CN115365941A - Automatic workpiece pose calibration method for optical polishing - Google Patents
Automatic workpiece pose calibration method for optical polishing Download PDFInfo
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- CN115365941A CN115365941A CN202210856327.3A CN202210856327A CN115365941A CN 115365941 A CN115365941 A CN 115365941A CN 202210856327 A CN202210856327 A CN 202210856327A CN 115365941 A CN115365941 A CN 115365941A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B13/00—Machines or devices designed for grinding or polishing optical surfaces on lenses or surfaces of similar shape on other work; Accessories therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B13/00—Machines or devices designed for grinding or polishing optical surfaces on lenses or surfaces of similar shape on other work; Accessories therefor
- B24B13/005—Blocking means, chucks or the like; Alignment devices
- B24B13/0055—Positioning of lenses; Marking of lenses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/02—Bench grinders
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses an automatic calibration method of workpiece pose for optical polishing, which comprises the steps of establishing a workpiece coordinate system suitable for workpiece processing by discretizing a workpiece model, and marking mark spots for determining a processing phase on the edge of a surface to be processed of the workpiece; measuring the offset of a workpiece in XYZ three directions by a probe, and then finishing offset adjustment by a workpiece pose adjusting device to ensure that the origin of a workpiece coordinate system is superposed with the origin of a machine tool coordinate system; capturing mark spots on the workpiece through a camera, and enabling coordinate values of the mass center of the mark spots of the workpiece on an X axis and a Y axis of a machine tool coordinate system to be consistent with coordinate values of the mark spots of the workpiece on the X axis and the Y axis of the workpiece coordinate system by rotating a C axis of the machine tool; and measuring the height difference of the surface to be processed of the workpiece by the probe to calculate the inclination in the XY two directions, and accordingly adjusting the inclination of the processing coordinate system to finish the inclination calibration of the workpiece. The automatic calibration method for the pose of the workpiece improves the efficiency and the precision of the pose calibration of the workpiece.
Description
Technical Field
The invention belongs to the technical field of optical polishing numerical control machining, and particularly relates to a workpiece pose automatic calibration method for optical polishing.
Background
The Computer Controlled Optical surface forming (CCOS) technique is to precisely control the removal amount of polishing by controlling the residence time, processing pressure, etc. in each motion region through a Computer. The current mainstream polishing methods such as stress disc polishing, magnetorheological polishing, ion beam polishing and the like are all based on the idea of the CCOS technology. The numerical control polishing machine tool based on the methods needs to repeatedly carry out auxiliary processes such as surface shape detection, workpiece clamping and the like for many times in the machining process, the workpieces are difficult to avoid being dismounted and mounted for many times, and the calibration precision of the pose of the workpieces has important influence on the efficiency and precision of final iteration. Many links in the existing optical element workpiece calibration method, such as the centering process, still need manual adjustment, and the operation is tedious. Meanwhile, when the workpiece is subjected to iterative processing, the processing precision and efficiency can be greatly reduced due to the pose measurement error and the phase alignment error. For example, CN202111151173X discloses a method for measuring and calculating pose of magnetorheological polished workpiece and a polishing method, in which a three-coordinate measuring head is used to measure pose information of the workpiece, and the method needs to perform multiple iterative measurements and calculations during the execution process, and is inefficient; the position of the workpiece in the XY direction still needs to be adjusted manually in the process of aligning the center of the workpiece; meanwhile, the method does not consider errors caused by phase alignment errors to workpiece attitude adjustment, and higher adjustment precision is difficult to achieve.
Disclosure of Invention
The invention aims to provide a workpiece pose automatic calibration method for optical polishing, which improves tool setting and phase alignment precision, solves the problems of complex operation, low efficiency, poor precision and the like in the workpiece pose calibration process, and realizes one-key, automatic, efficient, rapid and accurate calibration of the workpiece pose.
