CN115365829B - Laser gyroscope slot shallow groove automatic processing production line, precision assurance method and system - Google Patents

Abstract

The laser gyroscope slot shallow groove automatic processing production line, precision assurance method and system relate to the field of laser gyroscope slot shallow groove processing. The production line includes a robotic arm, a plate carrier, a three-coordinate automatic measuring instrument, a machining center, and a controller. The method includes measuring the slot bottom thickness to obtain the machining allowance correction value Δt, and entering Δt into the controller. After the slot is clamped on the tooling, a slot/tooling assembly is formed. The height H2 of the slot/tooling assembly is detected and H2 is sent to the controller. The controller calculates the actual removal amount according to Δt and H2. The slot/tooling assembly is moved to the machining center, and the machining center completes the shallow groove processing of the slot of the slot/tooling assembly according to the actual removal amount. The actual removal amount of the shallow groove is automatically calculated according to the slot deep groove size and automatically compensated. Various errors are effectively eliminated, the slot processing accuracy is greatly improved, online detection and processing compensation are realized, and the product processing consistency is effectively guaranteed.

Description

Laser gyroscope slot shallow groove automatic processing production line, precision assurance method and system

Technical Field

The present application relates to the technical field of laser gyroscope slot shallow groove processing, and in particular to a laser gyroscope slot shallow groove automatic processing production line and a method for ensuring its accuracy.

Background Art

The slot plate is an important optical component that constitutes the annular closed optical path of the laser gyroscope. By driving the flexible annular rib structure of the component (hereinafter referred to as the slot bottom), the optical path is precisely fine-tuned to achieve the function of tracking the maximum light intensity and stabilizing the laser frequency. The slot plate is an axisymmetric structure with annular grooves at both ends. Its main processing process is to process the deep groove end first (as shown in the left figure of Figure 1), and then process the shallow groove end (as shown in the right figure of Figure 1). When processing the shallow groove, it is necessary to ensure the coaxiality requirements of the annular groove at the shallow groove end and the outer circle, as well as the consistency requirements of the groove bottom thickness h1.

The existing technology for shallow groove processing of slotted plates is a human-machine interactive production mode with manual loading and unloading, manual inspection/calculation/entry, which is mainly human-machine interactive. There is a problem of occupying the effective processing time of the machine tool, resulting in low production efficiency. At the same time, the manual inspection/calculation/entry link is also prone to human errors. In addition, the coaxiality and groove bottom thickness accuracy of the slotted plate parts are required to be high. The existing inspection process lacks a pre-processing measurement link, and it is impossible to screen out the coaxiality of parts that are out of tolerance due to part clamping; it is also impossible to eliminate various axial errors, and the consistency of groove bottom thickness processing is poor, resulting in parts that are out of tolerance or even scrapped.

Summary of the invention

The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, to provide a laser gyroscope slot plate shallow groove automatic processing production line and its precision assurance method, to effectively eliminate various errors, and to greatly improve the slot plate slot bottom thickness processing accuracy compared with the prior processing method.

The technical solution of the present invention is:

A laser gyroscope slot shallow groove automatic processing production line, comprising a mechanical arm, a plate carrier, a three-coordinate automatic measuring instrument, a machining center, and a controller; wherein the three-coordinate automatic measuring instrument and the machining center are both provided with a zero point positioning device, the zero point positioning device comprises a chuck for fixing the bottom of a tooling, the chuck cooperates with a slot/tooling assembly formed by clamping the tooling and the slot;

The robot arm transfers the slot/tooling assembly between the carrier, machining center, and three-coordinate automatic measuring machine; the carrier is used for the transfer placement of the slot/tooling assembly;

Three-coordinate automatic measuring machine to detect the height of the slot/tooling assembly;

The controller calculates the actual removal amount according to the height detection result of the slot sheet/tooling assembly and the thickness of the slot sheet bottom with a deep slot;

The machining center performs shallow groove machining on the slot in the slot/tooling assembly according to the actual removal amount.

In the present application, the controller may be a computer control system. The chuck may be a brake-type chuck.

Through the above technical scheme, the present invention realizes precise automatic loading and unloading through a zero-point positioning fixture; at the same time, based on a computer control system, it realizes the integrated control of automated devices such as processing equipment, testing equipment, and logistics equipment, as well as the automatic acquisition, calculation, and transmission of processing compensation data.

