A system for aligning a cycloidal dividing machine with a workpiece

Abstract

The present application relates to the technical field of workpiece positioning, in particular to a cycloid rotation dividing workpiece alignment system, comprising a first pressure detection end integrated in a machine tool spindle clamp, used for detecting first pressure from the workpiece in several directions during workpiece clamping; a second pressure detection end integrated in a feeding system clamp, used for detecting second pressure from the workpiece in several directions during workpiece grabbing; an alignment module used for continuously comparing the uniformity of the first pressure and the second pressure in several directions during the execution of the clamping instruction by the machine tool spindle clamp, analyzing workpiece alignment information, and outputting workpiece adjustment information based on the abnormal source direction of the first pressure or the second pressure. The present application can monitor the alignment information of the workpiece feeding and clamping stage, and automatically control the workpiece alignment, thereby improving the reliability, accuracy and efficiency of workpiece clamping.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of workpiece positioning, and particularly relates to a cycloid rotary dividing machining workpiece alignment system. BACKGROUND

[0002] Cycloid rotary dividing machining is an advanced machining process, which is often used for machining the reverse cone of the synchronizer sleeve of an automobile. The core of the process is to use the geometric characteristics of a cycloid to achieve efficient and precise machining of a workpiece. Specifically, a cycloid rotary dividing machine tool rotates a part while rotating a tool, and based on the principle of cycloid generation, the tool shaft and the part shaft are synchronously rotated at a set speed ratio, which can process the required surface shape and simultaneously achieve continuous indexing during rotation, greatly improving the machining efficiency.

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

[0004] The prior art often uses an automatic feeding system to complete the workpiece grabbing and clamping steps. According to a preset program, the automatic feeding system automatically grabs the workpiece to the clamping position of the machine tool, and clamps and fixes the workpiece blank through a clamp. The automatic feeding system grabs along a fixed trajectory, moves along a preset program path, and hovers according to a preset program. If there is a slight position fluctuation during the process, it will cause a positioning superimposed deviation, and it is impossible to compensate in time, which will continuously affect the stability of the workpiece clamping accuracy.

[0005] Some automatic feeding systems are integrated with a vision system, and the workpiece blank is clamped automatically with the assistance of the vision system. When the workpiece blank is fed, the vision system can identify the position and posture of the workpiece, grab the workpiece according to the identification result, and then place it at the clamping position of the machine tool, so that the axis of the workpiece blank coincides with the axis of the main shaft of the machine tool, and then the workpiece blank is clamped and fixed by a clamp. This method requires high accuracy of the vision system, but the cycloid rotary dividing machining environment has a lot of dust and oil stains, which can easily reduce the identification accuracy, and further reduce the clamping accuracy of the workpiece at the clamping position of the machine tool.

[0006] Some prior art uses positioning fixtures to improve the clamping accuracy of the workpiece blank. Before clamping the workpiece, the workpiece blank is placed in the fixture, the fixture is placed at the clamping position of the machine tool, and then the workpiece blank is clamped and fixed by a clamp, and then the fixture is separated. This method requires frequent disassembly and assembly of the fixture during clamping, which affects the machining efficiency and is not conducive to continuous automatic machining. In addition, different types of workpieces require different fixtures to be designed.

[0007] In summary, the existing automatic feeding system and positioning tool have defects in positioning reliability, error compensation ability, production change adaptability and abnormality detection ability, which are not conducive to high-precision processing of cycloidal rotation. Therefore, a technical solution is needed to overcome the above defects to meet the demand for high-precision and high-efficiency automatic production in the cycloidal rotation processing industry. SUMMARY

[0008] To solve the above problems, the present application provides a cycloidal rotation workpiece positioning system for automatic workpiece positioning during workpiece clamping to improve workpiece clamping accuracy.

[0009] To achieve the above purpose, the technical solution of the present application is as follows: a cycloidal rotation workpiece positioning system, comprising:

[0010] A first pressure detection end integrated in the machine tool spindle clamp is used to detect the first pressure from the workpiece in several directions during workpiece clamping;

[0011] A second pressure detection end integrated in the feeding system clamp is used to detect the second pressure from the workpiece in several directions during workpiece clamping;

[0012] A positioning module is used to continuously compare the uniformity of the first pressure and the second pressure in several directions during execution of the clamping instruction by the machine tool spindle clamp, analyze the workpiece positioning information, and output workpiece adjustment information based on abnormal first pressure or second pressure.

[0013] Further, the positioning module is also used to control the feeding system to execute the first grabbing instruction, and after execution of the first grabbing instruction, compare the second pressure from the workpiece in several directions; when the difference between the second pressure in each direction is less than the first positioning threshold, control the feeding system to execute the second grabbing instruction; when the difference between the second pressure in each direction is greater than or equal to the first positioning threshold, update the first grabbing instruction.