The purpose of the invention is realized by the following technical scheme:
the invention discloses a method for automatically calibrating the pose of a workpiece for optical polishing, which comprises the following steps of:
1) Performing three-dimensional modeling on the processed workpiece according to the caliber of the workpiece, the shape of a projection surface, the thickness information of the workpiece and related parameters of a general high-order aspheric surface, including a curvature radius, an aspheric surface deformation coefficient, a quadratic curve constant, an off-axis quantity and an off-axis angle to obtain a discretization model of the processed workpiece; establishing a workpiece coordinate system suitable for workpiece machining according to the discretization model, wherein the origin of the workpiece coordinate system is the central point of the surface to be machined of the workpiece;
2) Marking mark spots for determining a machining phase on the edge of the surface to be machined of the workpiece, and obtaining coordinates of the centroid positions of the mark spots on a workpiece coordinate system according to the discretization model;
3) Fixing the workpiece on a machine tool working table top with the surface to be processed facing upwards, measuring coordinate values X1 and X2 of two side surfaces of the workpiece in the X-axis direction through a machine tool measuring needle by taking a machine tool coordinate system as a reference system, and calculating to obtain an offset value delta X of the origin of the workpiece coordinate system and the origin of the machine tool coordinate system in the X direction;
4) Measuring coordinate values Y1 and Y2 of two side surfaces of a workpiece in the Y-axis direction through a machine tool measuring needle by taking a machine tool coordinate system as a reference system, calculating to obtain an offset value delta Y of an original point of the workpiece coordinate system and the original point of the machine tool coordinate system in the Y-axis direction, and controlling a machine tool worktable to respectively displace delta X and delta Y in the X-axis direction and the Y-axis direction of the machine tool coordinate system so as to enable the Z axis of the workpiece coordinate system to coincide with the Z axis of the machine tool coordinate system;
5) Measuring a vertex coordinate value Z of the workpiece in the Z-axis direction through a machine tool measuring needle by taking a machine tool coordinate system as a reference system, wherein the Z value is an offset value delta Z of an original point of the workpiece coordinate system and an original point of the machine tool coordinate system in the Z-axis direction, and controlling a machine tool worktable to respectively displace delta Z in the Z-axis direction of the machine tool coordinate system so as to enable the original point of the workpiece coordinate system to coincide with the original point of the machine tool coordinate system;
6) Adjusting a camera to point to the central point of the surface to be processed of the workpiece along the Z-axis direction, and controlling the camera to move along the X-axis direction of a machine tool coordinate system, wherein the moving distance of the camera is matched with the horizontal distance between a mark spot on the workpiece and the central point of the surface to be processed;
7) The C axis of the machine tool drives the workpiece to rotate, when the mark spot enters the field of view of the camera, the center of mass of the mark spot captured by the camera is calculated, and the C axis of the machine tool is rotated again, so that the coordinate values of the center of mass of the mark spot of the workpiece on the X axis and the Y axis of the machine tool coordinate system are consistent with the coordinate values of the mark spot of the workpiece on the X axis and the Y axis of the machine tool coordinate system;
8) Selecting two detection points a and b on a surface to be processed of a workpiece, wherein the coordinate values of the two detection points a and b on the X axis and the Y axis of a machine tool coordinate system are points
And point
D is the diameter of the surface to be processed of the workpiece; respectively measuring coordinate values Z1 and Z2 of the detection points a and b in the Z-axis direction under a machine tool coordinate system through a machine tool measuring needle, and enabling the coordinate values of the detection points a and b of the surface to be processed of the workpiece in the Z-axis direction under the machine tool coordinate system to be equal through rotating an A axis of the machine tool;
9) Selecting two detection points c and d on the surface to be processed of the workpiece, wherein the coordinate values of the two detection points c and d on the X axis and the Y axis of the machine tool coordinate system are points
And point
Wherein D is the diameter of the surface to be processed of the workpiece; and respectively measuring coordinate values Z3 and Z4 of the detection points c and d in the Z-axis direction under the machine tool coordinate system through a machine tool measuring needle, and enabling the coordinate values of the detection points c and d of the surface to be processed of the workpiece in the Z-axis direction under the machine tool coordinate system to be equal through rotating the B axis of the machine tool.
Has the advantages that:
according to the automatic calibration method for the pose of the workpiece, the workpiece is subjected to discretization modeling, and a workpiece coordinate system suitable for workpiece machining is established; measuring the offset of a workpiece in XYZ three directions by a probe, and then finishing the adjustment of the offset by a workpiece pose adjusting device to finish the center calibration of the workpiece; capturing mark spots on the workpiece through a machine vision camera, accurately calculating the coordinates of the mass center of the mark spots, and adjusting a rotating shaft C to finish high-precision workpiece phase calibration; the height difference of the surface to be processed of the workpiece is measured by the probe to calculate the inclination in the XY two directions, the inclination of the processing coordinate system is adjusted accordingly, the workpiece inclination calibration is completed, and the problems of complex operation, low automation degree, low efficiency, poor precision and the like in the workpiece pose calibration process in the prior art are solved.
