CN105234802B - A kind of small bulb tooling order turntable Polishing machining device and cutter presetting cutter method - Google Patents

Abstract

A small ball head tool single turntable grinding and polishing processing device and a tool setting method, which relate to a small ball head tool single turntable grinding and polishing processing device, a method for centering adjustment of a tool relative to a turntable, and a tool setting method of a tool relative to a workpiece Method, in order to solve the problem that it is difficult to achieve high-precision tool setting by using the machine tool for processing small-sized parts in the prior art, the mechanical method requires a long time for tool setting to adjust the position of the grinding and polishing tool head, and there is a problem of low tool setting efficiency. The problem is that the device includes a horizontal platform, a workpiece spindle, a first CCD camera, a small ball head polishing tool, a polishing tool spindle, a spindle clamp, an oblique angle fixing seat, a centering adjustment displacement table, a turntable, a connecting plate, V-direction roller guide rail, U-direction roller guide rail, U-direction adjustment micrometer head, V-direction adjustment micrometer head, second CCD camera and two magnifying lenses, invented for use in tool setting of small-sized parts machine tools.

Description

A small ball head tool single turntable grinding and polishing device and tool setting method

technical field

The invention relates to a small ball head tool single turntable grinding and polishing processing device and a tool setting method.

Background technique

With the increasing development of modern science and technology, in the fields of national defense, aerospace and electronics, biomedicine and other fields, various high-precision and high-surface-quality small-diameter special-shaped parts are widely used. The surface shape of these parts requires sub-micron-level shape accuracy, nano-level surface roughness, and minimal sub-surface damage. Ultra-precision polishing is required to meet the requirements for precision and surface quality.

For the ultra-precision machining of such complex surface-shaped parts with small curvature radius, it is necessary to use small-sized special polishing tool heads, combined with corresponding structural processing equipment, in order to meet the position and motion relationship conditions required for polishing processing. However, for a multi-axis linkage processing machine tool with a single turntable structure and a form of tool shaft space swing motion, it is necessary to accurately position the center of the tool head on the space rotation axis of the turntable during the tool setting operation before processing, and accurately adjust the grinding and polishing. The relative position of the tool head and the workpiece can ensure the relative movement track of the tool head and the part, and avoid interference in the machining process. At the same time, the tool setting accuracy will directly affect the surface machining accuracy of the workpiece. Since the size of the parts to be processed is getting smaller and smaller, the requirement for tool setting accuracy of the machine tool is getting higher and higher. The high-precision tool setting method commonly used in the prior art is to use an automatic tool setting instrument for tool setting. The tool setting accuracy of the automatic tool setting instrument depends on the accuracy of its sensor. To meet the high-precision tool setting requirements, the cost of the sensor is relatively high, and the measurement accuracy that can be obtained in practice does not entirely depend on the supporting CNC system. The resolution is also related to factors such as the error of the machine tool transmission system, the geometry of the tool setting rod, machining accuracy and assembly quality, so it is very difficult to use the automatic tool setting instrument to achieve high precision. At the same time, due to the lack of spatial position reference in the inclined-axis machining motion of the single turntable, it takes a long time to adjust the position of the polishing tool head by the mechanical method, and there is a problem of low tool setting efficiency.

Contents of the invention

The present invention solves the increasingly high requirement for tool setting accuracy of machine tools for processing small-sized parts in the prior art. It is difficult to achieve high-precision tool setting with an automatic tool setting instrument. Due to the lack of spatial position reference in the inclined-axis machining movement form of a single turntable, The mechanical method requires a long time for tool setting to adjust the position of the grinding and polishing tool head, and there is a problem of low tool setting efficiency. Then a small ball head tool single turntable grinding and polishing processing device and tool setting method are proposed.

The technical scheme that the present invention adopts for solving the above problems is:

A small ball head tool single turntable grinding and polishing processing device includes a water platform, a workpiece spindle, a first CCD camera, a small ball head grinding and polishing tool, a grinding and polishing tool spindle, a spindle clamp, an oblique angle fixing seat, and a centering adjustment displacement Table, turntable, connecting plate, V-direction roller guide rail, U-direction roller guide rail, U-direction adjustment micrometer head, V-direction adjustment micrometer head, second CCD camera and two magnifying lenses; one magnifying lens is installed on the first On the CCD camera, another magnifying lens is installed on the second CCD camera, the workpiece is installed on the workpiece spindle, the first CCD camera, the second CCD camera and the workpiece spindle are set on the horizontal platform, and the second CCD camera is set opposite to the workpiece. The center line of the second CCD camera is set parallel to the center line of the workpiece, the center line of the first CCD camera and the center line of the second CCD camera are set perpendicular to each other, the turntable is suspended and set on the vertical movement axis of the machine tool, and the displacement table is adjusted in the center Set under the turntable, the V-direction adjustment micrometer head is installed on the slide table carried by the V-direction roller guide rail of the centering adjustment stage, and the U-direction adjustment micrometer head is installed on the U-direction roller guide rail of the centering adjustment stage On the loaded slide table, the oblique angle fixing seat is installed under the centering adjustment displacement table, the small ball head polishing tool is installed on the main shaft of the polishing tool, the main shaft of the polishing tool is installed on the main shaft holder, and the main shaft holder is installed on the bevel mount.

