Multi-spindle array machine tool synchronous detection device and method

Abstract

The invention discloses a multi-spindle array machine tool synchronous detection device and method, and relates to the technical field of machine tool detection, and the device comprises a device body, an array support, an annular guide rail, a sensor detection head and a double-crank mechanism. The device body is installed on a machine tool C shaft, multiple machine tool spindles are distributed at the bottom in an array mode, and the device body is connected with the U-shaped box through a crankshaft rod. The sensor detection head is installed on the U-shaped box body, is equipped with a linear displacement sensor and a three-dimensional edge searching sensor, and is used for measuring the molded surface and the edge of the blade. The double-crank mechanism realizes synchronous driving of the sensor detection head and the angle sensor. The detection method comprises the steps of device installation and initialization, calibration and zero setting, blade profile and edge measurement, tenon and top surface edge measurement, data processing and the like. According to the invention, synchronous detection of a plurality of blades is realized through a multi-spindle array design, the detection efficiency is obviously improved, accurate measurement of blade profiles and edges is realized in combination with a high-precision sensor, and the method has important practical significance and wide application prospects.

Description

Technical Field

[0001] The present invention relates to the technical field of machine tool detection, and particularly to a synchronous detection device and method for a multi-spindle array machine tool, which are used for the detection and data processing of medium and small-sized aero-engine blades. Background Art

[0002] In modern aviation industry, the detection technology of aero-engine blades is a key link to ensure flight safety, improve engine performance, reduce fault losses, increase maintenance efficiency, and guarantee manufacturing quality. As the core component of an aero-engine, the blade is directly related to the performance, reliability, and safety of the engine. However, traditional multi-joint or single-spindle machine tool detection devices can often only detect a single blade, with low detection efficiency, and can no longer meet the current requirements of aero-engine blade production.

[0003] In order to achieve high-quality grinding and polishing of the surface of aero-engine blades, adapt to the requirements of high precision, high efficiency, and multiple varieties, further promote the application of high-grade numerical control systems and machine tools in blade production, and break through the bottleneck problems in the production process of aero-engine compressor blades, it is particularly urgent to develop efficient blade detection devices and detection methods. Summary of the Invention

[0004] The purpose of the present invention is to provide a synchronous detection device and method for a multi-spindle array machine tool to meet the high-efficiency and high-precision detection requirements of aero-engine blades, which can not only improve the production efficiency and quality of aero-engine blades, but also provide strong guarantee for the high performance and high reliability of aero-engines, having important practical significance and broad application prospects.

[0005] To achieve the above purpose, in one aspect, the present invention provides a synchronous detection device for a multi-spindle array machine tool, including:

[0006] A device body, installed on the C-axis of the machine tool as a support frame of the detection device; a plurality of machine tool spindles are arrayed at the bottom of the device body, and each machine tool spindle is connected to a machine shaft rod at the bottom, and the end of the machine shaft rod is rotatably connected to a U-shaped box body;

[0007] An array bracket, one end of which is connected to a motor installed in the device body through a single-crank slider mechanism, and the other end is connected to a vertical guide rail on the machine tool; a plurality of annular guide rails are fixedly connected to both sides of the array bracket, and the annular guide rails are sleeved on the circumferences of the machine tool spindles one by one;

[0008] A sensor detection head, the rotating shaft of which is connected to the U-shaped box body, the U-shaped box body serves as an installation base of the sensor detection head, the sensor detection head is rotatably connected to one side, and an angle sensor is coaxially rotatably connected to the other side, and the angle sensor is used to detect the rotation angle of the sensor detection head;

[0009] A double crank mechanism, which is respectively connected to the sensor detection head and the angle sensor, to realize synchronous driving of the two.

[0010] In some alternative embodiments of the present invention, the sensor detection head includes a sensor fixing member, and a linear displacement sensor and a three-dimensional edge-finding sensor are respectively connected to both ends of the sensor fixing member, and the linear displacement sensor and the three-dimensional edge-finding sensor are respectively used to measure the profile and edge of the blade.

[0011] In some alternative embodiments of the present invention, the middle part of the sensor fixing member has a detection head rotation shaft, and the sensor fixing member is connected to the double crank mechanism through the detection head rotation shaft.

[0012] In some alternative embodiments of the present invention, the linear displacement sensor includes a measuring ball head with a radius of 1.5 mm, and one end far from the measuring ball head is connected to the data acquisition system through a circuit, and the linear displacement sensor is installed on the sensor fixing member through bolts.

[0013] In some alternative embodiments of the present invention, the three-dimensional edge-finding sensor includes a tungsten steel measuring ball head with a radius of 0.5 mm facing away from the linear displacement sensor, and a cylindrical clamping rod with a diameter of 6 mm on the side close to the linear displacement sensor.

[0014] In some alternative embodiments of the present invention, an annular slider slides on the inner circumferential side of the annular guide rail; the double crank mechanism includes a sliding rod, a first connecting rod and a first crank, one end of the first connecting rod is fixedly connected to the first crank, and the other end is rotatably connected to the bottom end of the sliding rod, and the top end of the sliding rod is fixedly connected to the annular slider.

