Workpiece alignment system for cycloid cyclone separation machining

Abstract

The invention relates to the technical field of workpiece positioning, in particular to a cycloid cyclone machining workpiece alignment system which comprises a first pressure detection end integrated in a machine tool spindle clamp and used for detecting first pressure from a workpiece in a plurality of directions in the workpiece clamping process; the second pressure detection end is integrated in the feeding system clamp and is used for detecting second pressure from the workpiece in a plurality of directions in the process of grabbing the workpiece; and the alignment module is used for continuously comparing the uniformity of the first pressure and the second pressure in a plurality of directions, analyzing workpiece alignment information and outputting workpiece adjustment information based on the source direction of the abnormal first pressure or the abnormal second pressure in the process that the machine tool spindle clamp executes the clamping instruction. According to the workpiece alignment control system, alignment information of the feeding stage and the clamping stage of the workpiece can be monitored, workpiece alignment control is automatically carried out, and the reliability, precision and efficiency of workpiece clamping are improved.

Description

Technical Field

[0001] This invention relates to the field of workpiece positioning technology, and specifically to a cycloidal rotary machining workpiece alignment system. Background Technology

[0002] Cycloidal turning is an advanced machining process commonly used for tapered synchronizer sleeves in automobiles. Its core lies in utilizing the geometric properties of cycloids to achieve efficient and precise machining of the workpiece. Specifically, cycloidal turning machine tools rotate both the workpiece and the cutting tool simultaneously. Based on the principle of cycloid formation, the tool axis and workpiece axis rotate synchronously at a set speed ratio. This allows for the machining of the desired surface shape while simultaneously achieving continuous indexing during rotation, significantly improving machining efficiency.

[0003] Since cycloidal spin machining is based on the principle of cycloidal generation, the clamping accuracy of the workpiece blank is crucial. If the workpiece blank is not clamped accurately, there will be positioning deviations, which will often disrupt the preset speed ratio between the tool and the workpiece, causing the cutting trajectory to deviate from the theoretical cycloidal path, ultimately resulting in forming errors.

[0004] Existing technologies often rely on automated feeding systems to complete the workpiece gripping and clamping steps. According to a preset program, the automated feeding system automatically grips the workpiece to the clamping position on the machine tool and uses fixtures to clamp and fix the workpiece blank. The automated feeding system grips along a fixed trajectory, moves along a preset program path, and hovers according to a preset program. Even slight positional fluctuations during this process can cause overlapping and offsetting positioning, and these cannot be detected and compensated for in a timely manner, continuously affecting the stability of the workpiece clamping accuracy.

[0005] Some automated feeding systems integrate vision systems, which assist in the automated clamping of workpiece blanks. During workpiece loading, the vision system identifies the workpiece's position and orientation, grasps it based on the identification results, and places it in the machine tool's clamping position, aligning the workpiece blank's axis with the machine tool's spindle axis. The workpiece blank is then clamped and fixed using a fixture. This method requires high accuracy from the vision system; however, the cycloidal spinning environment contains a large amount of dust and oil, which can easily reduce recognition accuracy, consequently reducing the precision of the workpiece's clamping position on the machine tool.

[0006] Some existing technologies improve the clamping accuracy of workpiece blanks by using positioning fixtures. Before clamping the workpiece, the workpiece blank is placed in the fixture and then positioned on the machine tool. The workpiece blank is then clamped and fixed by a jig, and the fixture is subsequently removed. This method requires frequent disassembly and assembly of the fixture during the clamping process, which affects processing efficiency and is not conducive to continuous automated processing. In addition, different fixtures need to be designed for different types of workpieces.

[0007] In summary, the existing automated feeding systems and positioning fixtures suffer from deficiencies in positioning reliability, error compensation capabilities, production changeover adaptability, and anomaly detection capabilities, which hinder high-precision cycloidal spinning. There is an urgent need for a technical solution that can effectively overcome these shortcomings to meet the demands of the cycloidal spinning industry for high-precision, high-efficiency automated production. Summary of the Invention

[0008] To address the aforementioned problems, this invention provides a cycloidal spin machining workpiece alignment system, which automatically aligns the workpiece during the workpiece clamping process, thereby improving the workpiece clamping accuracy.

[0009] To achieve the above objectives, the technical solution of the present invention is as follows: a cycloidal rotary machining workpiece alignment system, comprising: The first pressure detection end is integrated into the machine tool spindle fixture and is used to detect the first pressure from the workpiece in several directions during the workpiece clamping process. The second pressure detection end is integrated into the clamp of the feeding system and is used to detect the second pressure from the workpiece in several directions during the workpiece gripping process. The alignment module is used to continuously compare the uniformity of the first and second pressures in several directions during the execution of clamping commands by the machine tool spindle fixture, analyze the workpiece alignment information, and output workpiece adjustment information based on abnormal first or second pressures.

