CN109822238B - Method, device and system for correcting precision of machining turntable and storage medium - Google Patents
Method, device and system for correcting precision of machining turntable and storage medium Download PDFInfo
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- 238000003384 imaging method Methods 0.000 claims description 8
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Abstract
The invention relates to a method, a device and a system for correcting the precision of a processing turntable and a storage medium. The method comprises the following steps: determining whether the current table top of the processing turntable rotates from the 1 st station to the 2 nd stationWherein the processing turntable comprises N stations distributed at equal intervals; when the current table top needs to rotate from the nth station to the (N + 1) th station, controlling the driving motor to drive the current table top to rotate by an angle N theta relative to the rotation angle at the 1 st station when the current table top is at the (N + 1) th station, wherein N is 2, …, N-1; determining the rotation angle of the driving motor when the current table top rotates from the Nth station to the 1 st station; according to the rotation angle theta and the rotation angle
A corrected rotation angle of the drive motor is determined. The technical scheme provided by the invention can improve the convenience and efficiency of precision correction of the processing turntable.
Description
Technical Field
The invention relates to the technical field of laser processing, in particular to a method, a device and a system for correcting the precision of a processing turntable and a storage medium.
Background
The multi-surface rotary machining workbench is widely applied to machining systems, and is increasingly widely applied to laser machining. The workpiece on the table top can rotate to different stations, such as a positioning station for positioning the workpiece, a processing station for processing the workpiece, and the like. The workpieces can be placed on the plurality of table boards respectively, different processing steps are carried out simultaneously, and the overall processing efficiency is improved. However, the rotation of the table top of the workbench is mainly driven by a motor, and the motor usually has a problem of positioning accuracy, so that the table top cannot be accurately aligned with a corresponding station in the rotation process of the table top of the workbench, and further the processing accuracy is affected. Therefore, the machining table needs to be calibrated, that is, the motor that drives the machining table to rotate.
At present, the correction of the driving motor of the multi-surface rotary processing worktable is mainly realized based on a laser interferometer. Specifically, a laser interferometer is used for measuring the precision error in the rotation process of the driving motor, so that a precision compensation table is generated, and the precision of the driving motor is corrected. However, the laser interferometer is bulky and inconvenient to carry, and requires a very long time for mounting and debugging, and in general, there is not enough space for mounting the laser interferometer after the driving motor is mounted on the processing table, and there is a possibility that other errors are introduced if parts of the processing table section are removed.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a method, a device, a system and a storage medium for correcting the precision of a processing turntable.
In a first aspect, the present invention provides a method for correcting the precision of a processing turntable, comprising the following steps:
and determining the rotation angle theta of the driving motor when the current table top of the processing rotary table rotates from the 1 st station to the 2 nd station, wherein the processing rotary table comprises N stations distributed at equal intervals.
When the current table top needs to rotate from the nth station to the (N + 1) th station, controlling the driving motor to drive the current table top to rotate at the (N + 1) th station by an angle N theta relative to the rotation angle at the 1 st station, wherein N is 2, …, N-1.
Determining the rotation angle of the driving motor when the current table top rotates from the Nth station to the 1 st station
According to the rotation angle theta and the rotation angle
A corrected rotation angle of the drive motor is determined.
In a second aspect, the present invention provides a machining turret accuracy correction device, including:
the first processing module is used for determining the rotation angle theta of the driving motor when the current table top of the processing rotary table rotates from the 1 st station to the 2 nd station, wherein the processing rotary table comprises N stations which are distributed at equal intervals.
And the second processing module controls the driving motor to drive the current table top to rotate by an angle N theta relative to the rotation angle at the 1 st station when the current table top needs to rotate from the nth station to the N +1 st station, wherein N is 2, … and N-1.
A third processing module for determining the rotation angle of the driving motor when the current table top rotates from the Nth station to the 1 st station
A fourth processing module for processing the rotation angle theta and the rotation angle theta
A corrected rotation angle of the drive motor is determined.
In a third aspect, the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed, implements the device state control method as described above.
In a fourth aspect, the present invention provides a machining turret accuracy correction device that mounts the storage medium as described above.
In a fifth aspect, the present invention provides a machining turret precision correction system, comprising the machining turret precision correction device as described above, a machining turret including a driving motor, and an imaging device for obtaining an image of a calibration point on a table top including the machining turret, the machining turret precision correction device being electrically connected to the driving motor and the imaging device, respectively.
