Coaxiality detecting and adjusting method for rotating shafts on two sides of machine tool

Abstract

The invention provides a coaxiality detecting and adjusting method for rotating shafts on the two sides of a machine tool. The method comprises the following steps: rotating a rotating shaft on one side around the axis of the rotating shaft to reach at least three sampling positions respectively, and measuring a sampling position sphere center coordinate of a standard ball at each sampling position; extracting coordinate values in the second direction and the third direction in the sphere center coordinates of each sampling position; plane circle fitting is carried out to obtain a first fitting circle, and the circle center coordinates of the first fitting circle are solved; rotating the rotating shaft on the other side, and repeating the process to solve the center coordinate of the second fitting circle; the coordinate values corresponding to the two circle center coordinates are subtracted, and the coaxiality deviation value in the two directions is obtained; judging whether the coaxiality meets the requirement or not according to the deviation value; if the requirement is not met, the coaxiality deviation in the corresponding direction is adjusted, and detection is conducted again till the requirement is met. Compared with a traditional method, the detection and adjustment method is obviously improved in the aspects of precision, efficiency and the like.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of machine tool technology, and in particular to a method for detecting and adjusting the coaxiality of double-sided rotating axes of a machine tool. Background Art

[0002] The cradle-type five-axis machine tool is suitable for processing small and light workpieces. In order to improve the rigidity of the rotating axis of the cradle-type worktable, some cradle-type five-axis machine tools adopt a double-sided support structure, with an A-axis rotating axis, namely the A1 axis and the A2 axis, on each side of the cradle-type worktable.

[0003] The coaxiality of the two rotating axes, A1 and A2, is an important indicator of the cradle-type workbench during the installation and commissioning phase. If the coaxiality deviation is too large, there will be torque inside the entire cradle-type workbench, which will affect the motion accuracy of the workbench, and even cause damage to the workbench in severe cases.

[0004] The existing cradle-type five-axis machine tool has a method for detecting and debugging the coaxiality of the A1 axis and the A2 axis by installing a test rod on the A1 axis and the A2 axis, calibrating the micrometer to read the reading and making corrections based on the test results. However, the above detection and debugging method currently has the following shortcomings:

[0005] 1) Low precision: After long-term use, the inspection rod will wear out, so it is difficult to ensure that the two inspection rods on the A1 axis and the A2 axis are exactly the same, and the inspection accuracy is difficult to guarantee;

[0006] 2) Low efficiency: Repeated debugging is required before inspection to ensure that the inspection rod is coaxial with the A1 axis / A2 axis, and the efficiency of the entire inspection process is low. Summary of the invention

[0007] The embodiments of the present application are intended to solve at least one of the existing technical problems. The embodiments of the present application provide a method for detecting and adjusting the coaxiality of the double-sided rotating axes of a machine tool, which improves the accuracy and efficiency of the detection and adjustment method to a certain extent.

[0008] The embodiment of the present application provides a method for detecting and adjusting the coaxiality of a rotating shaft on both sides of a machine tool, wherein the rotating shaft is driven to rotate by a motor, a standard ball is installed on the rotor of the motor or a component rotating with the rotor of the motor, and the method for detecting and adjusting the coaxiality of the rotating shaft on both sides of the machine tool comprises:

[0009] The rotary axis of one side of the double-sided rotary axis of the machine tool is rotated around its own axis to reach at least three sampling positions respectively, and the sampling position center coordinates of the standard ball at each sampling position are measured, wherein the sampling position center coordinates include coordinate values ​​in a first direction, a second direction, and a third direction, wherein the first direction is the axial direction of the reference axis, and the first direction, the second direction, and the third direction are perpendicular to each other;

[0010] Extracting two coordinate values ​​in the second direction and the third direction in the sphere center coordinates of each sampling position to form multiple sets of coordinate pairs;

[0011] Performing plane circle fitting on the multiple sets of coordinate pairs to obtain a first fitting circle, and solving the coordinates of the center of the first fitting circle, wherein the first fitting circle is located on a plane perpendicular to the first direction, and the coordinate values ​​of the center of the circle include the coordinate values ​​in the second direction and the third direction;

[0012] Rotate the other rotation axis of the two rotation axes of the machine tool around its own axis, and repeat the above process to solve the coordinates of the center of the second fitting circle;

[0013] Subtract the coordinate values ​​corresponding to the two circle center coordinates to obtain the coaxiality deviation values ​​in two directions;

[0014] Whether the coaxiality of the rotary axes on both sides of the machine tool meets the requirements is determined according to the coaxiality deviation values ​​in the two directions; if not, the coaxiality deviation in the corresponding direction is adjusted and re-tested until the requirements are met.