The zero point positioning device of the machining center is installed on the C axis; the tooling can fix the four sides of the slot piece and make the slot piece to be processed face horizontally upward; the bottom of the mechanical arm is provided with a guide rail for supporting the movement of the mechanical arm.

It also includes a cleaning machine and a production monitoring station. The robotic arm can transfer positions between the carrier position, machining center, three-coordinate automatic measuring instrument, and cleaning machine. The cleaning machine is used to clean the groove sheet after shallow groove processing; the production monitoring station is used to monitor the operating status of the production line and the groove sheet processing quality.

A method for ensuring the accuracy of automatic processing of shallow grooves in laser gyroscope slots, comprising:

Measure the thickness of the groove bottom of the groove sheet to obtain the machining allowance correction value Δt, and enter Δt into the controller;

The slot sheet is clamped on the tooling to form a slot sheet/tooling assembly;

Detect the height H2 of the slot sheet/tooling assembly and send H2 to the controller;

The controller calculates the actual removal amount based on the machining allowance correction value Δt and the height H2 of the slot/tooling assembly;

The slot plate/tooling assembly is moved to a machining center, and the machining center completes shallow groove machining of the slot plate of the slot plate/tooling assembly according to the actual removal amount.

The Δt=h2 theoretical value-h2 measured value, and the h2 measured value is obtained by measuring the thickness of the groove bottom of the groove sheet for processing the deep groove.

The method for obtaining the h2 measured value is as follows: take a measuring circle at the bottom of the deep groove, with the groove sheet axis within the measuring circle, take evenly distributed multi-point measurement depths on the measuring circle, and take the average value of the multi-point depths as the h2 measured value.

The actual removal amount is H2+Δt.

The machining center completes the processing of the shallow groove of the groove plate of the groove plate/tooling assembly according to the actual removal amount, including: the machining center uses the actual removal amount as the reference plane, and the machining depth of the machining center from the reference plane downward is the theoretical machining depth of the shallow groove of the groove plate.

After the machining center completes the shallow groove machining, the robot arm moves the groove sheet/tooling assembly into the cleaning machine for cleaning; after cleaning, the robot arm transfers the groove sheet/tooling assembly to the three-coordinate automatic measuring instrument for measurement to obtain the shallow groove machining result.

Through the above technical solution, before machining the workpiece, the groove bottom thickness h2 is first measured to automatically generate the machining allowance correction value, and then the height H2 of the groove piece/tooling assembly is measured based on the three-coordinate automatic measuring instrument as the machining reference value, and finally the measurement result H2 is automatically added to Δt in the computer control system to complete the calculation of the actual removal amount of the groove piece. Through the above process method, the original manual detection and calculation of compensation values are improved to a computer control system that calculates the actual machining removal amount data based on the measurement results and automatically compensates.

A precision assurance system for automatic processing of shallow grooves of laser gyroscope slots, comprising:

A processing module receives a processing program from the control module and processes the shallow groove of the groove sheet according to the processing program;

The transfer module receives the control signal of the control module, clamps the slot sheet on the tooling to form a slot sheet/tooling assembly, and performs position transfer on the slot sheet/tooling assembly;

The measuring module receives the detection signal from the control module, detects the height H2 of the slot sheet/tooling assembly and the shallow slot processing result according to the detection signal, obtains the detection information, and sends the detection information to the control module;

The control module sends a control signal to the transfer module, sends a detection signal to the measurement module, receives the detection information of the measurement module, calculates the actual removal amount according to the detection information, generates a processing program according to the actual removal amount, and sends the processing program to the processing module.

In summary, this application at least includes the following beneficial technical effects:

(1) The present invention is based on a computer control system to achieve integrated control of automated devices such as processing equipment, testing equipment, and logistics equipment, as well as automatic acquisition, calculation, and transmission of processing compensation data, thereby ensuring the processing accuracy of shallow grooves on slotted sheets. At the same time, a zero-point positioning fixture is applied to the processing equipment to achieve automatic loading and unloading, and ensure processing accuracy;