The precision correction method, the device, the system and the storage medium of the processing turntable have the advantages that the repeated positioning precision of the driving motor for driving the table top of the processing turntable to rotate is higher, the absolute positioning precision is lower, namely, after the driving motor drives the table top to rotate for a complete cycle, the error of returning to the initial station is smaller, and a larger error may exist between the rotation angles from one station to another station in the rotating process.Based on the method, in the precision correction process, the first rotation angle theta of the driving motor when the current table top rotates from the 1 st station to the 2 nd station is determined, the first rotation angle theta is used as a reference, and the rotation angle theta of the driving motor between the subsequent stations is kept by modifying the parameters of the driving motor until the table top rotates to the last station, namely the Nth station. Because the repeated positioning precision of the driving motor of the processing turntable is higher, namely when the table top returns to the 1 st station from the Nth station, the alignment error of the table top and the 1 st station is very small, the total degree of previous rotation can be subtracted by 360 degrees, and the rotation angle of the driving motor when the current table top rotates from the Nth station to the 1 st station is obtained
After the rotation angle theta and the rotation angle are determined
And then, the difference value of the rotation angle corresponding to the actual rotation angle before correction of the driving motor can be determined, and then corresponding compensation is carried out on each rotation. The rotary table has the advantages that the operation is convenient and fast, the table top of the processing rotary table can be accurately aligned with the corresponding station after rotating, and the subsequent processing precision is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a precision correction method for a processing turntable according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a processing turret according to an embodiment of the invention;
FIG. 3 is a schematic diagram of the movement of the processing turret according to an embodiment of the invention;
FIG. 4 is a schematic diagram of the movement of the processing turret according to an embodiment of the invention;
FIG. 5 is a schematic diagram of the movement of the processing turret according to an embodiment of the invention;
fig. 6 is an electrical block diagram of a processing turret accuracy correction system according to an embodiment of the invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, a method for correcting precision of a processing turntable according to an embodiment of the present invention includes the following steps:
and 100, determining the rotation angle theta of a driving motor when the current table top of the processing rotary table rotates from the 1 st station to the 2 nd station, wherein the processing rotary table comprises N stations distributed at equal intervals.
200, when the current table top needs to rotate from the nth station to the (N + 1) th station, controlling the driving motor to drive the current table top to rotate at the (N + 1) th station by an angle N θ relative to the rotation angle at the 1 st station, wherein N is 2, …, N-1.
300, determining the rotation angle of the driving motor when the current table top rotates from the Nth station to the 1 st station
400 according to said angle of rotation theta and said angle of rotation
A corrected rotation angle of the drive motor is determined.
In this embodiment, the repetitive positioning accuracy of the drive motor that drives the rotation of the table top of the processing turret is generally high, while the absolute positioning accuracy is low, i.e., the drive motor drives the table top to rotate for one complete cycleLater, the error back to the initial station is small, while there may be large errors between the rotation angles from one station to another during the rotation. Based on this, in the precision correction process, the first rotation angle theta of the driving motor when the current table top rotates from the 1 st station to the 2 nd station is determined, and is used as a reference, and the rotation angles of the driving motor between the subsequent stations are kept to be theta by modifying parameters of the driving motor (because the absolute positioning precision is low, the theoretical rotation angle between each station is generally not theta and is also generally not equal, and the rotation angles between the subsequent stations are kept to be theta by modifying the parameters of the driving motor until the table top rotates to the last station, namely the nth station). Because the repeated positioning precision of the driving motor of the processing turntable is higher, namely when the table top returns to the 1 st station from the Nth station, the alignment error of the table top and the 1 st station is very small, the total degree of previous rotation can be subtracted by 360 degrees, and the rotation angle of the driving motor when the current table top rotates from the Nth station to the 1 st station is obtained
After the rotation angle theta and the rotation angle are determined
And then, the difference value of the rotation angle corresponding to the actual rotation angle before correction of the driving motor can be determined, and then corresponding compensation is carried out on each rotation. The rotary table has the advantages that the operation is convenient and fast, the table top of the processing rotary table can be accurately aligned with the corresponding station after rotating, and the subsequent processing precision is improved.
Preferably, the process of determining the corrected rotation angle of the driving motor includes:
determining the rotation angle theta and the rotation angle
A difference delta of, i.e.
And setting the correction rotation angle as r-m theta-m delta/N, wherein m is 1, …, N-1, and the correction rotation angle is the rotation angle of the current table top at the m +1 station relative to the table top at the 1 st station when the driving motor drives the current table top to rotate from the m station to the m +1 station.