[0010] Furthermore, the alignment module is also used to control the feeding system to execute the first gripping instruction. After the first gripping instruction is executed, the second pressure from the workpiece in several directions is compared. When the difference of the second pressure in each direction is less than the first alignment threshold, the feeding system is controlled to execute the second gripping instruction. When the difference of the second pressure in each direction is greater than or equal to the first alignment threshold, the first gripping instruction is updated.

[0011] Furthermore, the first gripping instruction includes gripping the workpiece from several directions. When the second pressure is generated in any direction, the gripping continues for a preset gripping redundancy time to complete the first gripping instruction. The second gripping instruction includes continuing to grip the workpiece in several directions following the execution of the first gripping instruction, until the second pressure in each direction meets the gripping pressure threshold.

[0012] Furthermore, the alignment module is used to obtain the clamping instructions from the CNC system, preset the clamping alignment sector, and continuously obtain the first pressure from the workpiece in several directions when the machine tool spindle fixture executes the clamping instructions. When no first pressure is detected in any direction, the first pressure in different alignment sectors at different times is continuously acquired. When the first pressure of at least one alignment sector is acquired and no first pressure is detected in the radial direction of the alignment sector relative to the alignment sector, the first adjustment command is output to control the feeding system to adjust the workpiece position.

[0013] Furthermore, the first adjustment command includes the workpiece displacement direction and a preset first adjustment step size, used to adjust the workpiece hovering position; The workpiece displacement direction is the radial direction of the alignment sector relative to the alignment sector where the first pressure is detected.

[0014] Furthermore, the first pressure detection end is used to detect pressure data at several points in a single direction of the machine tool spindle fixture, and the first pressure is the average value of several pressure data in a single direction; The second pressure detection end is used to detect the pressure data of several points in a single direction of the clamp of the feeding system. The second pressure is the average value of several pressure data in a single direction.

[0015] Furthermore, the alignment module is used to select the first pressure detected in any direction when the machine tool spindle fixture completes the clamping command, and define the pressure data from which the first pressure originates as the first reference pressure; acquire the pressure data from which the first pressure originates located on the same radial line as the first reference pressure, and define it as the second reference pressure; acquire the pressure data from which the second pressure originates within the fixture of the loading system and is projected at the position of the first reference pressure, and define it as the third reference pressure; acquire the pressure data from which the second pressure originates within the fixture of the loading system and is projected at the position of the second reference pressure, and define it as the fourth reference pressure. By comparing the uniformity of several pressure data contained in the first reference pressure, second reference pressure, third reference pressure and fourth reference pressure, a second adjustment command is output to control the machine tool spindle fixture or the loading system fixture to adjust the workpiece position.

[0016] Furthermore, the second adjustment command includes switching the contact position between the machine tool spindle fixture and the workpiece, the displacement direction of the machine tool spindle fixture, and the preset second adjustment step size to adjust the workpiece clamping position; The direction in which the smaller pressure data in the first reference pressure and the second reference pressure both increase or the larger pressure data both decrease is selected as the displacement direction of the machine tool spindle fixture.

[0017] Furthermore, the second adjustment command includes the displacement direction of the clamping system of the feeding system and a preset third adjustment step, adjusting the workpiece clamping position; The direction in which the smaller pressure data in the third and fourth reference pressures increases or the larger pressure data decreases is selected as the direction of the clamp displacement of the feeding system.

[0018] Furthermore, the second adjustment command sequentially executes the switching of the contact position between the machine tool spindle fixture and the workpiece, the displacement of the machine tool spindle fixture, and the displacement of the loading system fixture. When the machine tool spindle fixture is displaced, the loading system fixture runs, so that the second pressure maintains the adjusted pressure value. When the loading system fixture is displaced, the machine tool spindle fixture runs, so that the first pressure maintains the adjusted pressure value. Until the difference between several pressure data contained in the first reference pressure, the second reference pressure, the third reference pressure and the fourth reference pressure is less than the second alignment threshold.

[0019] Compared to existing technologies, the above solution has the following advantages: By integrating the pressure detection end into the machine tool spindle fixture and the loading system fixture, the uniformity of pressure in multiple circumferential directions after the workpiece contacts the loading system fixture is obtained during the workpiece gripping process. The first alignment analysis is performed to determine the accuracy of the workpiece gripping by the loading system fixture, avoid gripping offset errors caused by the workpiece shape or impurities on the workpiece surface during the gripping process, and ensure that the workpiece axis coincides with the axis of the loading system fixture, laying the foundation for subsequent accurate clamping.