The method of centering, adjusting and setting the tool of the small ball head tool in the single turntable grinding and polishing processing device relative to the turntable, said method is realized according to the following steps:

The tool setting image of the small ball head polishing tool in the tool setting area is obtained by the first CCD camera. First, the swing angle θ of the turntable is set to 90° and -90°, and the tool setting image acquired by the first CCD camera is processed to obtain a small The pixel coordinates of the ball center point of the ball head polishing tool in the image, and according to the calibration coefficient of the image system, the centering deviation value δ of the ball center of the small ball head polishing tool in the V-direction roller guide direction is obtained, and by fine-tuning the V-direction Adjust the movement of the micrometer head to eliminate the deviation value to realize the centering adjustment of the small ball head polishing tool along the radial direction of the turntable; secondly, set the swing angle θ of the turntable to 0° and 180°, according to the image acquired by the first CCD camera Obtain the centering deviation value σ of the center of the small ball head polishing tool in the U direction of the roller guide rail, and adjust the movement of the micrometer head by fine-tuning the U direction to realize the centering adjustment of the polishing tool along the tangential direction of the turntable. The specific steps for:

Step 1: Establish the (X, Y, Z) coordinate system of the machine tool on the turntable, the center line of the workpiece spindle is parallel to the horizontal platform and parallel to the X axis, and the vertical direction perpendicular to the horizontal platform is defined as the Z axis direction;

Step 2: Adjust the first CCD camera so that its line of sight is parallel to the horizontal plane and parallel to the Y-axis direction of the machine tool, and calibrate the pixels in the horizontal and vertical directions of the image obtained by the first CCD camera, that is, to obtain a pixel in the horizontal and vertical directions. The actual distance represented by the vertical direction is transmitted to the external computer in real time with the images collected by the first CCD camera with the actual distance in the horizontal and vertical directions;

Step 3: Set the first CCD camera to adopt the maximum field of view, use the centering adjustment stage to make rough adjustments and cooperate with the translation of the position of the first CCD camera, so that when the turntable rotates, the tool head of the small ball head polishing tool can always Keep within the imaging range of the first CCD camera, adjust the focal length of the first CCD camera so that the tool head of the small ball head polishing tool is clearly displayed on the screen of the control computer, and increase the magnification of the camera simultaneously to make the small ball head The arc segment imaged by the tool head of the polishing tool in the first CCD camera fills the field of view;

Step 4: Adjust the turntable to rotate to θ=90° angle position through the numerical control system, capture the imaging image of the tool head of the small ball head polishing tool 6 in the first CCD camera at this time, and use the compiled computer software to process the image, First of all, grayscale converts the 24-bit grayscale image captured by the first CCD camera into an 8-bit grayscale image, and then binarizes the image based on the peak-valley method of the grayscale distribution histogram to make the tool head of the small ball head polishing tool Separate from the background, and then use the edge detection operator to extract the arc contour edge of the tool head of the small ball head polishing tool, and finally use the Hough transform method to iteratively calculate according to the arc contour points to obtain the small ball head polishing tool in the image The coordinates O ₁ (x ₁ , z ₁ ) of the center of the sphere of the tool head;

Step 5: Adjust the rotation of the turntable to the angular position of θ=-90°, capture the imaging image of the tool head of the small ball head polishing tool in the first CCD camera at this time, and use the compiled computer software to process the image to obtain the small Coordinates O ₂ (x ₂ , z ₂ ) of the spherical center position of the tool head of the ball-end polishing tool;

Step 6: Record the image system calibration coefficient obtained in step 2 as K, then the centering deviation value δ of the center of the tool head in the direction of the V-roller guide rail can be expressed as δ=K(x ₂ –x ₁ )/2, According to the obtained deviation value δ, adjust the V direction to adjust the micrometer head so that the tool head can feed the δ distance along the V direction of the roller guide rail, then the centering deviation in the V direction of the roller guide rail can be eliminated, and the grinding and polishing tool can be moved along the turntable. Radial alignment adjustment;

Step 7: Adjust the rotary table to the position of θ=0° through the numerical control system, capture the imaging image of the tool head of the small ball head polishing tool in the first CCD camera at this time, and use the compiled computer software to process the image to obtain the image Coordinates O ₃ (x ₃ , z ₃ ) of the center position of the tool head of the small and medium ball head polishing tool;

Step 8: Adjust the rotation of the turntable to the position of θ=180°, capture the imaging image of the tool head of the small ball head polishing tool in the first CCD camera at this time, use the compiled computer software to process the image, and obtain the small ball head in the image The position coordinates O ₄ (x ₄ , z ₄ ) of the center of the sphere of the tool head of the polishing tool;

Step 9: Record the calibration coefficient of the image system obtained in step 2 as K, then the centering deviation σ of the center of the tool head in the U direction of the roller guide rail can be expressed as σ=K(x ₄ –x ₃ )/2, According to the obtained deviation value σ, adjust the U direction to adjust the micrometer head so that the tool head can feed the distance σ along the U direction of the roller guide rail, then the centering deviation in the U direction of the roller guide rail can be eliminated, and the grinding and polishing tool can be moved along the turntable. Radial alignment adjustment;

Step 10: Repeat steps 4 to 9 to perform multiple cross-adjustments on the radial and tangential positions of the tool head of the small ball grinding and polishing tool relative to the turntable until the accuracy of the tool setting position meets the requirements for use.