Since m can be an array, r ═ m θ -m δ/N can also be a plurality of correction rotation angle values. In particular, the angle of the drive motor at different stations after the angle adjustment has not been corrected with respect to the original. After the precision correction, the precision correction can be stored in a driver of the driving motor, so that the driving motor can be correspondingly adjusted according to actual conditions in the process of rotating every time, and the repeated positioning precision and the absolute positioning precision of the driving motor are ensured.
Preferably, the process of determining the corrected rotation angle of the driving motor further includes:
and controlling the driving motor to drive the current table top to sequentially rotate from the 1 st station to the Nth station according to the correction rotation angle, detecting alignment errors between the current table top and each station, and when the alignment errors are smaller than or equal to a preset threshold value, determining that the correction rotation angle is r-m theta-m delta/N. And when the alignment error is larger than a preset threshold value, correcting again.
In order to further ensure the accuracy of the precision correction of the processing turntable, after the correction rotation angle of the driving motor corresponding to each station is obtained, the driving motor can drive the table top to rotate for a complete period according to the correction rotation angle, and the alignment error of the table top and the corresponding station is detected, and the detection can be carried out by a laser marking and photographing comparison mode. If the alignment error is in a certain range, the corrected rotation angle obtained by the method can achieve good precision correction effect, and the corrected rotation angle value is written into a driver of the driving motor. If the comparison error is larger than the preset threshold, the correction result does not meet the requirement, and the correction needs to be carried out again or troubleshooting is carried out.
Preferably, the process of controlling the driving motor to drive the current table top to be rotated by an angle n θ at the n +1 th station relative to the rotation angle at the 1 st station includes:
when the current table top rotates from the nth station to the (n + 1) th station, determining a relative rotation angle theta 'of the current table top, wherein the relative rotation angle theta' is a rotation angle (an actual rotation angle before correction) of the current table top at the (n + 1) th station relative to the current table top at the nth station.
A relative difference Δ θ between the rotation angle θ and the relative rotation angle θ 'is determined, i.e., Δ θ — θ'.
And controlling the driving motor to drive the current table top to rotate by the relative difference delta theta.
Because the absolute positioning accuracy of the driving motor is different, the relative rotation angle θ 'is usually different every time, and in order to enable the driving motor to drive the table top to move by the same rotation angle every time, in the rotation process, when the actual rotation angle, namely the relative rotation angle θ', is detected to have a relative difference Δ θ with the rotation angle θ serving as a reference, the parameters of the driving motor are modified to control the driving motor to further rotate until the relative difference Δ θ disappears.
The precision correction method of the processing turntable of the present invention will be further described below by taking a processing turntable having four table surfaces as an example.
As shown in fig. 2, the processing turret has a total of four table tops, namely table top 1, table top 2, table top 3 and table top 4, and accordingly has four corresponding stations, namely, station 1I, station 2 II, station 3 III and station 4 IV, i.e., N is 4. The driving motor can drive each rotary table to rotate clockwise, each rotation angle is 360 degrees/N, namely 90 degrees (theoretical value), taking the table board 1 as an example, namely, the table board 1 can rotate to the 2 nd station II, the 3 rd station III and the 4 th station IV from the first station I along with the rotation of the driving motor in sequence until rotating back to the 1 st station I again.
As shown in fig. 3, in the precision correction process, the table 1 is first rotated from the 1 st station I to the 2 nd station II by the driving motor. The rotation angle θ of the drive motor or the corresponding position information thereof can be obtained by an encoder of the drive motor. Because the four stations are distributed at equal intervals, the included angle between the stations is 90 degrees, namely the rotation angle of the table board 1 at the moment is 90 degrees in an ideal situation, but because the driving motor has the problem of low absolute positioning precision, the rotation angle at the moment is not 90 degrees usually before correction. In this case, θ is 91 °, that is, the actual rotation angle of the drive motor at this time is 91 °.
As shown in fig. 4, during the process that the driving motor continues to drive the table top 1 to rotate from the 2 nd station II to the 3 rd station III, the rotation angle of the driving motor is still usually not 90 °, and usually not 91 ° as before due to the problem of absolute positioning accuracy. Assuming that the rotation angle, i.e., the relative rotation angle θ 'from the 2 nd station II to the 3 rd station III, is 89.5 °, the total rotation angle of the driving motor with respect to the starting position is not 2 θ, i.e., 182 °, since the relative difference Δ θ between the rotation angle θ and the relative rotation angle θ' is 91 ° -89.5 ° -1.5 °. At the moment, the parameters of the driving motor are modified, the driving motor is controlled to continuously rotate for 1.5 degrees, and therefore the total rotation angle of the driving motor relative to the initial position reaches 182 degrees. When n is 2.