[0020] During clamping, a second alignment analysis is performed. Based on the time difference in pressure detected by the pressure detection end integrated within the machine tool spindle fixture, the accuracy of the workpiece suspension position by the loading system fixture is judged, and adaptive adjustments to the workpiece position are made during the incomplete clamping stage. After the pressure detection end integrated within the machine tool spindle fixture effectively detects pressure, ensuring that the workpiece is effectively clamped, another alignment analysis is performed. Pressure information, as well as pressure information distributed on the machine tool spindle fixture and the loading system fixture in the same type of plane in space, are selected sequentially for uniformity evaluation to analyze and judge the workpiece clamping accuracy. If the clamping accuracy does not meet the standard, the contact position between the machine tool spindle fixture and the workpiece is switched, or the position of the machine tool spindle fixture or the loading system fixture is adjusted to ensure that the workpiece is accurately clamped. Compared with vision clamping technology and clamping technology using tooling, this method can effectively improve the reliability, accuracy, and efficiency of alignment clamping. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the machine tool and feeding system according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the system framework of an embodiment of the present invention; Figure 3 This is a schematic diagram illustrating the clamping process principle of an embodiment of the present invention; Figure 4 This is a schematic diagram illustrating a correct clamping example according to an embodiment of the present invention; Figure 5 This is a schematic diagram illustrating an example of incorrect clamping in an embodiment of the present invention.

[0022] The reference numerals in the accompanying drawings include: 100, cycloidal spinning machine tool; 10, machine tool spindle fixture; 101, first pressure detection end; 200, feeding system; 20, feeding system fixture; 201, second pressure detection end; 301, alignment module. Detailed Implementation

[0023] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] The following detailed description illustrates the specific implementation method: Example 1: Taking an existing cycloidal spinning machine 100 as an example, the existing cycloidal spinning machine 100 structure reference... Figure 1 As shown, the cycloidal spinning machine 100 mainly consists of a machine base, a spindle (workpiece spindle), a cutter spindle, a spindle drive, a cutter spindle drive, and a CNC system. A fixture, namely the machine spindle fixture 10, is installed on the spindle for clamping the workpiece during processing. The cutter spindle is used to connect the spinning cutting tool. During cycloidal spinning, the CNC system controls the spindle and cutter spindle to operate at a certain speed ratio.

[0025] The CNC machining loading system 200 is a core auxiliary system for realizing automated production of CNC equipment. Its core function is to accurately and efficiently transport the materials to be processed to the machining station of the CNC equipment, and to cooperate with the machine tool spindle fixture 10 to complete positioning and clamping, replacing traditional manual loading and significantly improving production efficiency. (Existing loading system 200 structure reference) Figure 1 As shown, the material feeding system 200 is typically based on a robotic arm and integrates AI vision detection capabilities, enabling it to intelligently feed the workpiece and adaptively adjust it during the feeding process.

[0026] This embodiment proposes a workpiece alignment system that further improves the accuracy of the workpiece after it is clamped on the machine tool spindle fixture 10, based on the existing intelligent feeding system 200, thereby ensuring the accuracy of cycloidal spinning. (System framework reference) Figure 2 As shown, it mainly consists of a first pressure detection terminal 101, a second pressure detection terminal 201 and an alignment module 301. Both the first pressure detection terminal 101 and the second pressure detection terminal 201 are connected to the alignment module 301 by signal. The alignment module 301 is connected to the feeding system 200 and the CNC system by signal.

[0027] The first pressure detection end 101 is integrated into each jaw of the machine tool spindle fixture 10 and is used to detect the first pressure from the workpiece in several directions during the workpiece clamping process. Specifically, the first pressure detection end 101 is composed of several pressure sensors, preferably thin-film pressure sensors. In this embodiment, the machine tool spindle fixture 10 has six jaws, so pressure sensors are provided in each of the six jaws. In order to realize the acquisition of multi-point pressure data of a single jaw (clamping point), pressure sensors are respectively provided at the front end and rear end of the jaws of the machine tool spindle fixture 10, and the pressure data collected by each pressure sensor are marked separately: front pressure data a1, rear pressure data b1, front pressure data a2, rear pressure data b2, front pressure data a3, rear pressure data b3, front pressure data a4, rear pressure data b4, front pressure data a5, rear pressure data b5, front pressure data a6, and rear pressure data b6; the position of each pressure data is referenced. Figure 3 As shown. The first pressure is the average of two pressure data in a single direction, namely: the average of front pressure data a1 and back pressure data b1, the average of front pressure data a2 and back pressure data b2, the average of front pressure data a3 and back pressure data b3, the average of front pressure data a4 and back pressure data b4, the average of front pressure data a5 and back pressure data b5, and the average of front pressure data a6 and back pressure data b6.