(2) Compared with the existing technology of traditional human-machine interaction and manual loading and unloading, this invention increases the effective processing time of processing equipment and improves the processing efficiency by more than 1.5 times. The original manual detection and calculation of compensation values are improved to a computer control system that calculates the actual processing removal data based on the measurement results and automatically compensates. It effectively eliminates various errors and greatly improves the processing accuracy of the slot compared to the existing processing methods. Online detection and processing compensation are realized, and the consistency of product processing is effectively guaranteed, while reducing the number of personnel and labor intensity.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram showing the processing sequence of deep grooves and shallow grooves of a groove sheet in the background art;

FIG2 is a schematic diagram of the structure of a production line in an embodiment of the present application;

FIG3 is a schematic diagram of the structure of the slot sheet in an embodiment of the present application;

FIG4 is a schematic structural diagram of a slot sheet/tooling assembly in an embodiment of the present application;

FIG5 is a schematic flow chart of the method in an embodiment of the present application.

Explanation of the reference numerals: 1. machining center; 2. robotic arm; 3. guide rail; 4. plate carrier; 5. cleaning machine; 6. three-coordinate automatic measuring instrument; 7. automatic guided transport vehicle; 8. production preparation station; 9. three-dimensional container; 10. production monitoring station; 11. controller.

DETAILED DESCRIPTION

The present application is further described in detail below with reference to the accompanying drawings and specific embodiments:

The embodiments of the present application disclose a production line for automatically processing shallow grooves in a laser gyroscope slot, and a method and system for ensuring precision.

As shown in FIG. 2 , the production line includes a robot arm 2 , a plate carrier 4 , a controller 11 , a three-coordinate automatic measuring machine 6 , a machining center 1 , a cleaning machine 5 , and a production monitoring station 10 .

Machining center 1 is a vertical machining center 1, 5 of which are used for processing the shallow groove end of the slot. In order to adapt to automated processing, a zero-point positioning device is installed on the C-axis of the vertical machining center 1. The side door of the machine tool is changed to a pneumatic automatic door, and a zero-point positioning device and an automatic door control box are installed. The zero-point positioning device includes a high-precision chuck, and the chuck is provided with a tooling that can be fixed by the chuck. The tooling is used to clamp the slot to form a slot/tooling combination. The tooling can fix the four sides of the slot and make the slot to be processed face horizontally upward.

The board carrier is a combined structure, which includes a zero-point positioning system. When the slot is transported to the board carrier, the board carrier automatically completes a series of actions to fix the board, so that the robotic arm can accurately find the placement of the board during transportation.

As shown in FIG2 , a double-track linear guide rail 3 is installed parallel to the ground on one side of the vertical machining center 1, a sliding platform is installed on the guide rail 3, a mechanical arm 2 is installed on the sliding platform, and a manipulator for grabbing tooling is installed at the end of the mechanical arm 2 to form a part handling unit, which is used to load and unload parts of different automated equipment on the production line. The mechanical arm 2 can transfer the slot/tooling assembly between the carrier position 4, the machining center 1, the three-coordinate automatic measuring instrument 6, and the cleaning machine 5.

On the other side of the guide rail 3, there are parallel installations of the plate carrier 4, the cleaning machine 5, the three-dimensional automatic measuring machine 6, the production monitoring station 10, and the controller 11 (control system host). Among them, there are 6 plate carriers 4 for placing parts on the production line; 52 cleaning machines for cleaning parts after processing; the three-dimensional automatic measuring machine 6 is used for part measurement, and a zero-point positioning device is installed on its workbench; the production monitoring station 10 is used to monitor the operating status of various automation equipment and the processing quality of products; the control system host is used to control the operation of various automation equipment, and the actual removal amount is calculated based on the height detection results of the slot/tooling assembly and the bottom thickness of the slot with a deep slot.

A production preparation area is set up in the production workshop, where three-dimensional containers 9, production preparation stations 8 and supporting plate positions 4, and automatic guided transport vehicles 7 are installed. Three-dimensional containers 9 are used to store parts that have been processed/to be processed on the production line and automatically enter and exit the warehouse. Production preparation stations 8 and supporting plate positions 4 are used for pre-measurement of parts, clamping of parts, and input of part information. Automatic guided transport vehicles 7 are used for the circulation of parts between the processing area and the production preparation area.

The automated processing flow of the production line is:

1. Production preparation: In the production preparation area, the groove bottom thickness is pre-measured to obtain the machining allowance correction value h2, the parts are clamped and the part information is entered. After completing the relevant work, the automatic guided vehicle transports the above-mentioned parts to be processed to the carrier position 4 of the automated production line.