The tool setting method of the tool relative to the workpiece of the small ball head tool in the single turntable grinding and polishing processing device, the method is realized according to the following steps:

Firstly, the image of the tool setting area is obtained from the X-axis direction through the second CCD camera to obtain the relative position deviation between the tool head center and the workpiece axis in the Y and Z directions, and then the tool head center is obtained from the Y-axis direction through the first CCD camera Relative to the position deviation of the end surface of the workpiece in the X direction, the workpiece and the tool system are driven by the CNC axis of the machine tool to move along the X, Y, and Z directions respectively to adjust the tool and the workpiece to the origin of the processing program to complete the tool setting operation. The specific steps are:

Step 1: Establish the (X, Y, Z) coordinate system of the machine tool on the turntable, the center line of the workpiece spindle is parallel to the horizontal platform and parallel to the X axis, and the vertical direction perpendicular to the horizontal platform is defined as the Z axis direction;

Step 2: Adjust the first CCD camera and the second CCD camera 18 so that their line of sight is parallel to the horizontal plane and observe the tool setting area along the Y-axis and X-axis directions of the machine tool respectively, and obtain images from the first CCD camera and the second CCD camera The pixels in the horizontal and vertical directions are calibrated;

Step 3: Use the second CCD camera to obtain the image of the tool and the workpiece in the tool setting area. After adjusting the focal length of the camera so that the tool head of the small ball head polishing tool is clearly displayed in the image, drive the workpiece through the horizontal workbench of the machine tool The main shaft moves toward the tool head of the small ball head polishing tool, so that the contour of the workpiece and the tool head contour of the small ball head polishing tool are simultaneously clear in the image of the second CCD camera, and then use the compiled image processing software to obtain In the image, the center position coordinates O _o (y _o , z _o ) of the tool head of the small ball head polishing tool and the coordinates O _w (y _w , z _w ) of the axis position of the workpiece;

Step 4: According to the image system calibration coefficient obtained in step 2 is K, then the tool setting deviation value ε _y between the center of the tool head and the axis of the workpiece in the Y-axis direction is expressed as ε _y = K(y _w – y _o ) , the tool setting deviation value ε _z in the Z-axis direction is expressed as ε _z =K(z _w –z _o ), according to the obtained deviation values ε _y and ε _z , the tool setting deviation is eliminated through the movement of the Y-axis and Z-axis of the machine tool, Make the center of the tool head of the small ball head polishing tool coincide with the axis of the workpiece;

Step 5: Use the first CCD camera to obtain the image of the tool and the workpiece in the tool setting area, adjust the focal length of the camera so that the tool head profile and the workpiece profile of the small ball grinding and polishing tool are the clearest in the CCD image, and use image processing to get this The coordinates O _o (x _o , z _o ) of the center of the tool head of the small ball head polishing tool in the real-time image and the position coordinates Q(x _q , z _q ) of the feature points on the contour of the workpiece end surface;

Step 6: According to the image system calibration coefficient obtained in step 2 is K, the radius of the tool head of the small ball head polishing tool is R, if the tool setting gap size required by the processing program is e, the tool is in the X-axis direction relative to the workpiece The tool setting deviation value Δ is expressed as Δ=ε _x –R–e=K(x _q –x _o )–R–e, according to the obtained deviation value, the X axis of the machine tool drives the workpiece to move a specified distance Δ so that the small ball head grinds The distance deviation between the tool head of the throwing tool and the end surface of the workpiece reaches the gap value required for tool setting, and the tool setting adjustment of the tool head of the small ball head polishing tool relative to the workpiece is completed, so that the position accuracy of the tool setting meets the use requirements.

The beneficial effects of the present invention are: 1, utilize the first CCD camera 5 to collect the images of the grinding and polishing tool heads at two relative 180 ° turntable swing angle positions and transmit them to an external computer, and adopt image processing technology and corresponding software compiled to obtain The pixel coordinates of the ball center position of the tool head of the small ball head polishing tool 6 in the image, according to the center position deviation in the image, the centering deviation of the tool head of the small ball head polishing tool 6 relative to the turntable can be obtained, and then used Adjust the micrometer head 16 in the U direction, and adjust the micrometer head 17 in the V direction to adjust the spatial position of the tool head of the small ball head polishing tool 6 to compensate for the deviation, so that the center of the tool head of the small ball head polishing tool 6 is located at the center of rotation of the turntable On the line 12; the first CCD camera 5 and the second CCD camera 18 arranged perpendicular to each other through the field of view respectively obtain the position of the tool head relative to the workpiece in the X, Y, and Z directions, and then adjust the small ball head grinding through the movement of the CNC axis of the machine tool. Throwing the relative position of the tool 6 and the workpiece 2 to complete the tool setting adjustment requirements before processing. This tool setting method based on image processing can realize high-precision and high-efficiency tool setting adjustment of small ball head tools in the oblique axis grinding and polishing process of single turntable.

2. The position of the tool head of the small ball head grinding and polishing tool 6 is adjusted relative to the turntable, and the Y-direction image acquisition system composed of the magnifying lens 4 installed on the horizontal platform and the first CCD camera 5 with high resolution of 5 million pixels is used. The Y-axis Direction Obtain the image of the tool head of the small ball grinding and polishing tool 6 in the tool setting area, the minimum pixel resolution of the tool setting image is 2.2 μm, and the center of the ball of the tool head of the small ball grinding and polishing tool 6 is relative to the rotary center of the turntable after processing by an external computer The relative position of the tool head of the small ball head polishing tool 6 and the turntable 11 is precisely adjusted through the set centering adjustment displacement table 10 . The centering adjustment stage 10 is a two-dimensional precision fine-tuning stage with a three-layer structure, which is supported and connected by the U-direction roller guide rail 15 and the V-direction roller guide rail 14, and the U-direction adjustment micrometer head 16 and the V-direction adjustment micrometer head The 17 drives can respectively realize the displacement adjustment of the small ball head polishing tool 6 along the tangential direction and the radial direction of the turntable, and the minimum displacement resolution of the displacement table in the two directions is 2 μm. To adjust the position of the tool head relative to the workpiece, first, the second CCD camera 18 is used to obtain the image of the tool setting area from the X-axis direction to obtain the center of the tool head of the small ball polishing tool 6 and the axis center of the workpiece spindle 3 in the Y and Z directions. The relative position deviation of the tool setting area is obtained by the first CCD camera 5 from the Y-axis direction to obtain the position deviation of the center of the tool head of the small ball grinding and polishing tool 6 relative to the workpiece end surface in the X-axis direction, and then the machine tool numerical control The movement of the axis adjusts the tool and the workpiece 2 to the origin of the machining program to complete the tool setting operation, and the tool setting deviation detection accuracy is better than 10 μm.

