line" 16 formed by the marking line coincide with each other, and set the X / Y axis coordinate values ​​(X1, Y1) recorded in the original coordinate system of the marking system 1 when marking the lines as the coordinate system O of the marking 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 in 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 the paper tape on the side end circular plane 12 without exceeding 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,Z0) at position 5, Z0 is the Z upward rising distance of the lifting column 3, which is equal to the distance from the rotation axis of the B axis of the engraving system 1 to the engraved line point, rotate the C axis of the engraving system 1 to the position of 0°, and rotate the B axis 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 on the side of the engraving tool. Turn on the laser and move the Y axis to engrave a line on the circular plane 12 on the side of the engraving tool to form a "straight line". 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". At this time, a "cross line" is formed on the paper tape;

[0111] ⑤ Place the line observation tool 10 on the side end circular plane 12 of the line observation tool, and rotate the observation tool along the X-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 line;

[0112] ⑥ Observe the tool 10 from the side to see if 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 when engraving the line to the coordinate system O of the engraved system 1. k -xyz Z-axis zero coordinate; if they do not coincide, measure the distance between the two lines in the Z direction, move the corresponding distance of the Z axis, and 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 with each other, and set the Z-axis coordinate value Z1 recorded in the original coordinate system of the marking system 1 when marking the line as the coordinate system O of the marking 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 coincide, 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 obstruction to the present invention. Any simple modification or equivalent change made to the above embodiment based on the technical essence of the present invention shall fall within the scope of protection of the present invention.

Claims

1. A method for establishing a spatial relationship between an array clamping system and a die-cutting system, characterized by: The steps include: Step 1: Adjust the geometric accuracy of each axis of the engraving system (1) to within the required range; Step 2: Using the axes of the engraving system (1) as a reference, adjust the geometric accuracy of each axis 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 coordinate origin; 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; 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; 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; Step 10: Control the Y-axis and Z-axis motions of the remaining lifting columns (3), determine the initial position of the lifting column (3) in the X-axis coordinate, and finally determine the initial position of each lifting column (3) in the coordinate system O. j -coordinate values ​​in xyz; Step 11: Prepare the marking tool (8) and the 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 -Z zero coordinate of xyz, at this time 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); Step 6 is specifically as follows: keep the laser tracker stationary, place and fix the measuring fixture (6) on the first row and first column lifting column (13) 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 by the laser tracker, which is used 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), the coordinate system O in the array clamping system (2) is j -xyz will complete the build.

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 is specifically as follows: the linear motion axes of the engraving system (1) include the X-axis, the Y-axis, and the Z-axis, and the rotation axes include the C-axis and the B-axis, and the geometric accuracy of each axis of the engraving system (1) is adjusted to a required range, and the geometric accuracy includes the straightness of each axis and the perpendicularity between the axes.

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 the X-axis, the Y-axis, and the Z-axis, and include M rows, each row having N lifting columns (3), with 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 the Z-axis in the corresponding row; wherein 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.

4. The method for establishing a spatial relationship between an array clamping system and a die-cutting 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), to ensure the linearity of each axis of the array clamping system (2), the parallelism of each axis with each axis of the engraving system (1), and to ensure that the X, Y, and Z axes in the array clamping system (2) are parallel to the X, Y, and Z axes of the engraving system (1), respectively, 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 the point position once each time it moves, and fit the direction V of the X-axis and Y-axis of the engraving system (1) through the measured point positions. 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 a spatial relationship between an array clamping system and a die-cutting 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 a spatial relationship between an array clamping system and a die-cutting system according to claim 1, characterized in that: Step 7 is specifically as follows: keep the laser tracker stationary, 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 the 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).

9. The method for establishing a spatial relationship between an array clamping system and a die-cutting system according to claim 1, characterized in that: Step 8 is specifically as follows: keep the laser tracker stationary, place the measuring fixture (6) on the lifting column (3) in the first column of the second row in the array clamping system, 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 x Represents the spacing between adjacent rows of lifting columns in the array clamping system when each row is in the initial position.

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 9 is specifically as follows: keep the laser tracker stationary, place the measuring fixture (6) on the first column of the remaining rows (lines) 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 .

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 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 motions 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 -xyz coordinate values ​​are as follows:

12. The method for establishing a spatial relationship between an array clamping system and a die-cutting system according to claim 1, characterized in that: Step 11 is specifically as follows: the marking tool (8) can be directly fitted on the lifting column (3), and its top and side are cylindrical, and its top and side are 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 fitted on the top and side of the marking tool (8) respectively.

13. The method for establishing a spatial relationship between an array clamping system and a die-cutting 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 adhesive tape to the top circular plane (11) thereof, and the adhesive tape cannot extend beyond 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 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°; 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 line observation tool (10) on the top circular plane (11) of the line observation 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 line; ⑤ Observe the tooling (10) from above to see if the first "cross line" (15) on the transparent glass and the second "cross line" (16) formed by the engraved lines are both coincident. If they are coincident, set the X / Y axis coordinate values ​​recorded in the original coordinate system of the engraved system (1) when engraving the lines to the coordinate system O of the engraved system (1). k -xyz's XY zero coordinates; 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, 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 marking system (1) when marking the lines as the coordinate system O of the marking system (1). k -xyz is the XY zero coordinate.

14. The method for establishing a spatial relationship between an array clamping system and a die-cutting system according to claim 1, characterized in that: Step 13 is as follows: ① Continue to place the marking tool (8) on the first row and first column lifting column (13) of the array clamping system, and ensure that the side end circular plane (12) is parallel to the Y axis, and stick the 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 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 point, rotate the C-axis of the engraving system (1) to the position of 0°, and rotate the B-axis 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 side end circular plane (12) of the engraving tool, turn on the laser to move the Y axis to engrave a line on the side end circular plane (12) 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", at this time a "cross line" is formed on the paper tape; ⑤ Cover the line observation tool (10) on the side end circular plane (12) of the line observation 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 line; ⑥ Observe the tooling (10) from the side to see if 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 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 Z-axis zero coordinate; if they do not coincide, measure the distance between the two lines in the Z direction, move the corresponding distance of the Z axis, and re-mark the line so that the first "cross line" (15) on the transparent glass and the second "cross line" (16) formed by the marking line coincide with each other, and set the Z-axis coordinate value Z1 recorded in the original coordinate system of the marking system (1) when marking the line as the coordinate system O of the marking 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.

15. The method for establishing a spatial relationship between an array clamping system and a die-cutting 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 aligned with the coordinate system O of the array clamping system (2) in the three-dimensional digital model. j -xyz coincide with each other, 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).

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