[0028] The second pressure detection end 201 is integrated into each gripper of the feeding system fixture 20, and is used to detect the second pressure from the workpiece in several directions during the workpiece gripping process. Specifically, the second pressure detection end 201 is composed of several pressure sensors, preferably thin-film pressure sensors. In this embodiment, the feeding system fixture 20 has six grippers, so pressure sensors are provided in each of the six grippers. In order to realize the acquisition of multi-point pressure data of a single gripper (gripping point), pressure sensors are respectively provided at the front end and rear end of the grippers of the feeding system fixture 20, and the pressure data collected by each pressure sensor are marked as follows: front pressure data a11, rear pressure data b11, front pressure data a12, rear pressure data b12, front pressure data a13, rear pressure data b13, front pressure data a14, rear pressure data b14, front pressure data a15, rear pressure data b15, front pressure data a16, and rear pressure data b16; the position of each pressure data is referenced. Figure 3As shown. The second pressure is the average of two pressure data points in a single direction, namely: the average of front-end pressure data a11 and back-end pressure data b11, the average of front-end pressure data a12 and back-end pressure data b12, the average of front-end pressure data a13 and back-end pressure data b13, the average of front-end pressure data a14 and back-end pressure data b14, the average of front-end pressure data a15 and back-end pressure data b15, and the average of front-end pressure data a16 and back-end pressure data b16.

[0029] Preferably, the first pressure detection end 101 and the second pressure detection end 201 contain the same number of pressure sensors, and the pressure sensors are evenly distributed along the axis of the machine tool spindle fixture 10 and the axis of the loading system fixture 20. This facilitates workpiece alignment analysis, which is mainly performed by the alignment module 301.

[0030] The alignment module 301 possesses the capability to acquire and analyze pressure data. It can be a processor, microprocessor, controller, or other control component, such as a general-purpose central processing unit (CPU), a general-purpose processor, a digital signal processing unit (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The alignment module 301 is used to continuously compare the uniformity of the first and second pressures in several directions and analyze workpiece alignment information during the execution of clamping instructions by the machine tool spindle fixture 10. The alignment information includes the alignment status during workpiece gripping, the alignment status after workpiece gripping, the alignment status when the workpiece is suspended, the alignment status during workpiece clamping, and the alignment status when workpiece clamping is completed. If an alignment anomaly is detected at any stage, workpiece adjustment information is output based on the abnormal first or second pressure.

[0031] (1) Workpiece gripping stage: The alignment module 301 divides the existing single-step gripping process into two steps to verify whether the workpiece has been accurately gripped. In the early stages of gripping, existing preset strategies and AI visual detection are used. After confirming the workpiece position, when the gripping is about to begin, the loading system 200 continues to be controlled by the alignment module 301. The alignment module 301 controls the loading system 200 to execute the first gripping command. After the first gripping command is executed, the second pressure from the workpiece in six directions is compared. When the difference in the second pressure in each direction is less than the first alignment threshold, the loading system 200 is controlled to execute the second gripping command. When the difference in the second pressure in each direction is greater than or equal to the first alignment threshold, the first gripping command is updated.

[0032] The aforementioned first gripping instruction includes gripping the workpiece from six directions. When a second pressure is generated in any direction, the gripping continues for a preset gripping redundancy time to complete the first gripping instruction. This gripping strategy first determines the contact status between the loading system fixture 20 and the workpiece by whether a second pressure is generated; then, it analyzes the accuracy of the hovering position of the loading system fixture 20 by acquiring the first single second pressure or multiple second pressures occurring simultaneously. When only a single second pressure occurs, it indicates a low degree of overlap between the workpiece axis and the axis of the loading system fixture 20 during gripping; when multiple second pressures occur simultaneously, it indicates a high degree of overlap between the workpiece axis and the axis of the loading system fixture 20 during gripping, which can be used for subsequent fine-tuning of the hovering position of the loading system fixture 20 to adapt to the workpiece to be processed.

[0033] After a preset gripping redundancy time, more grippers of the loading system fixture 20 contact the workpiece sidewall, but are not fully clamped. At this point, a uniformity analysis of the circumferential second pressure is performed. The preset gripping redundancy time is the time the grippers of the loading system fixture 20 continue to operate after detecting the second pressure. When the difference in second pressure in each direction is less than the first alignment threshold, it indicates high gripping accuracy, and the second gripping command can continue to be executed. Conversely, when the difference in second pressure in each direction is greater than or equal to the first alignment threshold, it indicates low gripping accuracy, and the first gripping command is updated. The updated first gripping command includes switching the contact position between the grippers of the loading system fixture 20 and the workpiece, and may also include the aforementioned hovering position fine-tuning to improve workpiece gripping accuracy. This continues until the difference in second pressure in each direction is less than the first alignment threshold.