[0014] Further, the first grabbing instruction includes grabbing the workpiece from several directions, and when the second pressure in any direction occurs, continue grabbing for a preset grabbing redundancy time to complete the first grabbing instruction.

[0015] The second grabbing instruction includes continuing to grab the workpiece in several directions after execution of the first grabbing instruction until the second pressure in each direction meets the grabbing pressure threshold.

[0016] Further, the positioning module is used to obtain the clamping instruction of the numerical control system, preset the clamping positioning sector, and continuously obtain the first pressure from the workpiece in several directions when the machine tool spindle clamp executes the clamping instruction.

[0017] When no first pressure is detected in each direction, the first pressure in each alignment sector at each time is continuously acquired, and when the first pressure of at least one alignment sector is acquired and no first pressure is detected in the alignment sector radially opposite to the alignment sector, a first adjustment instruction is output to control the feeding system to adjust the workpiece position.

[0018] Further, the first adjustment instruction includes a workpiece displacement direction and a preset first adjustment step length, and is used to adjust the hovering position of the workpiece.

[0019] The workpiece displacement direction is the direction of the alignment sector radially opposite to the alignment sector in which the first pressure is detected.

[0020] Further, the first pressure detection end is used to detect the pressure data of a plurality of points in a single direction of the machine tool spindle clamp, and the first pressure is the average of the plurality of pressure data in the single direction.

[0021] The second pressure detection end is used to detect the pressure data of a plurality of points in a single direction of the feeding system clamp, and the second pressure is the average of the plurality of pressure data in the single direction.

[0022] Further, the alignment module is used to select the first pressure detected in an arbitrary direction when the machine tool spindle clamp completes the clamping instruction, define the pressure data from which the first pressure is derived as a first reference pressure, acquire the pressure data from which the first pressure located on the same radial line as the first reference pressure is derived, and define the pressure data as a second reference pressure, acquire the pressure data from which the second pressure in the feeding system clamp is derived at the projection position of the first reference pressure, and define the pressure data as a third reference pressure, acquire the pressure data from which the second pressure in the feeding system clamp is derived at the projection position of the second reference pressure, and define the pressure data as a fourth reference pressure.

[0023] The uniformity of the plurality of pressure data contained in the first reference pressure, the second reference pressure, the third reference pressure and the fourth reference pressure is compared, and a second adjustment instruction is output to control the machine tool spindle clamp or the feeding system clamp to adjust the workpiece position.

[0024] Further, the second adjustment instruction includes a switching position of the machine tool spindle clamp in contact with the workpiece, a machine tool spindle clamp displacement direction and a preset second adjustment step length, and is used to adjust the clamping position of the workpiece.

[0025] The direction in which the smaller pressure data or the larger pressure data in the pressure data contained in the first reference pressure and the second reference pressure is increased or decreased is selected as the machine tool spindle clamp displacement direction.

[0026] Further, the second adjustment instruction includes a feeding system clamp displacement direction and a preset third adjustment step length, and is used to adjust the clamping position of the workpiece.

[0027] The smaller pressure data or the larger pressure data in the pressure data contained in the third reference pressure and the fourth reference pressure is selected as the loading system clamp displacement direction.

[0028] Further, the switching of the contact position between the machine tool spindle clamp and the workpiece, the displacement of the machine tool spindle clamp, and the displacement of the loading system clamp is sequentially executed in the second adjustment instruction, and the loading system clamp is operated when the machine tool spindle clamp is displaced, so that the second pressure is maintained at the adjusted pressure value; the machine tool spindle clamp is operated when the loading system clamp is displaced, so that the first pressure is maintained at the adjusted pressure value;

[0029] Until the difference between the 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.

[0030] Compared with the prior art, the above-mentioned scheme has the following beneficial effects:

[0031] Through the pressure detection end integrated in the machine tool spindle clamp and the loading system clamp, the uniformity of the pressure in the circumferential direction after the workpiece contacts the loading system clamp is obtained during the process of the loading system clamp grabbing the workpiece, the first alignment analysis is performed, the precision of the loading system clamp grabbing the workpiece is judged, the grabbing deviation error caused by the workpiece shape or the impurities on the workpiece surface during the grabbing process is avoided, and the coincidence of the workpiece axis and the loading system clamp axis is ensured, thereby laying a foundation for subsequent accurate clamping.