3. The first CCD camera 5 and the second CCD camera 18 with high resolution of 5 million pixels are used to acquire the image of the tool setting area, combined with the high-precision two-dimensional fine-tuning stage with a displacement resolution of 2 μm for tool setting adjustment, the ball can be precisely adjusted The sphere center of the tool head of the head grinding and polishing tool 6 coincides with the space rotation axis of the turntable, and the centering accuracy of the tool head relative to the turntable 11 is better than 5 μm, which improves the accuracy of tool setting; the computer software is used to process the image, and the smallest pixel of the image is The resolution is 2.2 μm. According to the proposed image processing flow, the position information of the center point of the 6-tool head of the small ball head grinding and polishing tool in the image can be quickly obtained to improve the tool setting efficiency; the tool setting deviation can be detected by using image measurement technology, and the tool setting deviation The detection accuracy is better than 10 μm, which avoids the actual contact between the tool setting instrument and the traditional trial cutting method, reduces the difficulty of tool setting and improves the stability of tool setting accuracy; this method has certain universality , can be popularized to adjust the position of the tip point of various small tools with a diameter of 3 to 6 mm relative to the center of rotation of the turntable in single turntable processing.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the present invention, Fig. 2 is a schematic diagram of images of the first CCD camera 5 when the swing angle θ of the turntable 11 is respectively 90° and -90° when the tool is centered relative to the turntable, and Fig. 3 is a pair of the tool relative to the turntable When the swing angle θ of turntable 11 is respectively 0 ° and 180 ° during middle adjustment, the image schematic diagram of first CCD camera 5, Fig. 4 is the step 4, step 5, step 7, step 8 of specific embodiment 2 and specific embodiment 3 Step 3 and Step 5 are flow charts of image processing using computer software compiled. Fig. 5 is a schematic diagram of the image of the second CCD camera 18 when the tool is aligned relative to the workpiece. Fig. 6 is the first CCD when the tool is aligned relative to the workpiece. Schematic image of camera 5. Fig. 7 is an image processing example diagram of the tool head center position detection process, wherein Fig. 7a is a grayscale image of the small ball head polishing tool 6, Fig. 7b is a grayscale histogram of the polishing tool image, and Fig. 7c is a polishing tool The binary image of the image, Fig. 7d is the edge extraction map of the polishing tool, and Fig. 7e is the center position detection map of the tool head.

detailed description

Specific Embodiment 1: This embodiment is described in conjunction with FIG. 1 , a single turntable grinding and polishing device for small ball head tools and a tool setting method. The device includes a horizontal platform 1, a workpiece spindle 3, a first CCD camera 5, a small Ball head polishing tool 6, polishing tool spindle 7, spindle clamping part 8, bevel fixing seat 9, centering adjustment displacement table 10, turntable 11, connecting plate 13, V-direction roller guide rail 14, U-direction roller Guide rail 15, U direction adjustment micrometer head 16, V direction adjustment micrometer head 17, the second CCD camera 18 and two magnifying lenses 4; One magnifying lens 4 is installed on the first CCD camera 5, and another magnifying lens 4 is installed On the second CCD camera 18, the workpiece 2 is installed on the workpiece spindle 3, the first CCD camera 5, the second CCD camera 18 and the workpiece spindle 3 are arranged on the horizontal platform, and the second CCD camera 18 and the workpiece 2 are relatively arranged. The center line of two CCD cameras 18 is arranged parallel to the center line of the workpiece 2, the center line of the first CCD camera 5 and the center line of the second CCD camera 18 are arranged perpendicular to each other, and the turntable 11 is suspended and arranged on the vertical motion axis of the machine tool. The center adjustment displacement table 10 is arranged under the turntable 11, the V-direction adjustment micrometer head 17 is installed on the slide table carried by the V-direction roller guide rail 14 of the center adjustment displacement table 10, and the U-direction adjustment micrometer head 16 is installed on the opposite On the sliding table carried by the U-direction roller guide rail 15 of the middle adjustment displacement table 10, the oblique angle fixing seat 9 is installed under the centering adjustment displacement table 10, and the small ball head grinding and polishing tool 6 is installed on the grinding and polishing tool main shaft 7. The main shaft 7 of the throwing tool is installed on the main shaft holder 8 , and the main shaft holder 8 is installed on the bevel holder 9 .

In this embodiment, the first CCD camera 5 has a resolution of 5 million pixels, and in this embodiment, the second CCD camera 18 has a resolution of 5 million pixels.