As shown in fig. 5, in the process that the driving motor continues to drive the table top 1 to rotate from the 3 rd station III to the 4 th station IV, the situation is similar to that when the driving motor rotates from the 2 nd station II to the 3 rd station III, assuming that the relative rotation angle θ ' of this time, that is, the rotation angle θ ' from the 3 rd station III to the 4 th station IV is 88 °, since the relative difference Δ θ between the rotation angle θ and the relative rotation angle θ ' is 91 ° -88 ° -3 °, the total rotation angle of the driving motor with respect to the starting position is not yet 3 θ, that is, 273 °. At the moment, the driving motor is controlled to continuously rotate for 3 degrees by modifying the parameters of the driving motor, and finally, the total rotation angle of the driving motor relative to the initial position is controlled to reach 3 theta, namely 273 degrees. When n is 3.
Because the repeated positioning precision of the driving motor is higher, namely, the table board 1 rotates to the 2 nd station, the 3 rd station III and the 4 th station IV from the 1 st station I in sequence and rotates back to the 1 st station I again, and the total rotating angle of the driving motor at the moment is more accurate 360 degrees. Based on this, the rotation angle at that time can be determined
The angle of rotation theta and the angle of rotation
The difference δ of 91 ° -87 ° -4 °.
Since the angle value provided in the drive of the drive motor is usually the angle of rotation or its corresponding position information relative to the initial position at a particular station position, and m is then [1,2,3 ]]The correction rotation angle is m theta-m delta/N, that is, the three correction rotation angles are 91 ° -4 °/4 ═ 90 °,2 × 91 ° -2 × 4 °/4 ═ 180 ° and 3 × 91 ° -3 × 4 °/4 ═ 270 ° in sequence, and as the repeated positioning accuracy of the driving motor is more accurate, it can also be determined at this time
That is, after the rotation angles of the 1 st station I to the 2 nd station II, the rotation angles of the 2 nd station II to the 3 rd station III and the rotation angles of the 3 rd station III to the 4 th station IV are all corrected to meet the precision requirement, the rotation angles of the 4 th station IV to the 1 st station I, that is, the rotation angles of the 4 th station IV to the 1 st station I
The corresponding precision requirement can be met without special correction. After precision correction, when the driving motor drives the table top to rotate to any station, the table top can be accurately aligned with the station. The repeated positioning precision of the driving motor is ensured, and the absolute positioning precision of the driving motor is also ensured. The rotary table has the advantages that the operation is convenient and fast, the table top of the processing rotary table can be accurately aligned with the corresponding station after rotating, and the subsequent processing precision is improved.
In most cases, θ is unknown, and controlling drive motor rotation 2 θ and 3 θ can generally be accomplished by determining the relative difference Δ θ.
Preferably, the process of determining the relative difference Δ θ comprises:
and respectively setting calibration points on the current table top and the subsequent table top adjacent to the current table top according to preset parameters.
When the current table top rotates to the nth station, a first image comprising the index point and the current table top is obtained.
And when the subsequent table top rotates to the nth station, namely the current table top rotates to the (n + 1) th station, obtaining a second image comprising the calibration point and the subsequent table top.
Determining a first distance between the index point in the first image and the index point in the second image in the same coordinate system, and determining a second distance between the index point and the rotation center of the processing turret, taking a quotient of the first distance and the second distance as the relative difference value Δ θ.
The processing rotary table can be applied to processing systems such as laser processing and the like, and can set a 1 st station I as a feeding station, a 2 nd station II as a positioning station, a 3 rd station III as a processing station and a 4 th station IV as a discharging station.
Take the example of determining the relative difference that the drive motor drives the table top 1 to rotate from the 2 nd station II to the 3 rd station III. When the table top 1 is located at the 2 nd station, a calibration point is determined on the table top 1, for example, a workpiece is placed on the table top 1 based on a visual positioning system according to a predetermined positioning rule, a calibration point is processed on the workpiece in advance, the calibration point can be manufactured by a laser processing system or other processing system of the processing station, and then a first image including the calibration point is obtained. At the same time, a workpiece with the same index point is placed on the table top 2 with the same positioning rule, and when the table top 1 rotates from the 2 nd station II to the 3 rd station III, correspondingly, the table top 2 also rotates from the 1 st station I to the 2 nd station II, and a second image including the index point is obtained.