[0015] Optionally, the process of performing plane circle fitting on the plurality of sets of coordinate pairs and solving the coordinates of the center of the fitted circle includes: solving the coordinates of the center of the fitted circle using a least squares method.

[0016] Optionally, if the requirements are not met, the coaxiality deviation in the corresponding direction is adjusted and re-tested until the requirements are met, further comprising: adjusting the displacement of the rotation axis on either side of the double-sided rotation axis of the machine tool in the second direction and / or the third direction by adjusting elements.

[0017] Optionally, the adjustment element comprises a push-pull block, which is located on a mounting plane of a mounting seat of at least one of the two-sided rotating axes of the machine tool, and the push-pull block is located at the periphery of the rotating axis in the circumferential direction.

[0018] Optionally, the coaxiality detection and adjustment method of the double-sided rotating axes of the machine tool further includes, before rotating the rotating axis of one side of the double-sided rotating axes of the machine tool around its own axis to reach at least three sampling positions respectively and measuring the sampling position center coordinates of the standard sphere at each sampling position:

[0019] The standard ball is fixed on the rotor of the motor or a component rotating with the rotor of the motor through a connecting seat, a probe is installed on the spindle of a machine tool, and a probe is installed at a certain position of the machine tool and aligned with the probe to receive the signal of the probe.

[0020] Optionally, the determination of the sampling position center coordinates of the standard sphere at each sampling position further includes: driving the probe to contact at least four different position points on the spherical surface of the standard sphere located at the same sampling position, performing fitting sphere calculation on the three-coordinate values ​​of the obtained different position points, and obtaining the center coordinates of the fitting sphere and using them as the sampling position center coordinates of the standard sphere at the sampling position.

[0021] Optionally, before detecting whether the coaxiality of the rotary axes on both sides of the machine tool meets the requirement, it is respectively detected whether the parallelism between the rotary axis on one side of the rotary axes on both sides of the machine tool and the reference axis meets the requirement.

[0022] Optionally, the process of detecting whether the parallelism between the rotating axis on one side of the rotating axes on both sides of the machine tool and the reference axis meets the requirements includes:

[0023] Rotate the rotation axis on one side around its own axis to a first rotation position, and measure the first rotation position spherical center coordinates of the standard sphere located at the first rotation position;

[0024] Rotate the rotation axis around its own axis to a second rotation position, and measure the second rotation position spherical center coordinates of the standard sphere located at the second rotation position, wherein the first rotation position and the second rotation position are located at the two farthest points of the standard sphere in the negative direction and the positive direction of the second direction respectively;

[0025] Extracting coordinate values ​​in the first direction from the coordinates of the sphere center at the first rotation position and the coordinates of the sphere center at the second rotation position respectively, and using the difference between the two as a measure of the deviation of the axial direction of the rotation axis relative to the reference axis in the second direction;

[0026] If the deviation of the rotation axis in the second direction does not meet the requirement, adjusting the rotation axis along the second direction and re-testing until the requirement is met;

[0027] Referring to the above process, it is detected whether the deviation of the rotating axis in the third direction meets the requirement. If it does not meet the requirement, the rotating axis is adjusted along the third direction and re-detected until it meets the requirement.

[0028] Optionally, if the coordinate value of the sphere center coordinate at the second rotation position in the first direction is less than the coordinate value of the sphere center coordinate at the first rotation position in the first direction, it is determined that the axial positive direction of the rotation axis forms an acute angle with respect to the positive direction of the second direction; if the opposite is true, it is determined that the axial positive direction of the rotation axis forms an obtuse angle with respect to the positive direction of the second direction;

[0029] If the coordinate value of the center coordinate of the fourth rotation position in the first direction is less than the coordinate value of the center coordinate of the third rotation position in the first direction, it is determined that the axial positive direction of the rotation axis forms an acute angle with respect to the positive direction of the third direction, wherein the center coordinate of the third rotation position and the center coordinate of the fourth rotation position are the center coordinates of the standard sphere measured at the third rotation position and the fourth rotation position, respectively; if the opposite is true, it is determined that the axial positive direction of the rotation axis forms an obtuse angle with respect to the positive direction of the third direction.