[0015] In some alternative embodiments of the present invention, the array bracket includes a horizontal long shaft and a motor connection end and a guide rail connection end that are vertically bent upward at both ends of the long shaft. The motor connection end is connected to the motor through a single crank slider mechanism, and the guide rail connection end is slidably matched with the vertical guide rail of the machine tool.

[0016] In some alternative embodiments of the present invention, the single crank slider mechanism includes a second connecting rod and a second crank. One end of the second connecting rod is rotatably connected to the motor connection end, and the other end is rotatably connected to the second crank. One end of the second crank is connected to the second connecting rod, and the other end is connected to the motor.

[0017] On the other hand, the present invention provides a synchronous detection method for a multi-spindle array machine tool. According to any one of the above-mentioned multi-spindle array machine tool synchronous detection devices, the method includes the following steps:

[0018] S1. Installation and Initialization of the Detection Device: Install the device body on the C-axis of the machine tool to ensure the correct geometric relationship between the device body and the machine tool spindle; install the sensor detection head on the U-shaped box body to ensure that the axes of the linear displacement sensor and the three-dimensional edge-finding sensor coincide, and the parallelism of the coupling surface with the sensor fixing part meets the measurement accuracy requirements; initialize the detection device so that the rotation axis of the detection head points to the Y direction and the linear displacement sensor points to the negative Z direction;

[0019] S2. Calibration and Zeroing before Detection: Include the measurement of the distance between the centers of the measuring balls of the sensors, the correction, zeroing of the linear displacement sensor, and the establishment of the absolute coordinate system;

[0020] S3. Measurement of the Blade Profile: Include installing the blade, slicing the theoretical blade model, measuring the left blade profile, measuring the right blade profile, and rotating the position point cloud of the left blade profile by 180° around the blade axis center point and combining it with the position point cloud of the right blade profile to obtain the position point cloud of the two blade profiles;

[0021] S4. Measurement of the Blade Edge: Include measuring the blade edge arc, calculating the center position and radius of the edge arc by the three-point circle center method, and dealing with the situation where the blade edge arc is too large;

[0022] S5. Measurement of the Blade Tenon and the Top Edge: Include measuring the blade tenon and measuring the top edge of the blade;

[0023] S6. Data Processing: Include data acquisition and transmission and three-dimensional point cloud data processing.

[0024] In some alternative embodiments of the present invention, the measurement of the distance between the centers of the measuring balls of the sensors in step S2 includes:

[0025] Measuring the distance L from the center of the measuring ball of the linear displacement sensor to the rotation axis position of the detection device 直 ;

[0026] Measuring the distance L from the center of the measuring ball of the three-dimensional edge-finding sensor to the rotation axis position of the sensor 边 , and adjusting the fine-tuning nut on the sensor fixing part so that L 边 = L 直 ;

[0027] Measuring the common normal distance L between the sensor axis and the machine tool spindle 传 .

[0028] In some alternative embodiments of the present invention, the correction of the linear displacement sensor in step S2 includes:

[0029] Adjust the linear displacement sensor to the vertical state, place the flat gauge on the workbench and level it;

[0030] Move the linear displacement sensor above the flat gauge, control the C-axis of the machine tool to slowly move the sensor downward until the numerical display is not 0, and record the value d at this time 0 and the machine tool coordinate P 0 (0, 0, 0);

[0031] Control the C-axis of the machine tool to descend a certain distance, and record the value d of the linear displacement sensor at this time 1 and the machine tool coordinate P 1 (0, 0, z);

[0032] Judge whether z is equal to d 1 -d 0 , if not equal, adjust the angle α of the Y-axis according to the formula 1 or α 2 .

[0033] Compared with the prior art, the present invention discloses at least the following beneficial effects:

[0034] The synchronous detection device and method for a multi-spindle array machine tool of the present invention have remarkable technical effects. First of all, through the multi-spindle array design, the device can realize the synchronous detection of multiple blades, greatly improving the detection efficiency and meeting the requirements of large-scale production of aero-engine blades. Secondly, the device combines a linear displacement sensor and a three-dimensional edge-finding sensor, which are respectively used to measure the blade profile and edge, and can achieve high-precision detection to ensure the machining quality of the blades. In addition, the movement and measurement process of the detection device can be automatically controlled by the numerical control system, reducing manual intervention and improving the stability and repeatability of detection. The device is suitable for the detection of medium and small-sized aero-engine blades, has a wide range of industrial application prospects, and can provide a strong guarantee for the high performance and high reliability of aero-engines. In terms of data processing, through the data acquisition and transmission system, combined with the three-dimensional point cloud data processing technology, the detection data can be quickly processed and the actual blade model can be generated, which is convenient for subsequent processing and quality analysis. At the same time, the error compensation technology is used to equivalently synthesize the actual models of the array blades into a single blade model, realizing the uniformization of the blade allowance, further optimizing the machining process, and improving the production efficiency and quality. Description of the Drawings

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0036] Figure 1 is a structural schematic diagram of the synchronous detection device for a multi-spindle array machine tool according to an embodiment of the present invention Figure 1 ;