[0032] During the clamping process, the second alignment analysis is performed, the time difference of the pressure detected by the pressure detection end integrated in the machine tool spindle clamp is judged to determine the accuracy of the workpiece hovering position of the loading system clamp, and the adaptive regulation of the workpiece position is performed in the incomplete clamping stage. After the pressure detection end integrated in the machine tool spindle clamp effectively detects the pressure, it is ensured that the workpiece has been effectively clamped, and the alignment analysis is performed again. The pressure information and the pressure information distributed on the machine tool spindle clamp and the loading system clamp in the same plane in space are sequentially selected for uniformity evaluation, and the clamped precision of the workpiece is analyzed and judged. When the clamped precision is not up to standard, the contact position between the machine tool spindle clamp and the workpiece is switched, the machine tool spindle clamp position is adjusted, or the loading system clamp position is adjusted, so as to ensure that the workpiece is accurately clamped. Compared with the visual clamping technology and the clamping technology with the aid of tooling, the reliability, precision and efficiency of the alignment clamping can be effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 The machine tool and the loading system of the embodiment of the present application are shown in the schematic diagram.

[0034] Figure 2 The system framework of the embodiment of the present application is shown in the schematic diagram.

[0035] Figure 3A clamping process principle schematic diagram of an embodiment of the present application;

[0036] Figure 4 A correct clamping example schematic diagram of an embodiment of the present application;

[0037] Figure 5 An incorrect clamping example schematic diagram of an embodiment of the present application.

[0038] The reference signs in the drawings of the specification include: 100, a cycloid dividing machine tool; 10, a machine tool spindle clamp; 101, a first pressure detection end; 200, a feeding system; 20, a feeding system clamp; 201, a second pressure detection end; 301, a positioning module. DETAILED DESCRIPTION

[0039] The technical solutions of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0040] The specific embodiments will be described in further detail below:

[0041] Embodiment 1, taking an existing cycloid dividing machine tool 100 as an example, the structure of the existing cycloid dividing machine tool 100 is shown in reference Figure 1 The cycloid dividing machine tool 100 mainly consists of a machine tool base, a spindle (workpiece shaft), a tool shaft, a spindle driving member, a tool shaft driving member, and a numerical control system. The spindle is provided with a clamp, i.e., a machine tool spindle clamp 10, for workpiece clamping during the machining process; the tool shaft is used to connect the dividing machining tool. During the cycloid dividing machining process, the numerical control system controls the spindle and the tool shaft to operate at a certain speed ratio.

[0042] The feeding system 200 of numerical control machining is the core auxiliary system for realizing the automation production of numerical control equipment. Its core function is to accurately and efficiently deliver the material to be processed to the machining station of the numerical control equipment and complete positioning and clamping with the machine tool spindle clamp 10, replacing traditional manual feeding and greatly improving production efficiency. The structure of the existing feeding system 200 is shown in reference Figure 1 Generally, it is based on a mechanical arm structure, integrates AI vision detection function, so that the feeding system 200 has intelligent feeding capability and can adaptively adjust the workpiece during the feeding process.

[0043] This embodiment proposes a workpiece positioning system, which further improves the accuracy of the workpiece after clamping on the machine tool spindle clamp 10 on the basis of the intelligent feeding of the existing feeding system 200, and thus ensures the cycloid dividing forming precision. The system framework is shown in reference Figure 2As shown, mainly consists of the first pressure detection end 101, the second pressure detection end 201 and the alignment module 301, the first pressure detection end 101 and the second pressure detection end 201 are signal connected with the alignment module 301, and the alignment module 301 is signal connected with the feeding system 200 and the numerical control system.

[0044] The first pressure detection end 101 is integrated in each jaw of the machine tool spindle clamp 10, and is used for detecting the first pressure from the workpiece in several directions during clamping the workpiece. Specifically, the first pressure detection end 101 is composed of several pressure sensors, preferably thin film pressure sensors. The number of jaws of the machine tool spindle clamp 10 in this embodiment is six, so pressure sensors are arranged in the six jaws. In order to realize the collection of multi-point pressure data of a single jaw (clamping point), pressure sensors are arranged at the front end and the rear end of the jaw of the machine tool spindle clamp 10, and the pressure data collected by each pressure sensor is marked respectively: front end pressure data a1, rear end pressure data b1, front end pressure data a2, rear end pressure data b2, front end pressure data a3, rear end pressure data b3, front end pressure data a4, rear end pressure data b4, front end pressure data a5, rear end pressure data b5, front end pressure data a6 and rear end pressure data b6; the position reference of each pressure data is shown in the figure. Figure 3 The first pressure is the average of two pressure data in a single direction, that is, the average of front end pressure data a1 and rear end pressure data b1, the average of front end pressure data a2 and rear end pressure data b2, the average of front end pressure data a3 and rear end pressure data b3, the average of front end pressure data a4 and rear end pressure data b4, the average of front end pressure data a5 and rear end pressure data b5, and the average of front end pressure data a6 and rear end pressure data b6.