Specific embodiment 2: This embodiment is described in conjunction with Fig. 1-Fig. 4 and Fig. 7, a small ball head tool single turntable grinding and polishing processing device and a tool setting method, and the centering adjustment and tool setting method of the tool relative to the turntable It is realized by the following steps:

Use the first CCD camera 5 to obtain the tool setting image of the small ball head polishing tool 6 in the tool setting area, first set the swing angle θ of the turntable 11 to 90° and -90°, and process the tool setting image captured by the first CCD camera 5 Image, obtain the pixel coordinates of the center point of the small ball head polishing tool 6 in the image, and obtain the centering deviation value of the center point of the small ball head polishing tool 6 in the direction of the V-direction roller guide rail 14 according to the calibration coefficient of the image system δ, and eliminate the deviation by fine-tuning the movement of the micrometer head 17 in the V direction to realize the centering adjustment of the small ball head polishing tool 6 along the radial direction of the turntable; secondly, set the swing angle θ of the turntable to 0° and 180° According to the image acquired by the first CCD camera 5, the centering deviation value σ of the center of the small ball head polishing tool 6 in the U direction of the roller guide rail 15 is obtained, and the movement of the micrometer head 16 is adjusted to realize the research by fine-tuning the U direction. The centering adjustment of the throwing tool along the tangential direction of the turntable, the specific steps are:

Step 1: Establish the (X, Y, Z) coordinate system of the machine tool on the turntable 11, the center line of the workpiece spindle 3 is parallel to the horizontal platform and parallel to the X axis, and the vertical direction perpendicular to the horizontal platform 1 is defined as the Z axis direction ;

Step 2: adjust the first CCD camera 5 to make its line of sight parallel to the horizontal plane and parallel to the Y-axis direction of the machine tool, and calibrate the pixels in the horizontal and vertical directions of the image obtained by the first CCD camera 5, that is, to obtain a pixel in The actual distance represented by the horizontal and vertical directions, the images with the actual distances in the horizontal and vertical directions collected by the first CCD camera 5 are transmitted to the external computer in real time;

Step 3: Set the first CCD camera 5 to adopt the maximum field of view, use the centering adjustment displacement table 10 to perform rough adjustment and cooperate with the translation of the position of the first CCD camera 5, so that when the turntable 11 rotates, the small ball head polishing tool 6 The tool head of the first CCD camera 5 can always be kept within the imaging range of the first CCD camera 5, and the focal length of the first CCD camera 5 is adjusted so that the tool head of the small ball head polishing tool 6 is clearly displayed on the screen of the control computer, and the camera is enlarged simultaneously. The magnification of the first CCD camera 5 in the first CCD camera 5 of the tool head of the small ball head polishing tool 6 is full of the field of view;

Step 4: Adjust the turntable 11 through the numerical control system to rotate to the angle position of θ=90°, capture the imaging image of the tool head of the small ball head polishing tool 6 in the first CCD camera 5 at this time, and use the compiled computer software to perform image processing Processing, first grayscale converts the 24-bit grayscale image captured by the first CCD camera 5 into an 8-bit grayscale image, and then binarizes the image based on the peak-valley method of the grayscale distribution histogram to make the small ball head polishing tool The tool head of 6 is separated from the background, and then the edge detection operator is used to extract the arc contour edge of the tool head of the small ball polishing tool 6, and finally the Hough transform method is used to iteratively calculate the arc contour points to obtain the small The position coordinates O ₁ (x ₁ , z ₁ ) of the center of the sphere of the tool head of the ball-end polishing tool 6;

Step 5: Adjust the turntable 11 to rotate to θ=-90 ° angle position, capture the imaging image of the tool head of the small ball head polishing tool 6 in the first CCD camera 5 at this time, and use the compiled computer software to process the image, Obtain the spherical center position coordinates O ₂ (x ₂ , z ₂ ) of the tool head of the small ball head polishing tool 6 in the image;

Step 6: Record the image system calibration coefficient obtained in step 2 as K, then the centering deviation value δ of the center of the tool head in the direction of the roller guide rail 14 in the V direction can be expressed as δ=K(x ₂ -x ₁ )/2 According to the obtained deviation value δ, adjust the micrometer head 17 in the V direction so that the tool head can feed the distance δ along the straight direction of the V direction roller guide rail 14, then the centering deviation in the direction of the V direction roller guide rail 14 can be eliminated, and the research and development can be realized. Centering adjustment of the throwing tool along the radial direction of the turntable;

Step 7: Adjust the turntable 11 to rotate to the θ=0° position through the numerical control system, capture the imaging image of the tool head of the small ball head polishing tool 6 in the first CCD camera 5 at this time, and use the compiled computer software to process the image , to obtain the center position coordinates O ₃ (x ₃ , z ₃ ) of the tool head of the small ball head polishing tool 6 in the image;

Step 8: Adjust the turntable 11 to rotate to the θ=180° position, capture the imaging image of the tool head of the small ball head polishing tool 6 in the first CCD camera 5 at this time, and use the compiled computer software to process the image to obtain the image The position coordinates O ₄ (x ₄ , z ₄ ) of the center of the sphere of the tool head of the small and medium-sized ball head polishing tool 6;

Step 9: Record the calibration coefficient of the image system obtained in step 2 as K, then the centering deviation value σ of the center of the tool head in the U direction of the roller guide rail 15 can be expressed as σ=K(x ₄ –x ₃ )/2 According to the obtained deviation value σ, adjust the U direction to adjust the micrometer head 16 so that the tool head can feed the distance σ along the U direction to the roller guide rail 15, then the centering deviation in the U direction to the roller guide rail 15 can be eliminated, and the research and development can be realized. Centering adjustment of the throwing tool along the radial direction of the turntable;

Step 10: Repeat steps 4 to 9 to perform multiple cross adjustments on the radial and tangential positions of the tool head of the small ball grinding and polishing tool 6 relative to the turntable 11 until the accuracy of the tool setting position meets the requirements for use.