[0037] Figure 2 Structural schematic of the synchronous detection device for a multi-spindle array machine tool according to an embodiment of the present invention Figure 2 ;

[0038] Figure 3 Schematic diagram of the first posture after removing the device body according to an embodiment of the present invention;

[0039] Figure 4 Another posture schematic diagram after removing the device body according to an embodiment of the present invention;

[0040] Figure 5 Schematic diagram of the connection relationship between the sensor detection head and the annular guide rail in an embodiment of the present invention;

[0041] Figure 6 Schematic diagram of the structure of a single crank-slider mechanism in an embodiment of the present invention;

[0042] Figure 7 Schematic diagram of the structure of the sensor detection head in an embodiment of the present invention;

[0043] Figure 8 Schematic diagram of the movement orientation during the working process of an embodiment of the present invention;

[0044] Figure 9 Schematic diagram of the spindle numbers of the multi-spindle array machine tool according to an embodiment of the present invention;

[0045] Figure 10 Calculation principle diagram of L 直 in the detection method of an embodiment of the present invention;

[0046] Figure 11 Calculation principle diagram of L 传 in the detection method of an embodiment of the present invention;

[0047] Figure 12 Offset diagram of the linear displacement sensor in the detection method of an embodiment of the present invention;

[0048] Figure 13 Installation diagram of the blade model in the detection method of an embodiment of the present invention;

[0049] Figure 14 Slice diagram of the blade model in the detection method of an embodiment of the present invention;

[0050] Figure 15 Contour diagram of the slice of the blade theoretical model in the detection method of an embodiment of the present invention;

[0051] Figure 16 Measurement method diagram of the center of the arc at the edge of the blade in the detection method of an embodiment of the present invention.

[0052] In the figure: 1. Device body; 2. Array bracket; 3. Ring guide rail; 4. Slide bar; 5. First connecting rod; 6. Machine shaft rod; 7. Sensor detection head; 8. U-shaped box body; 9. Angle sensor; 10. Machine tool spindle; 11. Motor connection end; 12. Second connecting rod; 13. Second crank; 14. Sensor fixing part; 15. Three-dimensional edge finding sensor; 16. Linear displacement sensor; 17. Guide shaft support; 18. Coupling; 19. First crank; 20. Ring slider; 21. Guide rail connection end. Detailed implementation manner

[0053] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0054] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation manners.

[0055] Referring to Figures 1 to 9 As shown, this embodiment provides a synchronous detection device for a multi-spindle array machine tool, including a device body 1. The device body 1 serves as a support frame for the detection device and is integrally installed on the C-axis of the machine tool. An array bracket 2 is provided at the bottom of the device body 1. One end of the array bracket 2 is connected to a motor installed in the device body 1 through a single-crank slider mechanism, and the other end is connected to a vertical guide rail on the machine tool. The array bracket 2 includes four ring guide rails 3 distributed in an array. The four ring guide rails 3 are connected to the sensor detection head 7 through a slide bar 4 and a double-crank mechanism. The ring guide rail 3 is used to guide the movement of the slide bar 4. A ring slider 20 is installed on the inner peripheral side of the ring guide rail 3. One end of the slide bar 4 is fixedly connected to the ring slider 20, and the other end is rotationally connected to the first connecting rod 5. The first connecting rod 5 connects the slide bar 4 and the double-crank mechanism and is used to transmit motion. The sensor detection head 7 is rotationally connected to a U-shaped box body 8. The U-shaped box body 8 serves as a mounting base for the sensor detection head 7. One side rotationally connects the sensor detection head 7, and the other side is coaxially rotationally connected to an angle sensor 9. The angle sensor 9 is used to detect the rotation angle of the sensor detection head 7. The double-crank mechanism is respectively connected to the sensor detection head 7 and the angle sensor 9 to achieve synchronous driving of the two.

[0056] Specifically, the array support 2 includes a horizontal long axis and motor connection ends 11 and guide rail connection ends 21 that are vertically bent upward at both ends of the long axis. Among them, the motor connection end 11 is connected to the motor through a single crank-slider mechanism. The motor is fixed at a position near one side edge inside the device body 1, and the guide rail connection end 21 is slidably engaged with the vertical guide rail of the machine tool. Two annular guide rails 3 are fixedly connected to both sides of the long axis, and the four annular guide rails 3 are arranged in an array.

[0057] In this embodiment, the single crank-slider mechanism includes a second connecting rod 12 and a second crank 13. One end of the second connecting rod 12 is rotatably connected to the motor connection end 11, and the other end is rotatably connected to the second crank 13. One end of the second crank 13 is connected to the second connecting rod 12, and the other end is connected to the motor. The rotation of the motor drives the second crank 13 to rotate, and then drives the array support 2 to move up and down through the single crank-slider mechanism. Specifically, the motor is a low-speed and light-load servo motor. The motor shaft is connected to the crank-slider mechanism, and the slider (motor connection end 11) is fixedly connected to the array support 2. The motor drives the second crank 13 to rotate uniformly. Driven by the second connecting rod 12, the slider (motor connection end 11) moves up and down.