[0030] Optionally, if the deviation of the rotating shaft in the second direction does not meet the requirement, a partial area of ​​the rotating shaft mounting seat where the rotating shaft is mounted is scraped and ground, wherein the partial area is a portion of the mounting area corresponding to the positive direction or the negative direction of the second direction; and / or,

[0031] If the deviation of the rotating shaft in the third direction does not meet the requirement, a partial area of ​​the rotating shaft mounting seat where the rotating shaft is mounted is scraped and ground, wherein the partial area is a portion of the mounting area corresponding to the positive direction or the negative direction of the third direction.

[0032] The coaxiality detection and adjustment method of the bilateral rotating axes of the machine tool in the embodiment of the present application has at least the following technical effects: the standard ball is not easily affected by gravity during the detection process, so the accuracy of the detection and adjustment method is better than that of the traditional detection method; the entire detection and adjustment process does not require repeated debugging of the inspection rod to ensure that the inspection rod is coaxial with the A1 axis / A2 axis, so the efficiency is relatively high.

[0033] Additional aspects and advantages of the present application will be partially given in the following description. Thus, in part, they will become apparent from the following description or will be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic flow chart of a method for detecting and adjusting the coaxiality of the double-sided rotating axes of a machine tool in some embodiments of the present application.

[0035] Figure 2 This is a schematic diagram of detecting the double-sided rotating axes of a machine tool in some embodiments of the present application.

[0036] Figure 3 This is a simplified schematic diagram of the rotation of a machine tool rotation axis around its own axis (ie, A1 axis / A2 axis) in some embodiments of the present application, wherein the own axis (ie, A1 axis / A2 axis) is not parallel to the reference axis X axis.

[0037] In the figure:

[0038] 11-first rotating axis; 12-second rotating axis; 20-standard ball; 30-rotating axis mounting seat. DETAILED DESCRIPTION

[0039] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments of the present application or the description of the prior art will be briefly introduced below.

[0040] Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, without paying creative work, drawings of other embodiments can also be obtained according to the technical solutions shown in these drawings.

[0041] In the description of this application, unless otherwise specified, “ / ” means or, for example, “A / B” means A or B; “and / or” in this article is merely a way to describe the association relationship of associated objects, which means that there may be three relationships. For example, “A and / or B” can mean: A exists alone, A and B exist at the same time, B exists alone, and so on.

[0042] In addition, in order to clearly describe the technical solutions of the embodiments of the present application, in the embodiments of the present application, expressions such as "first" or "second" are used to distinguish the same items or similar items with substantially the same functions and effects. Those skilled in the art can understand that expressions such as "first" and "second" do not limit the quantity and execution order, and expressions such as "first" and "second" do not necessarily mean that they are different.

[0043] The “installation”, “connection” and “setting” mentioned in this article include direct installation / connection / setting as well as indirect installation / connection / setting; include detachable installation / connection / setting as well as non-detachable installation / connection / setting; include fixed installation / connection / setting as well as movable installation / connection / setting.

[0044] The embodiment of the present application takes a cradle turntable type five-axis CNC machine tool as an example to introduce a method for detecting and adjusting the coaxiality of the double-sided rotating axes of the machine tool. More specifically, taking the double-sided rotating axes (i.e., the A1 axis and the A2 axis) of the cradle turntable of the cradle turntable type five-axis CNC machine tool as an example, the method for detecting and adjusting the coaxiality of the double-sided rotating axes of the machine tool in the embodiment of the present application is introduced. The spindle of the cradle turntable type five-axis CNC machine tool can rotate around the vertical Z axis, i.e., the other rotating axis C axis is in the vertical direction. It is not difficult to understand that the rotating axes of the machine tool in the embodiment of the present application are not limited to the A1 axis and the A2 axis of the cradle turntable.

[0045] The installation accuracy detection and adjustment method of the coaxiality detection and adjustment method of the double-sided rotating axes of a machine tool in the embodiment of the present application is not limited to the installation and adjustment of the rotating axes of a vertical machine tool, nor is it limited to the installation and adjustment of the rotating axes of a CNC machine tool.

[0046] For ease of understanding, in combination with the embodiments of the present application and its accompanying drawings, the coaxiality detection and adjustment method of the machine tool bilateral rotating axes in the embodiments of the present application is introduced by taking the axial direction of the X-axis as the first direction, the axial direction of the Y-axis as the second direction, and the axial direction of the Z-axis as the third direction as an example. It can be understood that the first direction, the second direction, and the third direction may also be other directions.