[0045] The second pressure detection end 201 is integrated in each jaw of the feeding system clamp 20, and is used for detecting the second pressure from the workpiece in several directions during grabbing the workpiece. Specifically, the second pressure detection end 201 is composed of several pressure sensors, preferably thin film pressure sensors. The number of jaws of the feeding system clamp 20 in this embodiment is six, so pressure sensors are arranged in the six jaws. In order to realize the collection of multi-point pressure data of a single jaw (grabbing point), pressure sensors are arranged at the front end and the rear end of the jaw of the feeding system clamp 20, and the pressure data collected by each pressure sensor is marked respectively: front end pressure data a11, rear end pressure data b11, front end pressure data a12, rear end pressure data b12, front end pressure data a13, rear end pressure data b13, front end pressure data a14, rear end pressure data b14, front end pressure data a15, rear end pressure data b15, front end pressure data a16 and rear end pressure data b16; the position reference of each pressure data is shown in the figure. Figure 3The second pressure is the average of two pressure data in a single direction, i.e. the average of front-end pressure data a11 and rear-end pressure data b11, the average of front-end pressure data a12 and rear-end pressure data b12, the average of front-end pressure data a13 and rear-end pressure data b13, the average of front-end pressure data a14 and rear-end pressure data b14, the average of front-end pressure data a15 and rear-end pressure data b15, and the average of front-end pressure data a16 and rear-end pressure data b16, respectively.

[0046] 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 uniformly arranged along the axis of the machine tool spindle clamp 10 and the axis of the feeding system clamp 20. Thereby, it is convenient to analyze the alignment of the workpiece, which is mainly completed by the alignment module 301.

[0047] The alignment module 301 has the ability to acquire and analyze pressure data, and can be a control component such as a processor, a microprocessor, a controller, etc. For example, it can be a general-purpose central processing unit (CPU), a general-purpose processor, a digital signal processing (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 pressure and the second pressure in several directions during the execution of the clamping instruction by the machine tool spindle clamp 10, and to analyze the workpiece alignment information. The alignment information includes the alignment during the grabbing of the workpiece, the alignment after the grabbing of the workpiece, the alignment when the workpiece is hovering, the alignment during the clamping of the workpiece, and the alignment when the clamping of the workpiece is completed. When analyzing the alignment of the workpiece at any stage, the workpiece adjustment information is output based on the abnormal first pressure or second pressure.

[0048] (1) Workpiece grabbing stage:

[0049] The alignment module 301 divides the single-step grabbing of the existing grabbing stage into two-step execution to verify whether the workpiece is accurately grabbed. In the pre-grabbing stage, the existing preset strategy and AI visual detection are realized, and after confirming the position of the workpiece, the workpiece grabbing is about to be carried out, the feeding system 200 is continuously controlled to run by the alignment module 301. The alignment module 301 is used to control the feeding system 200 to execute the first grabbing instruction, and after the execution of the first grabbing instruction, the second pressure from the workpiece in six directions is compared. When the difference of the second pressure in each direction is less than the first alignment threshold, the feeding system 200 is controlled to execute the second grabbing instruction. When the difference of the second pressure in each direction is greater than or equal to the first alignment threshold, the first grabbing instruction is updated.

[0050] The first grabbing instruction described above includes grabbing the workpiece from six directions, and when the second pressure in any direction occurs, the preset grabbing redundancy time is continued to grab, and the first grabbing instruction is completed. This step grabbing strategy first judges the contact condition of the feeding system clamp 20 and the workpiece by whether the second pressure occurs; then by acquiring the single second pressure that appears first or multiple second pressures that appear synchronously, the accuracy of the hovering position of the feeding system clamp 20 is analyzed. When only a single second pressure appears, it indicates that the coincidence degree of the workpiece axis and the axis of the feeding system clamp 20 is low when grabbing; when multiple second pressures appear synchronously, it indicates that the coincidence degree of the workpiece axis and the axis of the feeding system clamp 20 is high when grabbing, which can be used for subsequent fine adjustment of the hovering position of the feeding system clamp 20 to adapt to the workpiece to be processed.

[0051] After the preset grabbing redundancy time continues to grab, more claws of the feeding system clamp 20 contact the workpiece side wall, but at this time it is in an incomplete clamping state, and the uniformity of the circumferential second pressure is analyzed at this time. Among them, the preset grabbing redundancy time is the time for which the claws of the feeding system clamp 20 continue to run after the second pressure is detected. When the difference of the second pressure in each direction is less than the first alignment threshold, it indicates that the current grabbing accuracy is high, and then the second grabbing instruction can be continued to execute. Conversely, when the difference of the second pressure in each direction is greater than or equal to the first alignment threshold, it indicates that the current grabbing accuracy is low, and then the first grabbing instruction is updated, and the updated first grabbing instruction includes switching the contact position of the claws of the feeding system clamp 20 and the workpiece, and can also include the above-mentioned hovering position fine adjustment to improve the accuracy of workpiece grabbing. Until the difference of the second pressure in each direction is less than the first alignment threshold.