[0058] In this embodiment, the double crank mechanism includes a slide rod 4, a first connecting rod 5, and a first crank 19. One end of the first connecting rod 5 is fixedly connected to the first crank 19, and the other end is rotatably connected to the bottom end of the slide rod 4. The top end of the slide rod 4 is fixedly connected to the annular slider 20 on the annular guide rail 3. The guide rail connection end 21 of the array support 2 moves up and down synchronously under the rotation of the motor. The array support 2 is fixedly connected to the four annular guide rails 3. The annular slider 20 slides on the annular guide rail 3, and the slide rod 4 is fixedly connected to the annular slider 20, so that the slide rod 4 can slide on the annular slide rail, that is, synchronously follow the rotation of the machine tool spindle 10. When the array support 2 moves up and down, the slide rod 4 also moves up and down synchronously.

[0059] Specifically, guide shaft supports 17 are fixedly connected to both ends of the U-shaped box body 8 respectively. A guide shaft main shaft and a guide shaft sub-shaft are rotatably arranged in the two guide shaft supports 17 through bearings. One end of the guide shaft main shaft is fixedly connected to the sensor detection head 7, and the other end is fixedly connected to the double crank mechanism. One end of the guide shaft sub-shaft is connected to the angle sensor 9 through a coupling 18, and the other end is fixedly connected to the double crank mechanism. When the double crank mechanism moves, it can drive the guide shaft main shaft and the guide shaft sub-shaft to rotate synchronously, realizing the angular change drive of the same value for the sensor detection head 7 and the angle sensor 9.

[0060] Specifically, the sensor detection head 7 includes a sensor fixing member 14. The middle part of the sensor fixing member 14 has a detection head rotation shaft, which is connected to the guiding shaft main shaft. Linear displacement sensors 16 and three-dimensional edge-finding sensors 15 are respectively connected to both ends of the sensor fixing member 14. The linear displacement sensors 16 and the three-dimensional edge-finding sensors 15 are respectively used to measure the blade profile and edge. The sensors to be used are switched by rotating the detection head rotation shaft.

[0061] In this embodiment, the linear displacement sensor 16 includes a measuring ball head with a radius of 1.5 mm. One end away from the measuring ball head is connected to the data acquisition system through a circuit. The linear displacement sensor 16 is installed using an 8M×0.75 thread.

[0062] In this embodiment, the three-dimensional edge-finding sensor 15 includes a tungsten steel measuring ball head with a radius of 0.5 mm facing away from the linear displacement sensor 16 side, and a cylindrical clamping rod with a diameter of 6 mm on the side close to the linear displacement sensor 16.

[0063] In practical applications, the sensor fixing member 14 is customized according to the structures and installation methods of the linear displacement sensors 16 and the three-dimensional edge-finding sensors 15, so that the sensor fixing member 14 can adapt to the assembly requirements of the two sensors. During installation, the axes of the two sensors should coincide, and the parallelism between the axes of the two sensors and the connecting shaft surface of the sensor fixing member 14 should meet the requirements of the measurement accuracy.

[0064] The axis of the detection head rotation shaft on the sensor fixing member 14 should be at the midpoint of the connection line of the two measuring ball heads. Specifically, a threaded hole is provided in the middle of the sensor fixing member 14, and the position of the threaded hole is at the center of the connection line of the two measuring ball heads. And through the fine-tuning nut, the axis of the detection head rotation shaft of the sensor fixing member 14 is exactly at the center of the connection line of the two measuring ball heads. Furthermore, when the sensor detection head 7 rotates, the measuring ball heads of the linear displacement sensor 16 and the three-dimensional edge-finding sensor 15 can be kept on the same spatial circle.

[0065] In some embodiments, after installing the bearings and bearing covers on the guiding shaft main shaft, it is then connected to the U-shaped box body 8. Due to the radial force, deep groove ball bearings are selected for the bearings. According to the main shaft diameter of 15 mm, the bearing series number 6202 bearings are selected. The inner diameter of the 6202 bearings is 15 mm, the outer diameter is 35 mm, and the thickness is 11 mm. Similarly, after installing the bearings and bearing covers on the guiding shaft secondary shaft, it is then connected to the angle sensor 9 through the coupling 18. In some embodiments, the angle sensor 9 and the U-shaped box body 8 are also supported and fixed with fixing members.

[0066] The guide shaft support 17 near the sensor detection head 7 is connected to the machine tool spindle 10 through a machine shaft rod 6, and the machine tool spindle 10 is installed at the bottom of the device body 1. The machine shaft rod 6 is used to fixedly connect the U-shaped box body 8 and the machine tool spindle 10. Its upper end is clamped on the machine tool spindle 10, and its lower end is fixedly connected to the U-shaped box body through the guide shaft support 17.

[0067] The working principle of the embodiment of the present invention:

[0068] First, install the device body 1 on the C-axis of the machine tool, install the sensor detection head 7 on the U-shaped box body 8, ensure that the axes of the linear displacement sensor 16 and the three-dimensional edge-finding sensor 15 are centered, and fix the sensor detection head 7 through the machine shaft rod 6 and the guide shaft support 17. Initialize the detection device so that the rotation axis of the detection head points to the Y direction and the linear displacement sensor 16 points to the negative Z direction.