Specific embodiment three: This embodiment is described in conjunction with Fig. 1, Fig. 4-Fig. 7, a small ball head tool single turntable grinding and polishing processing device and a tool setting method. The tool setting method of the tool relative to the workpiece is to press Achieved by the above steps:

First, the second CCD camera 18 is used to obtain the image of the tool setting area from the X-axis direction to obtain the relative position deviation between the center of the tool head and the workpiece axis in the Y and Z directions, and then the first CCD camera 5 is used to obtain the image of the tool from the Y-axis direction. The position deviation of the head center relative to the end surface of the workpiece in the X direction, and then the CNC axis of the machine tool drives the workpiece 2 and the tool system to move along the X, Y, and Z directions respectively to adjust the tool and the workpiece 2 to the origin of the machining program to complete the tool setting operation. The specific steps for:

Step 1: Establish the (X, Y, Z) coordinate system of the machine tool on the turntable 11, the center line of the workpiece spindle 3 is parallel to the horizontal platform and parallel to the X axis, and the vertical direction perpendicular to the horizontal platform 1 is defined as the Z axis direction ;

Step 2: Adjust the first CCD camera 5 and the second CCD camera 18 so that their line of sight is parallel to the horizontal plane and observe the tool setting area along the Y-axis and X-axis directions of the machine tool respectively, and connect the first CCD camera 5 and the second CCD camera 18 Obtain the horizontal and vertical pixels of the image for calibration;

Step 3: Use the second CCD camera 18 to obtain images of the tool and the workpiece 2 in the tool setting area, and adjust the camera focal length so that the tool head of the small ball head polishing tool 6 is clearly displayed in the image, and work horizontally through the machine tool The table drives the workpiece spindle 3 to move toward the tool head of the small ball-end polishing tool 6, so that the outline of the workpiece 2 and the tool head contour of the small-ball-end polishing tool 6 are simultaneously clear in the image of the second CCD camera 18, and then the The image processing software at this time obtains the position coordinates O _o (y _o , z _o ) of the center of the tool head of the small ball head polishing tool 6 in the image and the coordinates O _w (y _w , z _w ) of the axis position of the workpiece 2;

Step 4: According to the image system calibration coefficient obtained in step 2 is K, then the tool setting deviation value ε _y between the center of the tool head and the axis of the workpiece in the Y-axis direction is expressed as ε _y = K(y _w – y _o ) , the tool setting deviation value ε _z in the Z-axis direction is expressed as ε _z =K(z _w –z _o ), according to the obtained deviation values ε _y and ε _z , the tool setting deviation is eliminated through the movement of the Y-axis and Z-axis of the machine tool, Make the tool head ball center of the small ball head polishing tool 6 coincide with the axis of the workpiece 2;

Step 5: Use the first CCD camera 5 to obtain images of the tool and the workpiece 2 in the tool setting area, adjust the focal length of the camera so that the tool head profile and the workpiece profile of the small ball head polishing tool 6 can be the clearest in the CCD image, and use the image Process to obtain the position coordinates O _o (x _o , z _o ) of the center of the tool head of the small ball head polishing tool 6 in the image at this time and the position coordinates Q (x _q , z _q ) of the feature points on the contour of the end surface of the workpiece 2;

Step 6: According to the calibration coefficient of the image system obtained in step 2 is K, the radius of the tool head of the small ball head polishing tool 6 is R, and if the tool setting gap size required by the processing program is e, the tool is on the X axis relative to the workpiece The tool setting deviation value Δ in the direction is expressed as Δ=ε _x –R–e=K(x _q –x _o )–R–e, according to the obtained deviation value, the X axis of the machine tool drives the workpiece to move a specified distance Δ so that the small ball head The distance deviation between the tool head of the grinding and polishing tool 6 and the end surface of the workpiece reaches the gap value required for tool setting, and the tool setting adjustment of the tool head of the small ball grinding and polishing tool 6 relative to the workpiece position is completed, so that the position accuracy of the tool setting meets the use requirements.

Claims (2)