[0047] See also Figure 1 as well as Figure 2 , the embodiment of the present application provides a method for detecting and adjusting the coaxiality of the rotary axes on both sides of a machine tool. The rotary axes on both sides (i.e., the first rotary axis 11 and the second rotary axis 12) are driven to rotate by a motor. In the following part of this article, unless otherwise specified, "rotating axis" does not specifically refer to the first rotary axis 11 or the second rotary axis 12, but applies to both.

[0048] A standard ball 20 is installed on the rotor of the motor or a component rotating with the rotor of the motor. The coaxiality detection and adjustment method of the double-sided rotating shaft of the machine tool includes steps S110, S120, S130, S140, S150 and S160:

[0049] Step S110: Rotate one of the two rotating axes of the machine tool (i.e., the first rotating axis 11 / the first rotating axis 12) around its own axis to reach n sampling positions respectively, and measure the sampling position center coordinate P of the standard ball 20 at each sampling position i =(x i ,y i , z i ), where i = 1, 2, 3 ... n, and n ≥ 3, the sampling position sphere center coordinates P i =(x i ,y i , z i ) includes coordinate values ​​in a first direction, a second direction and a third direction, the first direction is the axial direction of the reference axis, and the first direction, the second direction and the third direction are perpendicular to each other.

[0050] Step S120: Extract the coordinates P of the center of each sampling position i =(x i ,y i , z i ) in the second direction and the two coordinate values ​​in the third direction to form n sets of coordinate pairs. The n sets of coordinate pairs can be in the form of (y1, z1), (y2, z2), ... (y n , z n ).

[0051] Step S130: Perform plane circle fitting on n sets of coordinate pairs to obtain a first fitting circle, and solve the coordinates of the center of the first fitting circle (y 10 , z10 ), wherein the first fitting circle is located on a plane perpendicular to the first direction, and the coordinate values ​​of the center coordinates include the coordinate values ​​in the second direction and the third direction. Specifically, the first fitting circle may be located on the yOz plane (i.e., a plane perpendicular to the X axis), and the center coordinates (y 10 , z 10 ) includes the coordinate value y in the second direction 10 And the coordinate value z in the third direction 10 .

[0052] Step S140: Rotate the other rotation axis of the machine tool around its own axis, and repeat the above process to solve the center coordinate (y 20 , z 20 );

[0053] Step S150: Subtract the coordinate values ​​corresponding to the two circle center coordinates to obtain the coaxiality deviation values ​​in two directions: Δy0 = y 20 -y 10 ; Δz0=z 20 -z 10 , where Δy0 is the coaxiality deviation value in the second direction, and Δz0 is the coaxiality deviation value in the third direction.

[0054] Step S160: judging whether the coaxiality of the rotary axes on both sides of the machine tool meets the requirements according to the coaxiality deviation values ​​Δy0 and Δz0 in two directions; if not, adjusting the coaxiality deviation in the corresponding direction and re-detecting until the requirements are met.

[0055] In the above embodiment, the standard ball is not easily affected by gravity during the detection process, so the accuracy of the detection adjustment method is better than that of the traditional detection method; the entire detection adjustment process does not require repeated adjustment of the detection rod to ensure that the detection rod is coaxial with the A1 axis / A2 axis, so the efficiency is relatively high.

[0056] Optionally, in some embodiments of the present application, the process of fitting a plane circle for multiple sets of coordinate pairs and solving the center coordinates of the fitted circle includes: solving the center coordinates of the fitted circle using the least squares method.

[0057] Optionally, in some embodiments of the present application, if the requirements are not met, the coaxiality deviation in the corresponding direction is adjusted and re-tested until the requirements are met, further including: adjusting the displacement of the rotation axis on either side of the double-sided rotation axis of the machine tool (i.e., the first rotation axis 11 / the second rotation axis 12) in the second direction and / or the third direction through an adjustment element.