[0069] Drive the array support 2 to move up and down through the single crank-slider mechanism at the motor connection end 11, drive the sensor detection head 7 to move along the Z direction; the slide rod 4 moves up and down with the array support 2, driving the first connecting rod 5 and the first crank 19 to move, realizing the rotational movement of the sensor detection head 7, thereby completing the profile measurement of the blade.

[0070] Switch the linear displacement sensor 16 and the three-dimensional edge-finding sensor 15 through the sensor fixing piece 14 to measure the profile and edge of the blade respectively. When the linear displacement sensor 16 measures the profile of the blade, according to the sliced data of the blade theoretical model, move along the preset trajectory and record the measured values. When the three-dimensional edge-finding sensor 15 measures the edge of the blade, calculate the center and radius of the edge arc through the three-point center method to obtain the three-dimensional point cloud of the blade edge.

[0071] The multi-spindle array machine tool synchronous detection device of the above embodiment realizes the synchronous detection of multiple blades through the multi-spindle array design, significantly improves the detection efficiency, and combines the linear displacement sensor 16 and the three-dimensional edge-finding sensor 15 to accurately measure the profile and edge of the blade. The movement and measurement process of the detection device can be automatically controlled by the numerical control system, reducing manual intervention. The detection device of the present invention is suitable for the detection of medium and small-sized aero-engine blades and has a wide range of industrial application prospects.

[0072] Refer to Figures 10 to 16 As shown, the embodiment of the present invention also provides a multi-spindle array machine tool synchronous detection method, based on the multi-spindle array machine tool synchronous detection device described in the above embodiment. This method includes the following steps:

[0073] S1. Installation and initialization of the detection device

[0074] Installation and Detection Device: Install the device body 1 on the C-axis of the machine tool to ensure the correct geometric relationship between the device body 1 and the machine tool spindle 10. Install the sensor detection head 7 on the U-shaped box body 8 to ensure that the axes of the linear displacement sensor 16 and the three-dimensional edge finder 15 coincide, and the parallelism of the coupling surface with the sensor fixing member 14 meets the measurement accuracy requirements.

[0075] Initialization of the Detection Device: Make the detection head rotation axis point to the Y direction, and the linear displacement sensor 16 point to the negative Z direction. Drive the array bracket 2 to move up and down through the single crank-slider mechanism at the motor connection end 11, drive the sensor detection head 7 to move along the Z direction, and realize the rotational movement of the sensor detection head 7 through the double crank mechanism.

[0076] S2. Calibration and Zeroing before Detection

[0077] S21. Measurement of the Distance between the Ball Centers of the Sensors

[0078] After installing the linear displacement sensor 16 and the three-dimensional edge finder, the rotation of the machine tool spindle 10 in the Z direction and the rotation of the detection device rotation axis in the Y direction will not cause a change in the machine tool display coordinates. Therefore, it is necessary to measure the distance from the ball center of the sensor measurement head to the axis center of the detection head rotation axis, and measure the common normal distance L between the sensor axis and the machine tool spindle 10. 传 . However, in fact, it is not easy to measure with a ruler, and the measurement accuracy is not high. Therefore, it is necessary to measure through the movement of the machine tool, and the method is as follows:

[0079] Set the sensor to the initial state, then rotate the machine tool spindle 10 by 90 degrees, γ = 90°; rotate the detection head rotation axis by 90 degrees, α = 90°. Make the linear displacement sensor 16 point horizontally to the positive Y direction. Clamp the square gauge on the vertical rotary table, the side length of the gauge is a, and adjust the rotary table so that the gauge edges are parallel to the X direction and Y direction of the machine tool respectively;

[0080] Control the machine tool to move the linear displacement sensor 16 horizontally to contact the left side of the gauge. At this time, the machine tool display coordinates are

[0081] (x 1 , y 1 , z 1 ), and the linear displacement sensor 16 contracts by d 1 ;

[0082] Flip the linear displacement sensor 16 so that it points horizontally to the negative Y direction;

[0083] Control the machine tool to move the linear displacement sensor 16 horizontally to contact the right side of the gauge. At this time, the machine tool display coordinates are (x 2 , y 2 , z 2 ), and the linear displacement sensor 16 contracts by d2 ;

[0084] The linear displacement sensor 16 measures the position of the ball center of the head to the rotation axis of the detection device as L 直 (It is known that the ball head radius of the linear displacement sensor 16 is r 直 = 1.5 mm), and the calculation schematic diagram is as Figure 10 shown. A, A 1 respectively represent the axes of the front and rear machine tool spindles 10, and B, B 1 points respectively represent the intersection points of the rotation axis of the detection device and the rotation axis of the sensor, and C, C 1 points respectively represent the ball centers of the measuring balls of the linear displacement sensor 16.

[0085] Calculate L according to the formula 直 :

[0086] L 直 = (y 2 - y 1 + d 1 + d 2 + 2r 直 - a) / 2.