The table top 1 and the table top 2 can have two identical workpieces, respectively, and the relative difference is determined by the relative position of the index points on the different first and second images. Based on the same principle measurement, the same workpiece can be placed on the table top 1 and the table top 2, namely the workpiece moves to a processing station along with the table top 1 to form a first calibration point, then the workpiece with the first calibration point is taken down from the table top 1, moved to a subsequent table top 2 and placed according to the same positioning rule, when the workpiece moves to the processing station along with the table top 2 again, a second calibration point is formed on the workpiece in the same processing mode, and a workpiece image is obtained. The workpiece image at this time is equivalent to overlapping the first image having the first index point and the second image having the second index point under the same coordinate system, and it is more convenient to determine the relative difference. That is, the images having the same coordinate system may be understood as corresponding target objects in the images, such as workpieces, having the same orientation parameters, such as size, proportion, direction, etc., so as to facilitate accurate comparison of different identifiers, such as different calibration points, in the images.
Whether two calibration points are respectively positioned on two images or two calibration points on one image, when the two calibration points are aligned, if the two calibration points can not be completely superposed, because the rotary table moves in a rotating mode, the two calibration points are also usually positioned on the same circular arc which takes the rotating shaft center of the driving motor, namely the rotating center of the processing rotary table as the circle center, and the distance between the two calibration points and the circle center is the radius of the circular arc, namely the second distance.
Because the relative difference is small under normal conditions, the distance between two calibration points is used as the arc length, the distance between the calibration points and the center of the turntable is used as the radius, and the relative difference delta theta between the relative rotation angle theta' and the rotation angle theta can be determined according to the formula angle which is the arc length/radius.
By analogy, the relative difference delta theta existing between every two adjacent stations in the rotation of the driving motor can be obtained, the relative rotation angle theta' can be compensated and adjusted in sequence, and finally the precision correction of the whole period is realized.
As shown in fig. 6, an apparatus for correcting the precision of a processing turret according to an embodiment of the present invention includes:
the first processing module is used for determining the rotation angle theta of the driving motor when the current table top of the processing rotary table rotates from the 1 st station to the 2 nd station, wherein the processing rotary table comprises N stations which are distributed at equal intervals.
And the second processing module controls the driving motor to drive the current table top to rotate by an angle N theta relative to the rotation angle at the 1 st station when the current table top needs to rotate from the nth station to the N +1 st station, wherein N is 2, … and N-1.
A third processing module for determining the rotation angle of the driving motor when the current table top rotates from the Nth station to the 1 st station
A fourth processing module for processing the rotation angle theta and the rotation angle theta
A corrected rotation angle of the drive motor is determined.
In another embodiment of the present invention, a computer-readable storage medium has stored thereon a computer program which, when executed, implements the device state control method as described above.
In another embodiment of the present invention, a machining turret accuracy correction apparatus is provided with the computer-readable storage medium as described above. Wherein, the device can be an industrial personal computer and the like.
In another embodiment of the present invention, a machining turret precision correction system includes the machining turret precision correction device as described above, a machining turret including a drive motor, and an imaging device for obtaining an image of a calibration point on a table top including the machining turret, the machining turret precision correction device being electrically connected to the drive motor and the imaging device, respectively.
Wherein, the imaging device can be a microscope, a CCD camera or other imaging measurement tools.
The driving motor is a DD direct drive motor or a servo motor. The DD direct drive motor can also be called as a DD motor, has high repeated positioning precision which is generally about +/-1 angular second, but has low absolute positioning precision which is generally more than +/-15 angular seconds, and is widely applied to laser processing turntables.