[0034] The second gripping instruction includes continuing to grip the workpiece in six directions after the execution of the first gripping instruction (or after the execution of the updated first gripping instruction if the first gripping instruction is updated), that is, maintaining the position of the grippers and continuing to clamp until the second pressure in each direction meets the gripping pressure threshold. Subsequently, the loading system 200 can suspend the accurately gripped workpiece at the machine tool spindle fixture 10 according to the existing preset path, and the alignment module 301 continues to perform workpiece alignment in the clamping stage.

[0035] (2) Workpiece clamping stage: During workpiece clamping, the alignment module 301 acquires the loading command from the loading system 200. After the loading command is executed, it acquires the clamping command from the CNC system and presets clamping alignment sectors. The number and position of the alignment sectors correspond to the number and position of the pressure sensors on the first pressure detection end 101 and the second pressure detection end 201. When the machine tool spindle fixture 10 executes the clamping command, it continuously acquires the first pressure from the workpiece in six directions. When no first pressure is detected in any direction, it continuously acquires the first pressure in different alignment sectors at various times. When at least one alignment sector's first pressure is acquired and no first pressure is detected radially relative to the alignment sector, it outputs a first adjustment command to control the loading system 200 to adjust the workpiece position. The first adjustment command includes the workpiece displacement direction and a preset first adjustment step size, used to adjust the workpiece hovering position; the workpiece displacement direction is the radial direction relative to the alignment sector where the first pressure is detected.

[0036] like Figure 3 As shown, each alignment sector is preset according to the number and position of pressure sensors installed on the first pressure detection end 101 and the second pressure detection end 201. Each dashed sector corresponds to an alignment sector; they are respectively marked as: the first alignment sector (corresponding to covering front-end pressure data a1, back-end pressure data b1, front-end pressure data a11, and back-end pressure data b11), the second alignment sector (corresponding to covering front-end pressure data a2, back-end pressure data b2, front-end pressure data a12, and back-end pressure data b12), and the third alignment sector (corresponding to covering front-end pressure data a11, back-end pressure data b12, front-end pressure data a12, and back-end pressure data b12), and the third alignment sector (corresponding to covering front-end pressure data a11, back-end pressure data b12, front-end pressure data a12, and back-end pressure data b12). According to a3, backend pressure data b3, frontend pressure data a13 and backend pressure data b13), the fourth alignment sector (corresponding to frontend pressure data a4, backend pressure data b4, frontend pressure data a14 and backend pressure data b14), the fifth alignment sector (corresponding to frontend pressure data a5, backend pressure data b5, frontend pressure data a15 and backend pressure data b15), and the sixth alignment sector (corresponding to frontend pressure data a6, backend pressure data b6, frontend pressure data a16 and backend pressure data b16).

[0037] During clamping, the pressure sensors in each alignment sector gradually approach the workpiece, with the pressure sensor closest to the workpiece detecting the first pressure first. If the workpiece is biased towards the fifth alignment sector, the pressure sensor in the fifth alignment sector will be the first to detect the first pressure. At the same time, the pressure sensors in the fourth and sixth alignment sectors may detect the first pressure, while the second alignment sector usually does not detect the first pressure. This indicates that there is a radial alignment offset error in the workpiece between the second and fifth alignment sectors of the machine tool spindle fixture 10, biased towards the fifth alignment sector. Therefore, the workpiece hovering position needs to be adjusted towards the alignment sector opposite to the fifth alignment sector, i.e., towards the second alignment sector. The distance of a single adjustment is one first adjustment step, which needs to be set according to the workpiece size and allowable error. Multiple workpiece hovering position adjustments may be performed during workpiece clamping until the clamping command is completed.

[0038] The workpiece clamping process in this embodiment differs from existing workpiece clamping processes. Existing workpiece clamping processes have a fixed workpiece hovering position, assuming the loading system 200 correctly positions the workpiece. However, due to mechanical offsets in the loading system 200 and the instability of AI vision, it's difficult to ensure complete alignment between the workpiece axis and the machine tool spindle axis during actual clamping. If clamping is performed when the workpiece axis deviates significantly from the machine tool spindle axis, the clamped workpiece may be skewed. Directly performing cycloidal spinning in this state would lead to severe forming errors. In this embodiment, the workpiece hovering position is continuously adjusted during clamping, gradually bringing the workpiece axis closer to coincide with the machine tool spindle axis, thus preventing the clamped workpiece from becoming skewed.