[0058] Optionally, in some embodiments of the present application, the adjustment element includes a push-pull block, which is located on the mounting plane of the mounting seat of the rotating axis of at least one side of the two-sided rotating axis of the machine tool (i.e., the first rotating axis 11 / the second rotating axis 12), and the push-pull block is located on the circumferential periphery of the rotating axis (i.e., the first rotating axis 11 / the second rotating axis 12). Specifically, the first rotating axis 11 and the second rotating axis 12 are respectively mounted on the rotating axis mounting seat 30 through sleeves, and the rotating axis mounting seat 30 is provided with a mounting hole for mounting the first rotating axis 11 / the second rotating axis 12, the sleeve is located in the mounting hole, and the first rotating axis 11 / the second rotating axis 12 is located in the sleeve and can rotate relative to the sleeve. At least two push-pull blocks abut against two positions on the periphery of the sleeve, so that the sleeve can move in the second direction and / or the third direction, thereby changing the position of the axis of the first rotating axis 11 / the second rotating axis 12 in the second direction and / or the third direction.

[0059] Optionally, in some embodiments of the present application, the coaxiality detection and adjustment method of the double-sided rotating axes of the machine tool rotates the rotating axis of one side of the double-sided rotating axes of the machine tool (i.e., the first rotating axis 11 / the second rotating axis 12) around its own axis to reach n sampling positions respectively, and determines the sampling position spherical center coordinate P of the standard ball 20 at each sampling position i =(x i ,y i , z i ), it also includes: fixing the standard ball 20 on the rotor of the motor or a component rotating with the rotor of the motor through a connecting seat, installing the probe on the spindle of the machine tool, and installing the probe at a certain position of the machine tool and aligning it with the probe to receive the signal of the probe. Through the above steps, the operator can build and assemble a detection system with higher accuracy and efficiency before detection and adjustment.

[0060] Optionally, in some embodiments of the present application, the sampling position center coordinate P of the standard sphere 20 at each sampling position is determined. i =(x i ,y i , z i ), further comprising: driving the probe to contact at least four different position points on the spherical surface of the standard ball 20 at the same sampling position, performing fitting sphere calculation on the three coordinate values ​​of the different position points, obtaining the spherical center coordinates of the fitting sphere and using them as the spherical center coordinates of the sampling position of the standard ball 20 at the sampling position. Specifically, the probe is driven to contact five different position points on the spherical surface of the standard ball 20 at the position, performing fitting sphere calculation on the three coordinate values ​​of the different position points, wherein the five different position points are evenly distributed on the spherical surface of the standard ball 20.

[0061] In some cases, at least one of the first rotation axis 11 and the second rotation axis 12 may not be parallel to the reference axis. Therefore, the operator should detect and adjust the first rotation axis 11 / the second rotation axis 12 so that both the first rotation axis 11 and the second rotation axis 12 are parallel to the reference axis. Optionally, in some embodiments of the present application, before detecting whether the coaxiality of the rotation axes on both sides of the machine tool meets the requirements, the parallelism of the rotation axis on one side of the rotation axes on both sides of the machine tool (i.e., the first rotation axis 11 / the second rotation axis 12) and the reference axis meets the requirements.

[0062] Optionally, in some embodiments of the present application, the process of detecting whether the parallelism between the rotation axis on one side of the double-sided rotation axes of the machine tool and the reference axis meets the requirements includes:

[0063] The rotation axis on one side (i.e., the first rotation axis 11 / the second rotation axis 12) is rotated around its own axis to a first rotation position, and the first rotation position spherical center coordinate P of the standard sphere 20 located at the first rotation position is measured. O1 =(x O1 ,y O1 , z O1 );

[0064] The rotation axis is rotated around its own axis to a second rotation position, and the second rotation position spherical center coordinate P of the standard sphere 20 located at the second rotation position is measured. O2 =(x O2 ,y O2 , z O2 ), wherein the first rotation position and the second rotation position are located at the two farthest points of the standard sphere 20 in the negative direction and the positive direction of the second direction respectively. Figure 2 In the process from the first rotation position to the second rotation position, the first rotation axis 11 / the second rotation axis 12 rotates 180°. It is not difficult to understand that during the rotation of the first rotation axis 11 / the second rotation axis 12, the path trajectory of the center of the standard sphere 20 is an arc. If the first rotation axis 11 / the second rotation axis 12 can rotate 360°, the path trajectory of the center of the standard sphere 20 is a complete circle. The center of the circle is the point on the plane where the axis of the first rotation axis 11 / the second rotation axis 12 corresponds to the circle.