Drawings
FIG. 1 is a schematic structural diagram of a pose calibration device used in the calibration method of the present invention;
in the figure: 1-X axis of machine tool, 2-Y axis of machine tool, 3-Z axis of machine tool, 4-A axis of machine tool, 5-B axis of machine tool, 6-C axis of machine tool, 7-bed of machine tool, 8 numerical control system of machine tool, 9-measuring needle of machine tool, 10-camera, 11-workpiece and 12-worktable of machine tool.
Detailed Description
The invention will be further described with reference to the following drawings and examples.
Examples
As shown in fig. 1, the pose calibration apparatus used in the present embodiment includes a machine tool having X, Y, Z linear axes and a, B, C rotation axes, and a machine tool stylus 9 and a camera 10;
the invention discloses a workpiece pose automatic calibration method for optical polishing, which comprises the following steps of:
1) According to the caliber of the workpiece, the shape of a projection surface, the thickness information of the workpiece and relevant parameters of a general high-order aspheric surface, including a curvature radius, an aspheric surface deformation coefficient, a conic constant, an off-axis quantity and an off-axis angle, carrying out three-dimensional modeling on the workpiece to obtain a discretization model of the workpiece; establishing a workpiece coordinate system suitable for workpiece machining according to the discretization model, wherein the origin of the workpiece coordinate system is the central point of the surface to be machined of the workpiece 11;
2) Marking mark spots for determining a machining phase on the edge of the surface to be machined of the workpiece 11, and obtaining coordinates of the mass center positions of the mark spots on a workpiece coordinate system according to the discretization model;
3) Fixing a workpiece 11 on a machine tool workbench 12 with a surface to be processed facing upwards, measuring coordinate values X1 and X2 of two side surfaces of the workpiece 11 in the X-axis direction through a machine tool measuring probe by taking a machine tool coordinate system as a reference system, and calculating to obtain an offset value delta X of the origin of the workpiece coordinate system and the origin of the machine tool coordinate system in the X direction;
4) Measuring coordinate values Y1 and Y2 of two side surfaces of a workpiece 11 in the Y-axis direction through a machine tool measuring probe 9 by using a machine tool coordinate system as a reference system, calculating to obtain an offset value delta Y of an original point of the workpiece coordinate system and the original point of the machine tool coordinate system in the Y-axis direction, and controlling a machine tool workbench 12 to respectively displace delta X and delta Y in the X-axis direction and the Y-axis direction of the machine tool coordinate system so as to enable the Z-axis of the workpiece coordinate system to coincide with the Z-axis of the machine tool coordinate system;
5) Measuring a vertex coordinate value Z of the workpiece 11 in the Z-axis direction through a machine tool measuring needle 9 by taking a machine tool coordinate system as a reference system, wherein the Z value is an offset value delta Z of an original point of the workpiece coordinate system and an original point of the machine tool coordinate system in the Z-axis direction, and controlling a machine tool workbench 12 to respectively displace delta Z in the Z-axis direction of the machine tool coordinate system so as to enable the original point of the workpiece coordinate system to coincide with the original point of the machine tool coordinate system;
6) Adjusting the camera 10 to point to the central point of the surface to be processed of the workpiece 11 along the Z-axis direction, and controlling the camera 10 to move along the X-axis direction of the machine tool coordinate system, wherein the moving distance of the camera 10 is matched with the horizontal distance between the mark spot on the workpiece 11 and the central point of the surface to be processed;
7) The workpiece 11 is driven to rotate through the C shaft 6 of the machine tool, when the mark spots enter the visual field of the camera 10, the center of mass of the mark spots captured by the camera 10 is calculated, the C shaft 6 of the machine tool is rotated again, and the coordinate values of the center of mass of the mark spots of the workpiece 11 on the X shaft and the Y shaft of the machine tool coordinate system are consistent with the coordinate values of the center of mass of the mark spots on the X shaft and the Y shaft of the workpiece coordinate system;
8) Selecting two detection points a and b on the surface to be processed of the workpiece 11, wherein the coordinate values of the two detection points a and b on the X axis and the Y axis of the machine tool coordinate system are points
And point
Wherein D is the diameter of the surface to be processed of the workpiece 11; respectively measuring coordinate values Z1 and Z2 of the detection points a and b in the Z-axis direction under a machine tool coordinate system through a machine tool measuring needle 9, and enabling the coordinate values of the detection points a and b of the surface to be processed of the workpiece 11 in the Z-axis direction under the machine tool coordinate system to be equal through rotating an A axis of the machine tool;
9) Two detection points are selected on the surface to be processed of the workpiece 11c and d, the coordinate values of the two detection points c and d on the X axis and the Y axis of the machine tool coordinate system are points
And point
Wherein D is the diameter of the surface to be processed of the workpiece 11; and respectively measuring coordinate values Z3 and Z4 of the detection points c and d in the Z-axis direction of the machine tool coordinate system through a machine tool measuring needle 9, and enabling the coordinate values of the detection points c and d of the surface to be processed of the workpiece 11 in the Z-axis direction of the machine tool coordinate system to be equal through rotating a machine tool B axis.