[0052] The second grabbing instruction includes continuing to grab the workpiece in the six directions after the execution of the first grabbing instruction (if the first grabbing instruction is updated, after the execution of the updated first grabbing instruction), that is, continuing to clamp without changing the position of the clamping jaw until the second pressure in each direction meets the grabbing pressure threshold. Subsequently, the feeding system 200 can suspend the accurately grabbed workpiece at the machine tool spindle clamp 10 according to the existing preset path, and the alignment module 301 continues to perform the clamping stage workpiece alignment.

[0053] (2) Workpiece clamping stage:

[0054] During the workpiece clamping process, the alignment module 301 is used to obtain the feeding instruction of the feeding system 200. After the execution of the feeding instruction, the clamping instruction of the numerical control system is obtained, and the clamping alignment sectors are preset. The number and position of the alignment sectors correspond to the number and position of the pressure sensors provided by the first pressure detection end 101 and the second pressure detection end 201. When the machine tool spindle clamp 10 executes the clamping instruction, the first pressure from the workpiece in the six directions is continuously obtained. When no first pressure is detected in each direction, the first pressure in different alignment sectors at each time is continuously obtained. When the first pressure of at least one alignment sector is obtained and no first pressure is detected in the radial direction of the alignment sector relative to the alignment sector, a first adjustment instruction is output to control the feeding system 200 to adjust the position of the workpiece. The first adjustment instruction includes the displacement direction of the workpiece and a preset first adjustment step, which is used to adjust the hovering position of the workpiece. The displacement direction of the workpiece is the direction of the alignment sector radially opposite to the alignment sector where the first pressure is detected.

[0055] As shown in Figure 3 Each alignment sector is preset according to the number and position of the pressure sensors provided by the first pressure detection end 101 and the second pressure detection end 201. Each dashed sector area corresponds to an alignment sector. They are respectively marked as: the first alignment sector (corresponding to the front-end pressure data a1, the rear-end pressure data b1, the front-end pressure data a11, and the rear-end pressure data b11), the second alignment sector (corresponding to the front-end pressure data a2, the rear-end pressure data b2, the front-end pressure data a12, and the rear-end pressure data b12), the third alignment sector (corresponding to the front-end pressure data a3, the rear-end pressure data b3, the front-end pressure data a13, and the rear-end pressure data b13), the fourth alignment sector (corresponding to the front-end pressure data a4, the rear-end pressure data b4, the front-end pressure data a14, and the rear-end pressure data b14), the fifth alignment sector (corresponding to the front-end pressure data a5, the rear-end pressure data b5, the front-end pressure data a15, and the rear-end pressure data b15), and the sixth alignment sector (corresponding to the front-end pressure data a6, the rear-end pressure data b6, the front-end pressure data a16, and the rear-end pressure data b16).

[0056] During the clamping process, the pressure sensors in each alignment sector gradually approach the workpiece, and the pressure sensors close to the workpiece detect the first pressure first. If the workpiece is deviated to the fifth alignment sector, the first pressure detected by the pressure sensor in the fifth alignment sector is obtained first. At the same time, the pressure sensors in the fourth and sixth alignment sectors may detect the first pressure, and the second alignment sector usually cannot detect the first pressure. Thus, it is judged that there is an alignment deviation error in the radial direction of the machine tool spindle clamp 10 between the second and fifth alignment sectors, and the workpiece is deviated to the fifth alignment sector. Therefore, the workpiece hovering position needs to be adjusted in the direction opposite to the fifth alignment sector, that is, the workpiece hovering position needs to be adjusted in the direction of the second alignment sector. The distance of a single adjustment is a first adjustment step, and the first adjustment step needs to be set according to the size of the workpiece and the allowable error. The workpiece hovering position may be adjusted multiple times during the workpiece clamping process until the clamping instruction is completed.

[0057] The workpiece clamping process of the embodiment is different from the existing workpiece clamping process. In the existing workpiece clamping process, the workpiece hovering position is fixed, and the position of the workpiece hovering by the feeding system 200 is correct by default. However, due to the mechanical deviation of the feeding system 200 and the instability of the AI vision, it is difficult to ensure that the workpiece axis and the machine tool spindle axis completely coincide in the actual clamping process. When clamping under the condition that the workpiece axis and the machine tool spindle axis deviate greatly, the clamped workpiece may be in a skewed state. If the cycloid dividing processing is directly performed in this way, serious forming error will be caused. In the clamping process of the embodiment, the workpiece hovering position is continuously adjusted to gradually approach the coincidence of the workpiece axis and the machine tool spindle axis, so that the clamped workpiece is prevented from being in a skewed state.