[0065] Extract the first rotation position spherical center coordinates P respectively O1 =(x O1 ,y O1 , z O1 ) and the second rotation position spherical center coordinate P O2 =(x O2 ,y O2 , z O2) in the first direction, and the difference between the two is used as a measure of the deviation of the axial direction of the rotation axis relative to the reference axis in the second direction. Specifically, if the first direction is the axial direction of the X-axis of the machine tool, the difference between the two spherical center coordinates is Δx O =x O2 -x O1 When the axial direction of the first rotation axis 11 / second rotation axis 12 (i.e., the A1 axis / A2 axis) is not parallel to the first direction (i.e., the axial direction of the reference axis), if the first rotation axis 11 / second rotation axis 12 rotates around its own axis within a certain angle range, the coordinates of the center of the standard sphere 20 will change in the first direction. Figure 3 , under the premise that the axis of the first rotation axis 11 / the second rotation axis 12 (i.e., the A1 axis / A2 axis) is not parallel to the reference axis X, the first rotation axis 11 / the second rotation axis 12 rotates around its own axis from the first rotation position to the second rotation position, then the difference Δx between the spherical center coordinates of the second rotation position and the first rotation position O This reflects the deviation of the axial direction of the first rotation axis 11 / the second rotation axis 12 with respect to the reference axis in the second direction (ie, the Y-axis direction).

[0066] If the deviation of the rotation axis in the second direction does not meet the requirement, the rotation axis is adjusted along the second direction and re-tested until the requirement is met; specifically, if the difference Δx between the spherical center coordinates of the second rotation position and the first rotation position is O If the set threshold is exceeded, it means that the deviation of the first rotating axis 11 / first rotating axis 12 in the second direction does not meet the requirement. At this time, the first rotating axis 11 / first rotating axis 12 is adjusted along the second direction to reduce the deviation of the rotating axis of the machine tool in the second direction. After adjustment, the above process should be repeated to re-test until the requirement is met.

[0067] Referring to the above process, check whether the deviation of the first rotating axis 11 / the second rotating axis 12 in the third direction meets the requirement. If not, adjust the first rotating axis 11 / the second rotating axis 12 along the third direction and re-check until the requirement is met. Through the above detection and adjustment method, the first rotating axis 11 / the second rotating axis 12 is made substantially parallel to the reference axis.

[0068] Optionally, in some embodiments of the present application, if the second rotation position spherical center coordinate P O2 =(x O2 ,y O2 , z O2 ) in the first direction is less than the coordinate value of the spherical center at the first rotation position P O1 =(x O1 ,y O1 , z O1) in the first direction, it is determined that the axial positive direction of the rotation axis forms an acute angle with respect to the positive direction of the second direction; if the opposite is true, it is determined that the axial positive direction of the rotation axis forms an obtuse angle with respect to the positive direction of the second direction;

[0069] If the fourth rotation position sphere center coordinates P O4 =(x O4 ,y O4 , z O4 ) in the first direction is less than the coordinate value of the sphere center at the third rotation position P O3 =(x O3 ,y O3 , z O3 ) in the first direction, it is determined that the positive axial direction of the rotation axis forms an acute angle with respect to the positive direction of the third direction, wherein the spherical center coordinate P of the third rotation position is O3 =(x O3 ,y O3 , z O3 ) and the fourth rotation position spherical center coordinate P O4 =(x O4 ,y O4 , z O4 ) are respectively the measured coordinates of the center of the standard sphere 20 at the third rotation position and the fourth rotation position; if it is the opposite case, it is determined that the axial positive direction of the rotation axis forms an obtuse angle with respect to the positive direction of the third direction.

[0070] See also Figure 3 , the second rotation position spherical center coordinate P O2 =(x O2 ,y O2 , z O2 ) in the X-axis direction is greater than the coordinates of the center of the sphere at the first rotation position P O1 =(x O1 ,y O1 , z O1 ) in the first direction. Figure 3 In the figure, the direction indicated by the arrow is the positive direction. Therefore, the first rotation axis 11 rotates from the first rotation position to the second rotation position, and the spherical center coordinate P of the second rotation position is O2 =(x O2 ,y O2 , z O2 ) relative to the first rotation position spherical center coordinate P O1 =(x O1 ,y O1 , z O1 ) is in front of the X-axis, that is, x O2 >x O1, then the positive direction of the axis A1 of the first rotating shaft 11 forms an obtuse angle with respect to the second direction (i.e. the positive direction of the Y axis). For analysis of other situations, please refer to Figure 3 Understanding by analogy.