1. A tool setting method of a small ball head tool single turntable grinding and polishing processing device tool, which includes a horizontal platform (1), a workpiece spindle (3), a first CCD camera (5), a small ball head grinding and polishing tool (6 ), grinding and polishing tool spindle (7), spindle holder (8), bevel holder (9), centering adjustment displacement table (10), turntable (11), connecting plate (13), V-direction roller Guide rail (14), U-direction roller guide rail (15), U-direction adjustment micrometer head (16), V-direction adjustment micrometer head (17), second CCD camera (18) and two magnifying lenses (4); A magnifying lens (4) is installed on the first CCD camera (5), and another magnifying lens (4) is installed on the second CCD camera (18), and the workpiece (2) is installed on the workpiece spindle (3), the first CCD camera (5), the second CCD camera (18) and the workpiece main shaft (3) are arranged on the horizontal platform, the second CCD camera (18) and the workpiece (2) are relatively arranged, the center line of the second CCD camera (18) It is arranged parallel to the center line of the workpiece (2), the center line of the first CCD camera (5) and the center line of the second CCD camera (18) are arranged perpendicular to each other, and the turntable (11) is suspended and arranged on the vertical motion axis of the machine tool, The centering adjustment stage (10) is arranged under the turntable (11), and the V-direction adjustment micrometer head (17) is installed on the slide table carried by the V-direction roller guide rail (14) of the centering adjustment stage (10) , the U-direction adjustment micrometer head (16) is installed on the sliding platform carried by the U-direction roller guide rail (15) of the centering adjustment stage (10), and the oblique angle fixing seat (9) is installed on the centering adjustment stage ( 10) Below, the small ball head polishing tool (6) is installed on the polishing tool spindle (7), the polishing tool spindle (7) is installed on the spindle holder (8), and the spindle holder (8) is installed On the bevel fixed seat (9), it is characterized in that: the method of centering, adjusting and setting the tool relative to the turntable is realized according to the following steps: Use the first CCD camera (5) to obtain the tool setting image of the small ball head polishing tool (6) in the tool setting area, first set the swing angle θ of the turntable (11) to 90° and -90°, and process the first CCD The tool setting image obtained by the camera (5) obtains the pixel coordinates of the center point of the small ball head polishing tool (6) in the image, and obtains the center point of the small ball head polishing tool (6) according to the calibration coefficient of the image system. The centering deviation value δ in the direction of the V-direction roller guide rail (14), and eliminate the deviation value by fine-tuning the movement of the V-direction adjustment micrometer head (17) to realize the radial direction of the small ball head polishing tool (6) along the turntable Centering adjustment; secondly, the swing angle θ of the turntable is set to be 0° and 180°, and the center of the small ball head grinding and polishing tool (6) is obtained from the image obtained by the first CCD camera (5) on the U-direction roller guide rail (15 ) direction, and adjust the movement of the micrometer head (16) by fine-tuning the U direction to realize the centering adjustment of the polishing tool along the tangential direction of the turntable. The specific steps are: Step 1: Establish the (X, Y, Z) coordinate system of the machine tool on the turntable (11), the centerline of the workpiece spindle (3) is parallel to the horizontal platform surface and the X axis, and perpendicular to the vertical axis of the horizontal platform (1). The direction is defined as the Z-axis direction; Step 2: adjust the first CCD camera (5) to make its line of sight parallel to the horizontal platform and parallel to the Y-axis direction of the machine tool, and calibrate the pixels in the horizontal and vertical directions of the image obtained by the first CCD camera (5), namely Obtain the actual distance represented by a pixel in the horizontal and vertical directions, and transmit the image with the horizontal and vertical actual distances collected by the first CCD camera (5) to an external computer in real time; Step 3: Set the first CCD camera (5) to adopt the maximum field of view, use the centering adjustment stage (10) to make rough adjustments and cooperate with the translation of the position of the first CCD camera (5), so that when the turntable (11) rotates , the tool head of the small ball head polishing tool (6) can always remain in the imaging range of the first CCD camera (5), adjust the focal length of the first CCD camera (5) to make the small ball head polishing tool (6) The tool head is clearly displayed on the screen of the control computer, and at the same time, the magnification of the camera is increased, so that the arc segment imaged by the tool head of the small ball head polishing tool (6) in the first CCD camera (5) fills the field of view scope; Step 4: Adjust the turntable (11) through the numerical control system to rotate to the angle position of θ=90°, capture the imaging image of the tool head of the small ball head polishing tool (6) in the first CCD camera (5) at this time, and use the programming The computer software is used to process the image. First, the 24-bit grayscale image captured by the first CCD camera (5) is converted into an 8-bit grayscale image by grayscale conversion, and then the image is binarized based on the peak-valley method of the grayscale distribution histogram. The tool head of the small ball head polishing tool (6) is separated from the background, then the edge detection operator is used to extract the circular contour edge of the tool head of the small ball head polishing tool (6), and finally the Hough transform is used Method According to the iterative calculation of the arc contour points, the center position coordinates O ₁ (x ₁ , z ₁ ) of the tool head of the small ball head polishing tool (6) in the image are obtained; Step five: adjust the turntable (11) to rotate to θ=-90 ° angle position, capture the imaging image of the tool head of the small ball head polishing tool (6) in the first CCD camera (5) at this time, and use the compiled computer The software processes the image to obtain the center position coordinates O ₂ (x ₂ , z ₂ ) of the tool head of the small ball head polishing tool (6) in the image; Step 6: Record the calibration coefficient of the image system obtained in step 2 as K, then the centering deviation value δ of the center of the tool head in the direction of the V-direction roller guide (14) can be expressed as δ=K(x ₂ -x ₁ ) /2, adjust the V direction to adjust the micrometer head (17) according to the obtained deviation value δ to make the tool head feed the distance δ along the V direction to the roller guide rail (14), then the V direction can be moved to the direction of the roller guide rail (14) The centering deviation is eliminated, and the centering adjustment of the polishing tool along the radial direction of the turntable is realized; Step 7: Adjust the turntable (11) to rotate to the θ=0° position through the numerical control system, capture the imaging image of the tool head of the small ball head polishing tool (6) in the first CCD camera (5) at this time, and use the compiled The computer software processes the image to obtain the center position coordinates O ₃ (x ₃ , z ₃ ) of the tool head of the small ball head polishing tool (6) in the image; Step 8: Adjust the turntable (11) to rotate to θ=180 ° position, capture the imaging image of the tool head of the small ball