[0087] Similarly, the position of the ball center of the measuring ball of the 3D edge finder 15 to the rotation axis of the sensor can be obtained as L 边 , adjust the fine-tuning nut on the sensor fixing part 14 so that L 边 = L 直 ;

[0088] Adjust the rotation axis of the detection device so that the 3D edge finder 15 points to the positive Y direction, adjust the measuring ball of the 3D edge finder 15 to contact the gauge, and record the machine tool display coordinates (x 3 , y 3 , z 3 ) at this time;

[0089] Control the machine tool spindle 10 to rotate 90°, and move the 3D edge finder 15 so that its measuring ball just touches the same surface of the gauge, and record the machine tool display coordinates (x 4 , y 4 , z 4 ) at this time;

[0090] Because the axes of the linear displacement sensor 16 and the 3D edge finder are collinear, the common normal distance L 传 between the sensor axis and the machine tool spindle 10 is equal. Obtain the common normal distance L 传 between the axis line of the 3D edge finder and the machine tool spindle 10. The measurement principle is as Figure 11 shown;

[0091] Calculate L according to the formula 传 :

[0092] L 传 = y 4 -y 3 -L 边 。

[0093] Calculate the distance L from the center of the measuring ball of the sensor to the machine tool spindle 10 机 According to the equation L 机 2 = L 直 2 + L 传 2 Obtained.

[0094] S22. Calibration of the linear displacement sensor 16

[0095] Since the linear displacement sensor 16 is a spring-return type displacement sensor, when its measuring ball head is not in contact with an object, the displayed value d is 0. After the measuring ball head contacts the object, the displayed value d is the contraction amount of the measuring head. The collinearity requirement between the axis of the linear displacement sensor 16 and the moving direction is relatively high during use. For example, after installing the linear displacement sensor, if the linear displacement sensor 16 points vertically downward and the machine tool spindle 10 moves along the Z axis, at this time, it is required that the axis of the linear displacement sensor 16 is collinear with the Z direction. However, due to the influence of installation errors, the axis of the linear displacement sensor 16 often has a deviation in the Z direction, so it needs to be calibrated. Regarding the deviation of the axis of the linear displacement sensor 16 in the X direction, it can be adjusted by the fine-tuning nut on the sensor fixing part 14. Regarding the deviation in the Y direction, it can be calibrated in the following way:

[0096] Adjust the linear displacement sensor 16 to the vertical state, place the flat gauge on the workbench and level it;

[0097] Move the linear displacement sensor 16 above the flat gauge, control the C axis of the machine tool to slowly move the sensor downward until the numerical display is not 0, and record the value d at this time 0 and the machine tool coordinate P 0 (0, 0, 0);

[0098] Control the C axis of the machine tool to descend a certain distance, and record the value d of the linear displacement sensor 16 at this time 1 and the machine tool coordinate P 1 (0, 0, z);

[0099] Judge whether z is equal to d 1 -d 0 , if not equal, then adjust the angle α of the Y axis according to the formula 1 or α 2 :

[0100] α 1 = arccos[z / (d 1 -d0 )];

[0101] α 2 = -arccos[z / (d 1 -d 0 )].

[0102] S23. Zero Adjustment and Establishment of Absolute Coordinate System

[0103] Establish the absolute coordinate system P(x, y, z):

[0104] Adjust the detection device to the initial state, make the linear displacement sensor 16 point to the negative Z direction, and the axial direction of the spindle of the detection device point to the Y direction;

[0105] Adjust the spindle 10 of the machine tool and the rotation axis of the detection device, make the linear displacement sensor 16 point to the Y direction, and zero-adjust the angle sensor 9;

[0106] Adjust the vertical turntable so that the blade profile is on both sides. At this time, the blade transmission angle is set to 0 degrees; adjust the C axis of the machine tool so that the axis direction of the detection device is the X direction, and the rotation angle of the C axis is set to 0 degrees;

[0107] Use a cylindrical gauge to determine the rotation center of the blade, establish the origin P0(0, 0, 0) of the new absolute coordinate system by clearing the machine tool coordinates, and make the measuring ball of the linear displacement sensor 16 located at the rotation center of the blade.

[0108] S3. Measurement of Blade Profile

[0109] S31. Install the blade: Install the blade on the vertical turntable, and try to make the blade profile on both sides.

[0110] S32. Slice the theoretical blade model: Slice the theoretical blade model to obtain the blade profile curve as the moving trajectory of the linear displacement sensor 16, and the layer spacing is h.

[0111] S33. Measure the left blade profile:

[0112] Move the probe of the linear displacement sensor 16 to the point D 1 at the contour line of the first section, slide along the trajectory of D 1 B 1 and record the position of the trajectory points and the change curve of the sensor shrinkage d 1 ;

[0113] Raise the sensor by h to the point B 2 at the second section, slide along the trajectory of B 2 D 2 and record the position of the trajectory points and the change curve of the sensor shrinkage d 2 ;

[0114] Repeat the above steps until the measurement of all sections is completed to obtain the point cloud of the left blade profile position.