[0039] When the workpiece is initially clamped, the alignment module 301 is used to sequentially select the first pressure detected in any direction when the machine tool spindle fixture 10 completes the clamping command, and define the two pressure data sources of the first pressure (pressure data collected by pressure sensors set at the front and rear ends of a certain jaw of the machine tool spindle fixture 10) as the first reference pressure; acquire the two pressure data sources of the first pressure located on the same radial line as the first reference pressure (pressure data collected by pressure sensors set at the front and rear ends of a certain jaw of the machine tool spindle fixture 10), and define them as the second reference pressure. Acquire the two pressure data sources of the second pressure within the loading system fixture 20 that are at the projection position of the first reference pressure (pressure data collected by pressure sensors set at the front and rear ends of a certain jaw of the loading system fixture 20), and define them as the third reference pressure; acquire the two pressure data sources of the second pressure within the loading system fixture 20 that are at the projection position of the second reference pressure (pressure data collected by pressure sensors set at the front and rear ends of a certain jaw of the loading system fixture 20), and define them as the fourth reference pressure.

[0040] The selected first, second, third, and fourth reference pressures are located in the same spatial plane, corresponding to the pressure conditions at the four corners of a workpiece's cross-section in contact with the machine tool spindle fixture 10 and the loading system fixture 20. This directly reflects the state of the workpiece within the selected spatial plane. If the pressure parameters contained in the first, second, third, and fourth reference pressures differ significantly, the probability of the workpiece being tilted or the machine tool spindle fixture 10 and the loading system fixture 20 being misaligned is higher; conversely, the probability of the workpiece being tilted or the machine tool spindle fixture 10 and the loading system fixture 20 being misaligned is lower.

[0041] Therefore, the alignment module 301 is also used to compare the uniformity of several pressure data contained in the first reference pressure, the second reference pressure, the third reference pressure and the fourth reference pressure, output a second adjustment command, and control the machine tool spindle fixture 10 or the loading system fixture 20 to adjust the workpiece position.

[0042] Specifically, on the machine tool spindle side, the second adjustment command may include switching the contact position between the machine tool spindle fixture 10 and the workpiece, the displacement direction of the machine tool spindle fixture 10, and a preset second adjustment step size to adjust the workpiece clamping position. The displacement direction of the machine tool spindle fixture 10 is determined by selecting the direction in which the smaller pressure data in the first reference pressure and the second reference pressure increases or the larger pressure data decreases; and the displacement path is along the radial line of the machine tool spindle fixture 10 where the first reference pressure and the second reference pressure are located. The distance of a single adjustment is one second adjustment step size, which needs to be set according to the workpiece size and allowable error.

[0043] Specifically, on the feeding system 200 side, the second adjustment command may include the displacement direction of the feeding system fixture 20 and a preset third adjustment step, adjusting the workpiece clamping position. The displacement direction of the feeding system fixture 20 is defined as follows: the direction in which the smaller pressure data in the third and fourth reference pressures increases or the larger pressure data decreases is selected as the displacement direction of the feeding system fixture 20; and the displacement path lies on the radial line of the feeding system fixture 20 where the third and fourth reference pressures are located. The distance of a single adjustment is one second adjustment step, which needs to be set according to the workpiece size and allowable error.

[0044] like Figure 4 and Figure 5As shown, the following reference pressures are selected: a first reference pressure (Q1: Y1A / Y1B), a second reference pressure (Q2: Y4A / Y4B), a third reference pressure (Q3: Y11A / Y11B), and a fourth reference pressure (Q4: Y14A / Y14B). Y1A and Y4A are pressure data detected by the pressure sensor at the front end of the machine tool spindle fixture 10, distributed in the first and fourth alignment sectors; Y1B and Y4B are pressure data detected by the pressure sensor at the rear end of the machine tool spindle fixture 10, distributed in the first and fourth alignment sectors. Similarly, Y11A and Y14A are pressure data detected by the pressure sensor at the front end of the loading system fixture 20, distributed in the first and fourth alignment sectors; Y11B and Y14B are pressure data detected by the pressure sensor at the rear end of the loading system fixture 20, distributed in the first and fourth alignment sectors.

[0045] Figure 4 The image shows the workpiece being precisely clamped, with Y1A\Y1B, Y4A\Y4B, Y11A\Y11B, and Y14A\Y14B being uniform.

[0046] Figure 5 The image shows a workpiece that is not precisely clamped; Y1A\Y1B, Y4A\Y4B, Y11A\Y11B, and Y14A\Y14B are uneven. Figure 5 The workpiece is in a slightly tilted state, with Y1A > Y1B, Y4A < Y4B, Y11A < Y11B, and Y14A > Y14B, and there are differences between the alignment pressure data.