head polishing tool (6) in the first CCD camera (5) at this time, utilize the computer software compiled The image is processed to obtain the spherical center position coordinates O ₄ (x ₄ , z ₄ ) of the tool head of the small ball head grinding and polishing tool (6) in the image; Step 9: Record the calibration coefficient of the image system obtained in step 2 as K, then the centering deviation σ of the center of the tool head in the U direction of the roller guide (15) can be expressed as σ=K(x ₄ –x ₃ ) /2, adjust the U direction to adjust the micrometer head (16) according to the obtained deviation value σ to make the tool head feed the σ distance along the U direction to the roller guide rail (15), then the U direction can be moved to the direction of the roller guide rail (15) The centering deviation is eliminated, and the centering adjustment of the polishing tool along the radial direction of the turntable is realized; Step 10: Repeat step 4 to step 9 to perform multiple cross-adjustments on the radial and tangential positions of the tool head of the small ball-end polishing tool (6) relative to the turntable (11) until the accuracy of the tool setting position meets the requirements for use . 2. A tool setting method of a small ball head tool single turntable grinding and polishing processing device tool, which includes a horizontal platform (1), a workpiece spindle (3), a first CCD camera (5), a small ball head grinding and polishing tool (6 ), grinding and polishing tool spindle (7), spindle holder (8), bevel holder (9), centering adjustment displacement table (10), turntable (11), connecting plate (13), V-direction roller Guide rail (14), U-direction roller guide rail (15), U-direction adjustment micrometer head (16), V-direction adjustment micrometer head (17), second CCD camera (18) and two magnifying lenses (4); A magnifying lens (4) is installed on the first CCD camera (5), and another magnifying lens (4) is installed on the second CCD camera (18), and the workpiece (2) is installed on the workpiece spindle (3), the first CCD camera (5), the second CCD camera (18) and the workpiece main shaft (3) are arranged on the horizontal platform, the second CCD camera (18) and the workpiece (2) are relatively arranged, the center line of the second CCD camera (18) It is arranged parallel to the center line of the workpiece (2), the center line of the first CCD camera (5) and the center line of the second CCD camera (18) are arranged perpendicular to each other, and the turntable (11) is suspended and arranged on the vertical motion axis of the machine tool, The centering adjustment stage (10) is arranged under the turntable (11), and the V-direction adjustment micrometer head (17) is installed on the slide table carried by the V-direction roller guide rail (14) of the centering adjustment stage (10) , the U-direction adjustment micrometer head (16) is installed on the sliding platform carried by the U-direction roller guide rail (15) of the centering adjustment stage (10), and the oblique angle fixing seat (9) is installed on the centering adjustment stage ( 10) Below, the small ball head polishing tool (6) is installed on the polishing tool spindle (7), the polishing tool spindle (7) is installed on the spindle holder (8), and the spindle holder (8) is installed On the bevel fixed seat (9), it is characterized in that: the method of setting the tool relative to the workpiece is realized according to the following steps: First, the second CCD camera (18) is used to obtain the image of the tool setting area from the X-axis direction to obtain the relative position deviation between the center of the tool head and the workpiece axis in the Y and Z directions, and then the first CCD camera (5) from the Y The axis direction obtains the position deviation of the center of the tool head relative to the end surface of the workpiece in the X direction, and then the workpiece (2) and the tool system are driven by the CNC axis of the machine tool to move along the X, Y, and Z directions respectively to adjust the tool and the workpiece (2) to the processing program The origin completes the tool setting operation, the specific steps are: Step 1: Establish the (X, Y, Z) coordinate system of the machine tool on the turntable (11), the centerline of the workpiece spindle (3) is parallel to the horizontal platform surface and the X axis, and perpendicular to the vertical axis of the horizontal platform (1). The direction is defined as the Z-axis direction; Step 2: Adjust the first CCD camera (5) and the second CCD camera (18) so that its line of sight is parallel to the horizontal plane and observe the tool setting area along the Y-axis and X-axis directions of the machine tool respectively, and place the first CCD camera (5) ) and the second CCD camera (18) obtain the horizontal and vertical pixels of the image for calibration; Step 3: Use the second CCD camera (18) to acquire the image of the tool and the workpiece (2) in the tool setting area, and adjust the focal length of the camera so that the tool head of the small ball head polishing tool (6) is clearly displayed in the image Above, the workpiece spindle (3) is driven to move toward the tool head of the small ball-end polishing tool (6) through the horizontal workbench of the machine tool, so that the contour of the workpiece (2) and the tool head contour of the small ball-end polishing tool (6) are at the same time Reach clarity in the image of the second CCD camera (18), then utilize the image processing software compiled to obtain the tool head ball center position coordinates O _o (y _o , z _o ) and The axis position coordinates O _w (y _w , z _w ) of the workpiece (2); Step 4: According to the image system calibration coefficient obtained in step 2 is K, then the tool setting deviation value ε _y between the center of the tool head and the axis of the workpiece in the Y-axis direction is expressed as ε _y = K(y _w – y _o ) , the tool setting deviation value ε _z in the Z-axis direction is expressed as ε _z =K(z _w –z _o ), according to the obtained deviation values ε _y and ε _z , the tool setting deviation is eliminated through the movement of the Y-axis and Z-axis of the machine tool, Make the center of the tool head of the small ball head polishing tool (6) coincide with the axis of the workpiece (2); Step 5: Use the first CCD camera (5) to obtain images of the tool and workpiece (2) in the tool setting area, and adjust the focal length of the camera so that the tool head profile and workpiece profile of the small ball head polishing tool (6) are in the CCD image To achieve the clearest, use image processing to obtain the position coordinates O _o (x _o , z _o ) of the center of the tool head of the small ball head polishing tool (6) in the image at this time and the position coordinates Q of the feature points on the end surface contour of the workpiece (2) (x _q , z _q ); Step 6: According to the image system calibration coefficient obtained in step 2 is K, the tool head radius size of the small ball head polishing tool (6) is R, if the tool setting gap size required by the processing program is e, then the tool is relative to the workpiece at The tool setting deviation value Δ in the X-axis direction is expressed as Δ=ε _x –R–e=K(x _q –x _o )–R–e. According to the obtained deviation value, the X axis of the machine tool drives the workpiece to move a specified distance Δ so that the minimum The distance deviation between the tool head of the ball-end polishing tool (6) and the end surface of the workpiece reaches the gap value required for tool setting, and the tool-setting adjustment of the tool head of the small ball-end polishing tool (6) relative to the workpiece position is completed, thereby making the tool setting The position accuracy meets the requirements of use.