[0071] Optionally, in some embodiments of the present application, if the deviation of the machine tool rotary axis in the second direction does not meet the requirement, a partial area of ​​the rotary axis mounting seat 30 where the machine tool rotary axis is mounted is scraped, wherein the partial area is a portion of the mounting area corresponding to the positive direction or negative direction of the second direction; and / or,

[0072] If the deviation of the machine tool rotary axis in the third direction does not meet the requirement, a partial area of ​​the rotary axis mounting seat 30 where the machine tool rotary axis is mounted is scraped, wherein the partial area is a portion of the mounting area corresponding to the positive direction or negative direction of the third direction.

[0073] For example, see Figure 3 , the positive direction of the axis of the first rotating shaft 11 forms an obtuse angle with the positive direction of the second direction, and if the obtuse angle is too large, the positive direction of the axis A1 of the first rotating shaft 11 should be brought closer to the positive direction of the X-axis. Specifically, the operator can scrape the portion corresponding to the positive direction of the second direction in the area where the rotating shaft of the machine tool is installed on the rotating shaft mounting seat 30, that is, scrape the partial area corresponding to the second rotation position on the rotating shaft mounting seat 30. By scraping, the thickness of the partial area corresponding to the second rotation position is lower than that of other partial areas, and the sleeve is brought closer to the partial area corresponding to the second rotation position on the rotating shaft mounting seat 30, so that the axial direction of the first rotating shaft 11 swings closer to the positive direction of the reference axis X-axis to reduce the deviation.

[0074] The above examples are only preferred embodiments of the present application, and certainly cannot be used to limit the scope of rights of the present application. Therefore, equivalent changes made according to the claims of the present application still fall within the scope covered by the present application.

Claims

1. A method for detecting and adjusting the coaxiality of a double-sided rotating axis of a machine tool, wherein the rotating axis is driven to rotate by a motor, characterized in that: A standard ball is installed on the rotor of the motor or a component rotating with the rotor of the motor, and the coaxiality detection and adjustment method of the rotating axes on both sides of the machine tool includes: The rotary axis of one side of the double-sided rotary axis of the machine tool is rotated around its own axis to reach at least three sampling positions respectively, and the sampling position center coordinates of the standard ball at each sampling position are measured, wherein the sampling position center coordinates include coordinate values ​​in a first direction, a second direction, and a third direction, wherein the first direction is the axial direction of the reference axis, and the first direction, the second direction, and the third direction are perpendicular to each other; Extracting two coordinate values ​​in the second direction and the third direction in the sphere center coordinates of each sampling position to form multiple sets of coordinate pairs; Performing plane circle fitting on the multiple sets of coordinate pairs to obtain a first fitting circle, and solving the coordinates of the center of the first fitting circle, wherein the first fitting circle is located on a plane perpendicular to the first direction, and the coordinate values ​​of the center of the circle include the coordinate values ​​in the second direction and the third direction; Rotate the other rotation axis of the two rotation axes of the machine tool around its own axis, and repeat the above process to solve the coordinates of the center of the second fitting circle; Subtract the coordinate values ​​corresponding to the two circle center coordinates to obtain the coaxiality deviation values ​​in two directions; Whether the coaxiality of the rotary axes on both sides of the machine tool meets the requirements is determined according to the coaxiality deviation values ​​in the two directions; if not, the coaxiality deviation in the corresponding direction is adjusted and re-tested until the requirements are met.

2. The method for detecting and adjusting the coaxiality of the double-sided rotating axes of a machine tool according to claim 1, characterized in that: The process of performing plane circle fitting on the plurality of sets of coordinate pairs and solving the coordinates of the center of the fitted circle includes: solving the coordinates of the center of the fitted circle by using the least square method.

3. The method for detecting and adjusting the coaxiality of the double-sided rotating axes of a machine tool according to claim 1, characterized in that: If the requirements are not met, the coaxiality deviation in the corresponding direction is adjusted and re-tested until the requirements are met, further comprising: adjusting the displacement of the rotating axis on either side of the double-sided rotating axis of the machine tool in the second direction and / or the third direction by adjusting elements.

4. The method for detecting and adjusting the coaxiality of the double-sided rotating axes of a machine tool according to claim 3, characterized in that: The adjustment element comprises a push-pull block, which is located on the mounting plane of the mounting seat of at least one of the two-sided rotating axes of the machine tool, and the push-pull block is located at the periphery of the rotating axis in the circumferential direction.