[0047] The direction in which the smaller pressure data in the first reference pressure and the second reference pressure both increase or the larger pressure data both decrease is selected as the displacement direction of the machine tool spindle fixture 10: the displacement path is the radial line of the machine tool spindle fixture 10 where the first reference pressure and the second reference pressure are located, that is, the machine tool spindle fixture 10 can move up and down; the direction in which the smaller Y1B and Y4A both increase is the upward displacement of the machine tool spindle fixture 10, and the direction in which the larger Y1A and Y4B both decrease is the upward displacement of the machine tool spindle fixture 10, that is, the displacement direction of the machine tool spindle fixture 10 is upward along the radial line of the machine tool spindle fixture 10 where the first reference pressure and the second reference pressure are located.

[0048] The direction in which the smaller pressure data in the third and fourth reference pressures increases or the larger pressure data decreases is selected as the displacement direction of the loading system fixture 20. The displacement path is the radial line of the loading system fixture 20 where the third and fourth reference pressures are located; that is, the loading system fixture 20 can move vertically. The direction in which the smaller Y11A and Y14B increase indicates downward displacement of the loading system fixture 20, and the direction in which the larger Y11B and Y14A decrease indicates downward displacement of the loading system fixture 20. In other words, the displacement direction of the loading system fixture 20 is downward along the radial line of the loading system fixture 20 where the third and fourth reference pressures are located. The displacement directions of the machine tool spindle fixture 10 and the loading system fixture 20 can be determined by moving along the selected reference pressure radial line by one second adjustment step, based on the changes in each pressure data.

[0049] For different cycloidal rotary milling machines 100 and loading systems 200, some of the second adjustment commands can be executed. Preferably, the second adjustment commands are executed sequentially, including switching the contact position between the machine tool spindle fixture 10 and the workpiece, the displacement of the machine tool spindle fixture 10, and the displacement of the loading system fixture 20. When the machine tool spindle fixture 10 is displaced, the loading system fixture 20 operates, maintaining the second pressure at the adjusted pressure value to ensure that the workpiece can be moved by external force and change its posture. When the loading system fixture 20 is displaced, the machine tool spindle fixture 10 operates, maintaining the first pressure at the adjusted pressure value to ensure that the workpiece can be moved by external force and change its posture. The alignment and clamping process is completed when the difference between several pressure data contained in the first reference pressure, second reference pressure, third reference pressure, and fourth reference pressure is less than the second alignment threshold. The clamped workpiece is horizontal, and the workpiece axis is highly aligned with the axis of the machine tool spindle fixture 10. Subsequently, the CNC system controls the workpiece axis and the tool axis to run according to the set speed ratio.

[0050] In Example 2, the loading system 200 can be operated manually in conjunction with tooling. The alignment module 301 independently performs workpiece alignment analysis based solely on the first pressure detected by the first pressure detection end 101 integrated within the machine tool spindle fixture 10. After the workpiece is manually placed in the clamping position of the machine tool spindle fixture 10 using tooling, the pressure sensor of the first pressure detection end 101 continuously acquires the first pressure from the workpiece in various directions. When the first pressure is detected in all directions, the alignment module 301 begins to execute an alignment analysis strategy similar to that used when the initial workpiece clamping is completed during the workpiece clamping stage. The difference includes that the selected reference pressure is from the machine tool spindle side, and the output control commands are only directed at the machine tool spindle side.

[0051] In some embodiments, the loading system 200 may also be a tooling integrating a second pressure detection end 201. The second pressure detection end 201 integrated in the tooling has the same function as when integrated into the gripper of the robotic arm, for detecting the second pressure. After the workpiece is placed in the clamping position of the machine tool spindle fixture 10 using the tooling integrating the second pressure detection end 201, the pressure sensor of the first pressure detection end 101 continuously acquires the first pressure from the workpiece in all directions. When the first pressure is detected in all directions, the alignment module 301 begins to execute an alignment analysis strategy similar to that used when the initial workpiece clamping is completed during the workpiece clamping stage. The selected reference pressure comes from the machine tool spindle side and the tooling side, the difference being that the output control commands are only for the machine tool spindle side.

[0052] In addition to the robotic arm with integrated AI visual inspection function, the tooling that combines manual labor with tooling, and the tooling that integrates the second pressure detection end 201, other loading systems 200 that do not integrate the second pressure detection end 201 and loading systems 200 that integrate the second pressure detection end 201 can all be used for workpiece alignment with reference to the technical solution of this application.

[0053] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A cycloidal rotary machining workpiece alignment system, characterized in that, include: The first pressure detection end is integrated into the machine tool spindle fixture and is used to detect the first pressure from the workpiece in several directions during the workpiece clamping process. The second pressure detection end is integrated into the clamp of the feeding system and is used to detect the second pressure from the workpiece in several directions during the workpiece gripping process. The alignment module is used to continuously compare the uniformity of the first and second pressures in several directions during the execution of clamping commands by the machine tool spindle fixture, analyze the workpiece alignment information, and output workpiece adjustment information based on abnormal first or second pressures.