2. Measure the height of the slot/tooling assembly: The robot arm 2 moves the assembly formed by clamping the slot on the tooling (referred to as the slot/tooling assembly) from the carrier position 4 to the three-coordinate automatic measuring instrument 6 to measure its height. The total height value of the slot/tooling assembly is automatically written into the part information, and the assembly is moved back to the carrier position 4 after the measurement is completed.

3. Calculate the actual machining removal data: The computer control system calculates the total height data of the slot/tooling assembly and the machining allowance correction value to generate the actual machining removal data.

4. Importing and processing actual removal data: Robot arm 2 moves the measured parts into vertical machining center 1, the computer control system downloads the special machining program and actual removal data, and starts the machine tool to complete the machining.

5. Parts cleaning: After processing, the robot arm 2 receives the command to move the parts out of the vertical machining center 1 and put them into the cleaning machine 5 for cleaning, and then put them back to the carrier position 4.

6. Post-processing inspection: The robot moves the processed parts into the three-dimensional automatic measuring machine 6 for measurement. After the measurement is completed, the shallow groove processing results are saved in the part information and moved back to the carrier position 4.

7. Product storage: After the processing and measurement of the parts on the entire carrier are completed, the automatic guided transport vehicle 7 moves to the three-dimensional container 9.

As shown in Figure 5, the automatic processing accuracy assurance method is:

1. Measure the thickness h2 of the groove bottom of the deep groove and automatically generate the machining allowance correction value:

Use a digital display with a data transmission interface with an accuracy of 0.001mm, take a measuring circle on surface A in Figure 3 (left). In this embodiment, the center of the measuring circle coincides with the axis of the slot, and 4 evenly distributed points are measured on the measuring circle. The corresponding data is automatically transmitted to the allowance correction value calculation software module to generate an average value as the actual measured value of h2. Thereafter, the software module automatically calculates the machining allowance correction value Δt according to the formula: Δt=h2 theoretical value-h2 actual value.

2. The machining allowance correction value Δt is automatically written into the part information, that is, Δt is entered into the computer control system:

3. Measure the height H2 of the slot/tooling assembly and use H2 as the processing reference value (as shown in Figure 4):

The computer control system controls the robot arm 2 to carry the slot/tooling assembly to be processed to the three-coordinate automatic measuring instrument 6 according to the set processing flow, and measures the total height H2 value of the slot/tooling assembly.

4. The total height H2 value of the slot/tooling assembly is automatically written into the part information, that is, H2 is sent to the computer control system:

5. Calculate the actual removal amount data:

The measurement result H2 is automatically added to Δt in the computer control system to complete the calculation of the actual removal amount of the slot.

6. Before machining the shallow groove of the slot plate, machining center 1 will download the special machining program and actual removal amount data from the computer control system, and complete the shallow groove machining of the slot plate of the slot plate/tooling assembly according to the actual removal amount, so as to ensure the consistency of the thickness and parallelism of the slot plate bottom. Specifically, machining center 1 uses the actual removal amount as the reference plane, and the machining depth of machining center 1 from the reference plane downward is the theoretical machining depth of the shallow groove of the slot plate. After machining center 1 machines the theoretical machining depth of the shallow groove of the slot plate from the reference plane downward, the product is obtained, as shown in Figure 3 (right).

Through the above process method, the computer control system calculates the actual machining removal data based on the measurement results and automatically compensates.

A precision assurance system for automatic processing of shallow grooves of laser gyroscope slots, comprising:

A processing module receives a processing program from the control module and processes the shallow groove of the groove sheet according to the processing program;

The transfer module receives the control signal of the control module, clamps the slot sheet on the tooling to form a slot sheet/tooling assembly, and performs position transfer on the slot sheet/tooling assembly;

The measuring module receives the detection signal from the control module, detects the height H2 of the slot sheet/tooling assembly and the shallow slot processing result according to the detection signal, obtains the detection information, and sends the detection information to the control module;

The control module sends a control signal to the transfer module, sends a detection signal to the measurement module, receives the detection information of the measurement module, calculates the actual removal amount according to the detection information, generates a processing program according to the actual removal amount, and sends the processing program to the processing module.