[0115] S34. Measure the right blade profile:

[0116] Flip the blade by 180°, and move the probe of the linear displacement sensor 16 to point C on the contour line of section one. 1 At this point, slide along the C 1 A 1 trajectory, and record the position of the trajectory points and the change curve of the sensor contraction amount d 1 ;

[0117] Repeat the above steps until the measurement of all sections is completed to obtain the point cloud of the right blade profile position.

[0118] S34. Rotate the point cloud of the left blade profile position by 180° around the axis center point of the blade, and combine it with the point cloud of the right blade profile position to obtain the point cloud of the two blade profiles position.

[0119] S4. Measurement of the blade edge

[0120] S41. Measure the edge arc of the blade: Use the three-dimensional edge-finding sensor 15 to measure the point cloud of the blade edge position. Control the edge-finding sensor to move to the AC edge of section one, and record the position of the center of the measuring ball head E 0 ; Move the measuring ball head along the X direction so that it just touches the blade edge, and record the position E at this time 1 ; Repeat to adjust the moving step precision, and finally obtain the position E where the measuring ball head just touches the blade edge; Measure the positions of points F and G in the same way.

[0121] S42. Calculate the center position and radius of the edge arc by the three-point center method:

[0122] O = the intersection point of the perpendicular bisectors of EF and FG; γ = the distance of OE or OF or OG;

[0123] S43. Deal with the situation where the blade edge arc is too large:

[0124] When the blade edge arc is too large, the measuring ball head can only touch half of the arc, such as the FG arc. At this time, first measure the points on the FG arc, and then flip the blade to measure the points on the EF arc; After flipping, perform a symmetry transformation of the positions of the points on the FG arc with respect to the blade rotation center point, and combine them with the points on the EF arc to obtain the complete point cloud of the blade edge position.

[0125] S5. Measurement of the blade tenon and the top surface edge

[0126] S51. Measure the blade tenon: Detect one or two points on each plane of the tenon outer dimension, and calculate its plane position; Detect three points on the inner wall of the hole on the tenon, and determine the center position and radius through three-point positioning.

[0127] S52. Measure the top edge of the blade: If the top edge is a plane, it is only necessary to detect three points at both ends and in the middle; if the top edge is a curved surface, use the same measurement method as the blade edge.

[0128] S6. Data processing

[0129] S61. Data acquisition and transmission:

[0130] The electrical signal output by the sensor is amplified by the amplifier circuit and filtered by the low-pass filter circuit, and then converted into a digital signal by the A / D analog-to-digital converter;

[0131] The digital signal is transmitted to the host computer through the serial port interface for data display and blade modeling.

[0132] S62. Three-dimensional point cloud data processing:

[0133] Data processing on the computer is mainly to use the UG\OpenAPI tool for secondary development of UG in the Visual Studio 2010 integrated development environment, and convert the acquired data into a three-dimensional point cloud. Analyze and record the invalid data in the three-dimensional point cloud map and delete the corresponding points. Register the point cloud after removing the invalid points with the blade theoretical model, and obtain the actual model of the array blade by the best fit. The actual model of the array blade is equivalently synthesized into a blade model through error compensation technology. This blade model is an equivalent reflection of the actual array blade model. Adaptive machining of this blade according to the processing requirements can meet the machining requirements of the array blade and ensure the uniformity of the allowance of the array blade.

[0134] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0135] The embodiments described above are only descriptions of the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention should fall within the protection scope determined by the claims of the present invention.

Claims

1. A multi-spindle array machine tool synchronization detection device, characterized in that: include: The device body (1) is mounted on the C-axis of the machine tool and serves as a supporting frame of the detection device; A plurality of machine tool spindles (10) are arranged in an array at the bottom of the device body (1), each machine tool spindle (10) is connected to a machine shaft rod (6) at the bottom, and the end of the machine shaft rod (6) is rotatably connected to a U-shaped box (8); An array bracket (2), one end of which is connected to a motor installed in a device body (1) through a single crank slider mechanism, and the other end of which is connected to a vertical guide rail on a machine tool; a plurality of annular guide rails (3) are fixedly connected to both sides of the array bracket (2), and the annular guide rails (3) are sleeved on the circumference of the machine tool spindle (10) in a one-to-one correspondence; A sensor detection head (7), the rotating shaft of which is connected to the U-shaped box (8), the U-shaped box (8) serving as a mounting base for the sensor detection head (7), one side of which is rotationally connected to the sensor detection head (7), and the other side of which is coaxially rotationally connected to an angle sensor (9), the angle sensor (9) being used to detect the rotation angle of the sensor detection head (7); A double crank mechanism is connected to the sensor detection head (7) and the angle sensor (9) respectively to achieve synchronous driving of the two.

2. The multi-spindle array machine tool synchronization detection device according to claim 1, characterized in that: The sensor detection head (7) comprises a sensor fixing part (14), and two ends of the sensor fixing part (14) are respectively connected to a linear displacement sensor (16) and a three-dimensional edge-finding sensor (15), and the linear displacement sensor (16) and the three-dimensional edge-finding sensor (15) are respectively used to measure the profile and edge of the blade.