2. The cycloidal rotary machining workpiece alignment system according to claim 1, characterized in that, The alignment module is also used to control the feeding system to execute the first gripping command. After the first gripping command is executed, the second pressure from the workpiece in several directions is compared. When the difference between the second pressures in each direction is less than the first alignment threshold, the feeding system is controlled to execute the second gripping command. When the difference between the second pressures in each direction is greater than or equal to the first alignment threshold, the first gripping command is updated.

3. The cycloidal rotary machining workpiece alignment system according to claim 2, characterized in that, The first gripping instruction includes gripping the workpiece from several directions. When the second pressure is generated in any direction, the gripping continues for a preset gripping redundancy time to complete the first gripping instruction. The second gripping instruction includes continuing to grip the workpiece in several directions following the execution of the first gripping instruction, until the second pressure in each direction meets the gripping pressure threshold.

4. The cycloidal rotary machining workpiece alignment system according to claim 1, characterized in that, The alignment module is used to obtain the clamping instructions from the CNC system, preset the clamping alignment sector, and continuously obtain the first pressure from the workpiece in several directions when the machine tool spindle fixture executes the clamping instructions. When no first pressure is detected in any direction, the first pressure in different alignment sectors at different times is continuously acquired. When the first pressure of at least one alignment sector is acquired and no first pressure is detected in the radial direction of the alignment sector relative to the alignment sector, the first adjustment command is output to control the feeding system to adjust the workpiece position.

5. The cycloidal rotary machining workpiece alignment system according to claim 4, characterized in that, The first adjustment command includes the workpiece displacement direction and a preset first adjustment step size, which is used to adjust the workpiece hovering position. The workpiece displacement direction is the radial direction of the alignment sector relative to the alignment sector where the first pressure is detected.

6. The cycloidal rotary machining workpiece alignment system according to claim 1, characterized in that, The first pressure detection end is used to detect the pressure data of several points in a single direction of the machine tool spindle fixture. The first pressure is the average value of several pressure data in a single direction. The second pressure detection end is used to detect the pressure data of several points in a single direction of the clamp of the feeding system. The second pressure is the average value of several pressure data in a single direction.

7. The cycloidal rotary machining workpiece alignment system according to claim 6, characterized in that, The alignment module is used to select the first pressure detected in any direction when the machine tool spindle fixture completes the clamping command, and to define the pressure data from which the first pressure comes as the first reference pressure. Obtain the pressure data from the source of the first pressure, which is located on the same radial line as the first reference pressure, and define it as the second reference pressure; The pressure data from the second pressure, which is located within the fixture of the feeding system and projects to the first reference pressure, is defined as the third reference pressure. The pressure data from the second pressure, which is located within the fixture of the feeding system and at the projection position of the second reference pressure, is obtained and defined as the fourth reference pressure. By comparing the uniformity of several pressure data contained in the first reference pressure, second reference pressure, third reference pressure and fourth reference pressure, a second adjustment command is output to control the machine tool spindle fixture or the loading system fixture to adjust the workpiece position.

8. The cycloidal rotary machining workpiece alignment system according to claim 7, characterized in that, The second adjustment command includes switching the contact position between the machine tool spindle fixture and the workpiece, the displacement direction of the machine tool spindle fixture, and the preset second adjustment step size to adjust the workpiece clamping position. The direction in which the smaller pressure data in the first reference pressure and the second reference pressure all increase or the larger pressure data all decrease is selected as the displacement direction of the machine tool spindle fixture.

9. The cycloidal rotary machining workpiece alignment system according to claim 8, characterized in that, The second adjustment command includes the displacement direction of the clamping system and the preset third adjustment step, which adjusts the workpiece clamping position. The direction in which the smaller pressure data in the third and fourth reference pressures increases or the larger pressure data decreases is selected as the direction of the clamp displacement of the feeding system.

10. The cycloidal rotary machining workpiece alignment system according to claim 9, characterized in that, The second adjustment command sequentially executes the switching of the contact position between the machine tool spindle fixture and the workpiece, the displacement of the machine tool spindle fixture, and the displacement of the loading system fixture. When the machine tool spindle fixture is displaced, the loading system fixture runs, so that the second pressure is maintained at the adjusted pressure value. When the loading system fixture is displaced, the machine tool spindle fixture runs, so that the first pressure is maintained at the adjusted pressure value. Until the difference between several pressure data contained in the first reference pressure, the second reference pressure, the third reference pressure and the fourth reference pressure is less than the second alignment threshold.

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