Although the present invention is disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined by the claims of the present invention.

Claims (5)

1. A laser gyroscope slot shallow groove automatic processing production line, characterized by: comprising a mechanical arm (2), a plate carrier (4), a three-coordinate automatic measuring instrument (6), a processing center (1), and a controller (11); wherein: The three-coordinate automatic measuring machine (6) and the machining center (1) are both provided with a zero-point positioning device, the zero-point positioning device comprising a chuck for fixing the bottom of the tooling, the chuck being matched with a slot sheet/tooling assembly formed by clamping the tooling and the slot sheet; A mechanical arm (2) is used to transfer the slot sheet/tooling assembly between the carrier position (4), the machining center (1), and the three-coordinate automatic measuring instrument (6); A carrier plate position (4) for placing the slot sheet/tooling assembly in transit; A three-coordinate automatic measuring machine (6) is used to detect the height of the slot/tooling assembly; A controller (11) calculates the actual removal amount based on the height detection result of the slot sheet/tooling assembly and the thickness of the slot bottom of the slot sheet with a deep slot; A machining center (1) performs shallow groove machining on the groove piece in the groove piece/tooling assembly according to the actual removal amount; The method for ensuring the accuracy of the laser gyro slot shallow groove automatic processing using the laser gyro slot shallow groove automatic processing production line includes: Measuring the groove bottom thickness of the groove sheet with deep grooves to obtain a machining allowance correction value Δt, wherein Δt=h2 theoretical value-h2 measured value, the h2 measured value is obtained by measuring the groove bottom thickness of the groove sheet with deep grooves, and Δt is entered into a controller (11); The slot sheet is clamped on the tooling to form a slot sheet/tooling assembly; Detecting the height H2 of the slot sheet/tooling assembly and sending H2 to the controller (11); The controller (11) calculates the actual removal amount according to the machining allowance correction value Δt and the height H2 of the slot/tooling assembly; when calculating the actual machining removal amount data, compensation is performed based on the measurement result H2 using the machining allowance correction value Δt; The slot plate/tooling assembly is moved to a machining center (1), and the machining center (1) completes shallow groove machining of the slot plate of the slot plate/tooling assembly according to the actual removal amount; The machining center (1) completes shallow groove machining of the groove sheet of the groove sheet/tooling assembly according to the actual removal amount, including: the machining center (1) uses the actual removal amount as a reference plane, the machining depth of the machining center (1) from the reference plane downward is the theoretical machining depth of the shallow groove of the groove sheet, and the machining center (1) obtains the product after machining the theoretical machining depth of the shallow groove of the groove sheet from the reference plane downward, so as to ensure the consistency of the groove sheet groove bottom thickness and parallelism. 2. The laser gyro slot plate shallow groove automatic processing production line according to claim 1, characterized in that: the zero point positioning device of the processing center (1) is installed on the C axis; The tooling can fix the four sides of the slot piece and make the slot piece's processing surface face upward horizontally; A guide rail (3) for supporting the movement of the mechanical arm (2) is arranged at the bottom of the mechanical arm (2). 3. According to claim 1, a laser gyroscope slot sheet shallow groove automatic processing production line is characterized in that it also includes a cleaning machine (5) and a production monitoring station (10), the robot arm (2) can transfer positions between the carrier position (4), the machining center (1), the three-coordinate automatic measuring instrument (6), and the cleaning machine (5), the cleaning machine (5) is used to clean the slot sheet after shallow groove processing; the production monitoring station (10) is used to monitor the production line operation status and the slot sheet processing quality. 4. According to claim 1, a laser gyroscope slot shallow groove automatic processing production line is characterized in that: the method for obtaining the h2 measured value is: take a measuring circle at the bottom of the deep groove, the axis of the slot is within the measuring circle, take evenly distributed multi-point measurement depths on the measuring circle, and take the average value of the multi-point depths as the h2 measured value. 5. The laser gyroscope slot plate shallow groove automatic processing production line according to claim 1, characterized in that: after the processing center (1) completes the shallow groove processing, the robot arm (2) moves the slot plate/tooling assembly into the cleaning machine (5) for cleaning; After cleaning, the robot arm (2) transfers the slot sheet/tooling assembly to a three-coordinate automatic measuring machine (6) for measurement to obtain the shallow slot processing result.