[0058] When the workpiece is initially clamped, the alignment module 301 is used to select the first pressure detected in any direction when the machine tool spindle clamp 10 completes the clamping instruction, and define the two pressure data (the pressure data collected by the pressure sensors arranged at the front end and the rear end of a jaw of the machine tool spindle clamp 10) from which the first pressure comes as a first reference pressure. The two pressure data (the pressure data collected by the pressure sensors arranged at the front end and the rear end of the opposite jaw of the machine tool spindle clamp 10) from which the first pressure comes and which are located on the same radial line as the first reference pressure are obtained and defined as a second reference pressure. The two pressure data (the pressure data collected by the pressure sensors arranged at the front end and the rear end of a jaw of the feeding system clamp 20) from which the second pressure comes and which are located at the projection position of the first reference pressure in the feeding system clamp 20 are obtained and defined as a third reference pressure. The two pressure data (the pressure data collected by the pressure sensors arranged at the front end and the rear end of a jaw of the feeding system clamp 20) from which the second pressure comes and which are located at the projection position of the second reference pressure in the feeding system clamp 20 are obtained and defined as a fourth reference pressure.

[0059] The selected first reference pressure, second reference pressure, third reference pressure and fourth reference pressure are located in the same spatial plane, corresponding to the pressure condition of four corners of a cross section of the workpiece in contact with the machine spindle clamp 10 and the feeding system clamp 20, which can intuitively reflect the state of the workpiece in the selected spatial plane. If the first reference pressure, the second reference pressure, the third reference pressure and the fourth reference pressure contain various pressure parameters with large differences, the probability of the workpiece being inclined or the machine spindle clamp 10 and the feeding system clamp 20 being misaligned is relatively large; otherwise, the probability of the workpiece being inclined or the machine spindle clamp 10 and the feeding system clamp 20 being misaligned is relatively small.

[0060] Therefore, the alignment module 301 is also used to compare the uniformity of the several pressure data contained in the first reference pressure, the second reference pressure, the third reference pressure and the fourth reference pressure, and output a second adjustment instruction to control the machine spindle clamp 10 or the feeding system clamp 20 to adjust the position of the workpiece.

[0061] Specifically, on the machine spindle side, the second adjustment instruction can include switching the position of the machine spindle clamp 10 in contact with the workpiece, the displacement direction of the machine spindle clamp 10 and the preset second adjustment step length, to adjust the clamping position of the workpiece. Wherein, the displacement direction of the machine spindle clamp 10 is: the direction in which the smaller pressure data or the larger pressure data of the pressure data contained in the first reference pressure and the second reference pressure are all increased or decreased is the displacement direction of the machine spindle clamp 10; and the displacement path is on the radial line of the machine spindle clamp 10 where the first reference pressure and the second reference pressure are located. The distance of a single adjustment is a second adjustment step length, and the second adjustment step length needs to be set according to the size of the workpiece and the allowable error.

[0062] Specifically, on the feeding system 200 side, the second adjustment instruction can include the displacement direction of the feeding system clamp 20 and the preset third adjustment step length, to adjust the clamping position of the workpiece. Wherein, the displacement direction of the feeding system clamp 20 is: the direction in which the smaller pressure data or the larger pressure data of the pressure data contained in the third reference pressure and the fourth reference pressure are all increased or decreased is the displacement direction of the feeding system clamp 20; and the displacement path is on the radial line of the feeding system clamp 20 where the third reference pressure and the fourth reference pressure are located. The distance of a single adjustment is a second adjustment step length, and the second adjustment step length needs to be set according to the size of the workpiece and the allowable error.

[0063] As Figure 4 and Figure 5As shown, the first reference pressure (Q1: Y1A\Y1B), the second reference pressure (Q2: Y4A\Y4B), the third reference pressure (Q3: Y11A\Y11B) and the fourth reference pressure (Q4: Y14A\Y14B) are selected. Among them, Y1A and Y4A are the pressure data detected by the pressure sensor at the front end of the machine tool spindle clamp 10, distributed in the first and fourth positioning sectors; Y1B and Y4B are the pressure data detected by the pressure sensor at the rear end of the machine tool spindle clamp 10, distributed in the first and fourth positioning sectors. Among them, Y11A and Y14A are the pressure data detected by the pressure sensor at the front end of the loading system clamp 20, distributed in the first and fourth positioning sectors; Y11B and Y14B are the pressure data detected by the pressure sensor at the rear end of the loading system clamp 20, distributed in the first and fourth positioning sectors.

[0064] Figure 4 As shown, the workpiece is accurately clamped, Y1A\Y1B, Y4A\Y4B, Y11A\Y11B and Y14A\Y14B are uniform.