3. The multi-spindle array machine tool synchronization detection device according to claim 2, characterized in that: The middle part of the sensor fixing part (14) is provided with a detection head rotating shaft, and the sensor fixing part (14) is connected to the double crank mechanism via the detection head rotating shaft.

4. The multi-spindle array machine tool synchronization detection device according to claim 2, characterized in that: The linear displacement sensor (16) comprises a measuring ball head with a radius of 1.5 mm, and one end away from the measuring ball head is connected to a data acquisition system via a line. The linear displacement sensor (16) is mounted on the sensor fixing member (14) via bolts.

5. The multi-spindle array machine tool synchronization detection device according to claim 2, characterized in that: The three-dimensional edge-finding sensor (15) comprises a tungsten steel measuring ball head with a radius of 0.5 mm facing the side away from the linear displacement sensor (16), and a cylindrical clamping rod with a diameter of 6 mm on the side close to the linear displacement sensor (16).

6. The multi-spindle array machine tool synchronization detection device according to claim 1, characterized in that: An annular slider (20) slides on the inner circumference of the annular guide rail (3); the double crank mechanism comprises a slide bar (4), a connecting rod (5) and a crank (19); one end of the connecting rod (5) is fixedly connected to the crank (19), and the other end of the connecting rod is connected to the bottom end of the slide bar (4); the top end of the slide bar (4) is fixedly connected to the annular slider (20).

7. The multi-spindle array machine tool synchronization detection device according to claim 1, characterized in that: The array support (2) comprises a horizontal long axis and a motor connection end (11) and a guide rail connection end (21) located at both ends of the long axis and bent vertically upwards, the motor connection end (11) being connected to the motor via a single crank slider mechanism, and the guide rail connection end (21) being slidably matched with a vertical guide rail of a machine tool.

8. The multi-spindle array machine tool synchronization detection device according to claim 7, characterized in that: The single crank slider mechanism comprises a second connecting rod (12) and a second crank (13), one end of the second connecting rod (12) is connected to the rotating shaft of the motor connection end (11), and the other end is connected to the rotating shaft of the second crank (13), one end of the second crank (13) is connected to the second connecting rod (12), and the other end is connected to the motor.

9. A method for synchronous detection of multi-spindle array machine tools, according to the device for synchronous detection of multi-spindle array machine tools according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1. Installation and initialization of the detection device: install the device body (1) on the C axis of the machine tool, ensuring that the geometric relationship between the device body (1) and the machine tool spindle (10) is correct; install the sensor detection head (7) on the U-shaped box (8), ensuring that the axis centers of the linear displacement sensor (16) and the three-dimensional edge-finding sensor (15) coincide with each other, and that the parallelism with the connecting shaft surface of the sensor fixing part (14) meets the measurement accuracy requirements; initialize the detection device so that the rotation axis of the detection head points to the Y direction and the linear displacement sensor (16) points to the negative Z direction; S2, calibration and zeroing before detection: including measurement of the distance between the sensor measuring head and the ball center, correction of the linear displacement sensor (16), zeroing and establishment of the absolute coordinate system; S3, blade profile measurement: including installing the blade, slicing the theoretical blade model, measuring the left profile of the blade, measuring the right profile of the blade, and rotating the left profile position point cloud of the blade around the blade axis by 180°, and combining it with the right profile position point cloud of the blade to obtain the two profile position point clouds of the blade; S4. Measurement of blade edge: including measuring the blade edge arc, calculating the center position and radius of the edge arc by the three-point circle center method, and handling the situation where the blade edge arc is too large; S5. Measurement of blade tenon and top edge: including measurement of blade tenon and measurement of blade top edge; S6. Data processing: including data acquisition and transmission as well as three-dimensional point cloud data processing.

10. The method for synchronous detection of multi-spindle array machine tools according to claim 9, characterized in that: The measurement of the distance between the head and the ball center by the sensor in step S2 includes: Measuring the linear displacement sensor (16) measuring the ball center of the head to the rotation axis position L of the detection device 直 ; Measure the position L from the center of the measuring ball head of the three-dimensional edge-finding sensor (15) to the sensor rotation axis center 边 , and adjust the fine adjustment nut on the sensor fixture (14) so ​​that L 边 =L 直 ; Measure the distance L between the sensor axis and the machine tool spindle (10) 传 .

11. The method for synchronous detection of multi-spindle array machine tools according to claim 9, characterized in that: The correction of the linear displacement sensor (16) in step S2 includes: Adjust the linear displacement sensor (16) to a vertical state, place the plane gauge on the workbench and adjust it to a level; Move the linear displacement sensor (16) to above the plane gauge, control the C axis of the machine tool to slowly move the sensor downward until the value displayed is not 0, and record the value d0 and the machine tool coordinate P0 (0, 0, 0) at this time; Control the C axis of the machine tool to descend a certain distance, and record the value d1 of the linear displacement sensor (16) and the machine tool coordinate P1 (0, 0, z) at this time; Determine whether z is equal to d1-d0. If not, adjust the Y-axis angle α1 or α2 according to the formula.

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