The reader should understand that in the description of this specification, reference to the description of the terms "one embodiment," "some embodiments," "an example," "a specific example" or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. A precision correction method for a processing turntable is characterized by comprising the following steps:
determining a rotation angle theta of a driving motor when a current table top of a processing rotary table rotates from a 1 st station to a 2 nd station, wherein the processing rotary table comprises N stations distributed at equal intervals; with θ as a reference, θ is unknown;
when the current table top needs to rotate from the nth station to the (N + 1) th station, controlling the driving motor to drive the current table top to rotate by an angle N theta relative to the rotation angle at the 1 st station when the current table top is at the (N + 1) th station, wherein N is 2, …, N-1;
determining the rotation angle of the driving motor when the current table top rotates from the Nth station to the 1 st station
According to the rotation angle theta and the rotation angle
Determining a corrected rotation angle of the driving motor;
the process of determining the corrected rotation angle of the driving motor includes:
determining the rotation angle theta and the rotation angle
The difference of (d);
and setting the correction rotation angle as r-m theta-m delta/N, wherein m is 1, …, N-1, and the correction rotation angle is the rotation angle of the current table top at the m +1 station relative to the table top at the 1 st station when the driving motor drives the current table top to rotate from the m station to the m +1 station.
2. The processing turret accuracy correction method according to claim 1, wherein said determining a corrected rotation angle of said drive motor further comprises:
and controlling the driving motor to drive the current table top to sequentially rotate from the 1 st station to the Nth station according to the correction rotation angle, detecting alignment errors between the current table top and each station, and when the alignment errors are smaller than or equal to a preset threshold value, determining that the correction rotation angle is r-m theta-m delta/N.
3. The processing turret accuracy correction method according to claim 1 or 2, wherein the controlling the driving motor to drive the current table at the n +1 th station by an angle n θ with respect to the rotation angle at the 1 st station comprises:
when the current table top rotates from the nth station to the (n + 1) th station, determining a relative rotation angle theta 'of the current table top, wherein the relative rotation angle theta' is a rotation angle of the current table top at the (n + 1) th station relative to the current table top at the nth station;
determining a relative difference value delta theta between the rotation angle theta and the relative rotation angle theta';
and controlling the driving motor to drive the current table top to rotate by the relative difference delta theta.
4. The processing turret accuracy correction method according to claim 3, wherein determining the relative difference value Δ θ comprises:
setting calibration points on the current table top and a subsequent table top adjacent to the current table top respectively according to preset parameters, wherein the two calibration points are positioned on the same arc taking the rotation center of the processing turntable as the center of a circle;
when the current table top rotates to the nth station, obtaining a first image comprising the calibration point and the current table top;
obtaining a second image comprising the index point and the subsequent tabletop when the subsequent tabletop rotates to the nth station;
determining a first distance between the index point in the first image and the index point in the second image in the same coordinate system, and determining a second distance between any one of the index points and the rotation center of the processing turret, and taking a quotient of the first distance and the second distance as the relative difference value Δ θ.
5. A machining turntable accuracy correction device, comprising:
the processing device comprises a first processing module, a second processing module and a control module, wherein the first processing module is used for determining a rotation angle theta of a driving motor when a current table top of a processing rotary table rotates from a 1 st station to a 2 nd station, and the processing rotary table comprises N stations which are distributed at equal intervals; with θ as a reference, θ is unknown;
the second processing module is used for controlling the driving motor to drive the current table top to rotate by an angle N theta relative to the rotation angle at the 1 st station when the current table top is required to rotate from the nth station to the N +1 st station, wherein N is 2, … and N-1;
a third processing module for determining the rotation angle of the driving motor when the current table top rotates from the Nth station to the 1 st station
A fourth processing module for processing the rotation angle theta and the rotation angle theta
Determining a corrected rotation angle of the driving motor; the process of determining the corrected rotation angle of the drive motor includes:
determining the rotation angle theta and the rotation angle
The difference of (d);
and setting the correction rotation angle as r-m theta-m delta/N, wherein m is 1, …, N-1, and the correction rotation angle is the rotation angle of the current table top at the m +1 station relative to the table top at the 1 st station when the driving motor drives the current table top to rotate from the m station to the m +1 station.
6. A computer-readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when executed, implements the machining turret accuracy correction method according to any one of claims 1 to 4.
7. A processing turret accuracy correction apparatus characterized by mounting a storage medium according to claim 6.
8. A machining turret accuracy correction system, comprising the machining turret accuracy correction apparatus of claim 7, a machining turret including a drive motor, and an imaging device for obtaining an image including a calibration point on a table top of the machining turret, the machining turret accuracy correction apparatus being electrically connected to the drive motor and the imaging device, respectively.
9. The system of claim 8, wherein the drive motor is a DD direct drive motor or a servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910035411.7A CN109822238B (en) | 2019-01-15 | 2019-01-15 | Method, device and system for correcting precision of machining turntable and storage medium |
Applications Claiming Priority (1)
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