[0065] Figure 5 As shown, the workpiece is not accurately clamped, Y1A\Y1B, Y4A\Y4B, Y11A\Y11B and Y14A\Y14B are not uniform, such as Figure 5 The workpiece is in a slight tilt state, Y1A>Y1B, Y4A

[0066] The direction in which the smaller pressure data in the pressure data contained in the first reference pressure and the second reference pressure are increased or the larger pressure data are decreased is the displacement direction of the machine tool spindle clamp 10: the radial line of the machine tool spindle clamp 10 where the first reference pressure and the second reference pressure are located is the displacement path, that is, the machine tool spindle clamp 10 can be displaced up and down; the direction in which the smaller Y1B and Y4A are increased is the upward displacement direction of the machine tool spindle clamp 10, and the direction in which the larger Y1A and Y4B are decreased is the upward displacement direction of the machine tool spindle clamp 10, that is, the displacement direction of the machine tool spindle clamp 10 is upward displacement along the radial line of the machine tool spindle clamp 10 where the first reference pressure and the second reference pressure are located.

[0067] The smaller pressure data contained in the third reference pressure and the fourth reference pressure or the larger pressure data are all increased or decreased in the direction of the displacement of the clamping fixture 20 of the feeding system: the radial line of the clamping fixture 20 of the feeding system where the third reference pressure and the fourth reference pressure are located is the displacement path, that is, the clamping fixture 20 of the feeding system can be displaced upward and downward, the smaller Y11A and Y14B are all increased in the direction, and the larger Y11B and Y14A are all decreased in the direction, that is, the displacement direction of the clamping fixture 20 of the feeding system is downward along the radial line of the clamping fixture 20 of the feeding system where the third reference pressure and the fourth reference pressure are located. The displacement direction of the machine tool spindle fixture 10 and the displacement direction of the clamping fixture 20 of the feeding system can be determined by displacing along the radial line of the selected reference pressure by a second adjustment step and then judging the changes of the pressure data.

[0068] The second adjustment instructions are selected and executed for different cycloidal dividing machine tools 100 and feeding systems 200. Preferably, the switching of the contact position of the machine tool spindle fixture 10 with the workpiece, the displacement of the machine tool spindle fixture 10 and the displacement of the clamping fixture 20 of the feeding system in the second adjustment instructions are executed in sequence, and the machine tool spindle fixture 10 is operated when the clamping fixture 20 of the feeding system is displaced, so that the second pressure is maintained at the adjusted pressure value, and the workpiece can be moved by an external force to change the posture. The machine tool spindle fixture 10 is operated when the clamping fixture 20 of the feeding system is displaced, so that the first pressure is maintained at the adjusted pressure value, and the workpiece can be moved by an external force to change the posture. Until the differences between the several pressure data contained in the first reference pressure, the second reference pressure, the third reference pressure and the fourth reference pressure are less than the second alignment threshold, it is indicated that the alignment clamping process is completed, the posture of the clamped workpiece is horizontal, and the workpiece axis is highly coincident with the axis of the machine tool spindle fixture 10. Subsequently, the workpiece shaft and the tool shaft can be operated according to the set speed ratio through the numerical control system.

[0069] In embodiment 2, the feeding system 200 can be manually coordinated with the tooling, and the alignment module 301 independently performs workpiece alignment analysis based on the first pressure detected by the first pressure detection end 101 integrated in the machine tool spindle fixture 10. After the workpiece is placed in the clamping position of the machine tool spindle fixture 10 by manual operation with the aid of the tooling, the pressure sensor of the first pressure detection end 101 continuously acquires the first pressure from the workpiece in each direction. When the first pressure is detected in each direction, the alignment module 301 starts to execute the alignment analysis strategy similar to that when the workpiece is initially clamped in the workpiece clamping stage. The difference includes that the selected reference pressure is all from the machine tool spindle side, and the output control instruction is only for the machine tool spindle side.

[0070] In some embodiments, the feeding system 200 can also be a tool integrated with the second pressure detection end 201. The second pressure detection end 201 integrated in the tool has the same function as the second pressure detection end 201 integrated in the gripper of the robot, which is used to detect the second pressure. After the workpiece is placed in the clamping position of the machine tool spindle clamp 10 by the tool integrated with 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 each direction. When the first pressure is detected in each direction, the alignment module 301 starts to perform the alignment analysis strategy similar to when the workpiece is initially clamped in the workpiece clamping stage. The reference pressure selected comes from the machine tool spindle side and the tool side. The difference includes that the output control instruction is only for the machine tool spindle side.

[0071] In addition to the above-mentioned robot integrated with AI visual detection function, manual and tool cooperation and tool integrated with the second pressure detection end 201, the other feeding system 200 without the second pressure detection end 201 and the feeding system 200 integrated with the second pressure detection end 201 can be used for workpiece alignment according to the technical solutions of the present application.