5. The method for detecting and adjusting the coaxiality of the double-sided rotating axes of a machine tool according to any one of claims 1 to 4, characterized in that: The coaxiality detection and adjustment method of the double-sided rotating axes of the machine tool further includes: before rotating one of the double-sided rotating axes of the machine tool around its own axis to reach at least three sampling positions respectively, and measuring the sampling position center coordinates of the standard ball at each sampling position: The standard ball is fixed on the rotor of the motor or a component rotating with the rotor of the motor through a connecting seat, a probe is installed on the spindle of a machine tool, and a probe is installed at a certain position of the machine tool and aligned with the probe to receive the signal of the probe.

6. The method for detecting and adjusting the coaxiality of the double-sided rotating axes of a machine tool according to claim 5, characterized in that: The method of measuring the sampling position center coordinates of the standard sphere at each sampling position further includes: driving the probe to contact at least four different position points on the spherical surface of the standard sphere located at the same sampling position, performing fitting sphere calculation on the three coordinate values ​​of the obtained different position points, obtaining the center coordinates of the fitting sphere and using them as the sampling position center coordinates of the standard sphere at the sampling position.

7. The method for detecting and adjusting the coaxiality of the double-sided rotating axes of a machine tool according to claim 1, characterized in that: Before detecting whether the coaxiality of the rotary axes on both sides of the machine tool meets the requirement, it is respectively detected whether the parallelism between the rotary axis on one side of the rotary axes on both sides of the machine tool and the reference axis meets the requirement.

8. The method for detecting and adjusting the coaxiality of the double-sided rotating axes of a machine tool according to claim 7, characterized in that: The process of detecting whether the parallelism between the rotating axis on one side of the rotating axes on both sides of the machine tool and the reference axis meets the requirements includes: Rotate the rotation axis on one side around its own axis to a first rotation position, and measure the first rotation position spherical center coordinates of the standard sphere located at the first rotation position; Rotate the rotation axis around its own axis to a second rotation position, and measure the second rotation position spherical center coordinates of the standard sphere located at the second rotation position, wherein the first rotation position and the second rotation position are located at the two farthest points of the standard sphere in the negative direction and the positive direction of the second direction respectively; Extracting coordinate values ​​in the first direction from the coordinates of the sphere center at the first rotation position and the coordinates of the sphere center at the second rotation position respectively, and using the difference between the two as a measure of the deviation of the axial direction of the rotation axis relative to the reference axis in the second direction; If the deviation of the rotation axis in the second direction does not meet the requirement, adjusting the rotation axis along the second direction and re-testing until the requirement is met; Referring to the above process, it is detected whether the deviation of the rotating axis in the third direction meets the requirement. If it does not meet the requirement, the rotating axis is adjusted along the third direction and re-detected until it meets the requirement.

9. The method for detecting and adjusting the coaxiality of the double-sided rotating axes of a machine tool according to claim 8, characterized in that: If the coordinate value of the sphere center coordinate at the second rotation position in the first direction is less than the coordinate value of the sphere center coordinate at the first rotation position in the first direction, it is determined that the axial positive direction of the rotation axis forms an acute angle with respect to the positive direction of the second direction; if the opposite is true, it is determined that the axial positive direction of the rotation axis forms an obtuse angle with respect to the positive direction of the second direction; If the coordinate value of the center coordinate of the fourth rotation position in the first direction is less than the coordinate value of the center coordinate of the third rotation position in the first direction, it is determined that the axial positive direction of the rotation axis forms an acute angle with respect to the positive direction of the third direction, wherein the center coordinate of the third rotation position and the center coordinate of the fourth rotation position are the center coordinates of the standard sphere measured at the third rotation position and the fourth rotation position, respectively; if the opposite is true, it is determined that the axial positive direction of the rotation axis forms an obtuse angle with respect to the positive direction of the third direction.

10. The method for detecting and adjusting the coaxiality of the double-sided rotating axes of a machine tool according to claim 8 or 9, characterized in that: If the deviation of the rotating shaft in the second direction does not meet the requirement, a partial area of ​​the rotating shaft mounting seat where the rotating shaft is mounted is scraped and ground, wherein the partial area is a portion of the mounting area corresponding to the positive direction or the negative direction of the second direction; and / or, If the deviation of the rotating shaft in the third direction does not meet the requirement, a partial area of ​​the rotating shaft mounting seat where the rotating shaft is mounted is scraped and ground, wherein the partial area is a portion of the mounting area corresponding to the positive direction or the negative direction of the third direction.

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