[0072] Obviously, the above embodiments are only examples for clear illustration, and are not limitations on the embodiments. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, it is not necessary and impossible to enumerate all the embodiments. The obvious changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. A cycloidal rotary machining workpiece alignment system, characterized in that, The method comprises the following steps: A first pressure detection end integrated in a machine tool spindle clamp is used to detect first pressure from a workpiece in several directions during clamping of the workpiece; A second pressure detection end integrated in a feeding system clamp is used to detect second pressure from the workpiece in several directions during grabbing of the workpiece; A positioning module is used to continuously compare the uniformity of the first pressure and the second pressure in several directions during execution of a clamping instruction by the machine tool spindle clamp, analyze workpiece positioning information, and output workpiece adjustment information based on abnormal first pressure or second pressure.

2. The cycloidal workpiece indexing system of claim 1, wherein, The positioning module is also used to control the feeding system to execute a first grabbing instruction, compare the second pressure from the workpiece in several directions after execution of the first grabbing instruction, control the feeding system to execute a second grabbing instruction when the difference between the second pressure in each direction is less than a first positioning threshold, and update the first grabbing instruction when the difference between the second pressure in each direction is greater than or equal to the first positioning threshold.

3. The cycloidal workpiece indexing system of claim 2, wherein, The first grabbing instruction includes grabbing the workpiece from several directions, and when the second pressure in any direction occurs, the grabbing continues for a preset grabbing redundancy time to complete the first grabbing instruction; The second grabbing instruction includes continuing to grab the workpiece in several directions after execution of the first grabbing instruction until the second pressure in each direction meets a grabbing pressure threshold.

4. The cycloidal workpiece indexing system of claim 1, wherein, The positioning module is used to obtain a clamping instruction of a numerical control system, preset a clamping positioning sector, and continuously obtain the first pressure from the workpiece in several directions when the machine tool spindle clamp executes the clamping instruction; When no first pressure is detected in each direction, the first pressure in different positioning sectors at each time is continuously obtained, and when the first pressure of at least one positioning sector is obtained and no first pressure is detected in the positioning sector radially opposite to the positioning sector, a first adjustment instruction is output to control the feeding system to adjust the position of the workpiece.

5. The cycloidal workpiece indexing system of claim 4, wherein, The first adjustment instruction includes a workpiece displacement direction and a preset first adjustment step length, and is used to adjust the hovering position of the workpiece; The workpiece displacement direction is the direction of the positioning sector radially opposite to the positioning sector where the first pressure is detected.

6. The cycloidal workpiece indexing system of claim 1, wherein, The first pressure detection end is used to detect pressure data of several points in a single direction of the machine tool spindle clamp, and the first pressure is the average of the pressure data in the single direction; The second pressure detection end is used to detect pressure data of several points in a single direction of the feeding system clamp, and the second pressure is the average of the pressure data in the single direction.

7. The cycloidal rotational workpiece indexing system of claim 6, wherein, The positioning module is used to select the first pressure detected in any direction when the machine tool spindle clamp executes the clamping instruction, define the pressure data from which the first pressure is derived as a first reference pressure; Obtain pressure data from which the first pressure located on the same radial line as the first reference pressure is derived, and define it as a second reference pressure; Obtain pressure data from which the second pressure at the projection position of the first reference pressure in the feeding system clamp is derived, and define it as a third reference pressure; Obtain pressure data from which the second pressure at the projection position of the second reference pressure in the feeding system clamp is derived, and define it as a fourth reference pressure; The uniformity of the several pressure data contained in the first reference pressure, the second reference pressure, the third reference pressure and the fourth reference pressure is compared, and a second adjustment instruction is output to control the machine tool spindle clamp or the feeding system clamp to adjust the workpiece position.

8. The cycloidal workpiece indexing system of claim 7, wherein, The second adjustment instruction includes switching the machine tool spindle clamp and the workpiece contact position, the machine tool spindle clamp displacement direction and a preset second adjustment step length, and adjusts the workpiece clamping position; The direction in which the smaller pressure data or the larger pressure data of the pressure data contained in the first reference pressure and the second reference pressure is increased or decreased is selected as the machine tool spindle clamp displacement direction.

9. The cycloidal workpiece indexing system of claim 8, wherein, The second adjustment instruction includes the feeding system clamp displacement direction and a preset third adjustment step length, and adjusts the workpiece clamping position; The direction in which the smaller pressure data or the larger pressure data of the pressure data contained in the third reference pressure and the fourth reference pressure is increased or decreased is selected as the feeding system clamp displacement direction.

10. The cycloidal workpiece indexing system of claim 9, wherein, The switching of the machine tool spindle clamp and the workpiece contact position, the machine tool spindle clamp displacement and the feeding system clamp displacement in the second adjustment instruction are sequentially executed, and the machine tool spindle clamp runs when the feeding system clamp runs to maintain the second pressure at the adjusted pressure value, and the feeding system clamp runs when the machine tool spindle clamp runs to maintain the first pressure at the adjusted pressure value; Until the difference between the 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.

Images