Claims (1)
1. A method for automatically calibrating the pose of a workpiece for optical polishing is characterized by comprising the following steps:
1) Performing three-dimensional modeling on the processed workpiece according to the caliber of the workpiece, the shape of a projection surface, the thickness information of the workpiece and related parameters of a general high-order aspheric surface, including a curvature radius, an aspheric surface deformation coefficient, a quadratic curve constant, an off-axis quantity and an off-axis angle to obtain a discretization model of the processed workpiece; establishing a workpiece coordinate system suitable for workpiece machining according to the discretization model, wherein the origin of the workpiece coordinate system is the central point of the surface to be machined of the workpiece;
2) Marking mark spots for determining a machining phase on the edge of the surface to be machined of the workpiece, and obtaining coordinates of the centroid positions of the mark spots on a workpiece coordinate system according to the discretization model;
3) Fixing the workpiece to be machined on a working table of a machine tool with the surface to be machined facing upwards, measuring coordinate values X1 and X2 of two side surfaces of the workpiece in the X-axis direction through a machine tool measuring needle by taking a machine tool coordinate system as a reference system, and calculating to obtain an offset value delta X of the origin of the workpiece coordinate system and the origin of the machine tool coordinate system in the X direction;
4) Measuring coordinate values Y1 and Y2 of two side surfaces of a workpiece in the Y-axis direction through a machine tool measuring needle by taking a machine tool coordinate system as a reference system, calculating to obtain an offset value delta Y of an original point of the workpiece coordinate system and the original point of the machine tool coordinate system in the Y-axis direction, and controlling a machine tool worktable to respectively displace delta X and delta Y in the X-axis direction and the Y-axis direction of the machine tool coordinate system so as to enable the Z axis of the workpiece coordinate system to coincide with the Z axis of the machine tool coordinate system;
5) Measuring a vertex coordinate value Z of the workpiece in the Z-axis direction through a machine tool measuring needle by taking a machine tool coordinate system as a reference system, wherein the Z value is an offset value delta Z of the original point of the workpiece coordinate system and the original point of the machine tool coordinate system in the Z-axis direction, and controlling the machine tool workbench to respectively displace delta Z in the Z-axis direction of the machine tool coordinate system so as to ensure that the original point of the workpiece coordinate system is superposed with the original point of the machine tool coordinate system;
6) Adjusting a camera to point to the central point of the surface to be processed of the workpiece along the Z-axis direction, and controlling the camera to move along the X-axis direction of a machine tool coordinate system, wherein the moving distance of the camera is matched with the horizontal distance between a mark spot on the workpiece and the central point of the surface to be processed;
7) The C axis of the machine tool drives the workpiece to rotate, when the mark spot enters the field of view of the camera, the center of mass of the mark spot captured by the camera is calculated, and the C axis of the machine tool is rotated again, so that the coordinate values of the center of mass of the mark spot of the workpiece on the X axis and the Y axis of the machine tool coordinate system are consistent with the coordinate values of the mark spot of the workpiece on the X axis and the Y axis of the machine tool coordinate system;
8) Selecting two detection points a and b on a surface to be processed of a workpiece, wherein the coordinate values of the two detection points a and b on the X axis and the Y axis of a machine tool coordinate system are point a
And point b
Wherein D is the diameter of the surface to be processed of the workpiece; respectively measuring coordinate values Z1 and Z2 of the detection points a and b in the Z-axis direction under a machine tool coordinate system through a machine tool measuring needle, and enabling the coordinate values of the detection points a and b of the surface to be processed of the workpiece in the Z-axis direction under the machine tool coordinate system to be equal through rotating an A axis of the machine tool;
9) Selecting two detection points c and d on a surface to be processed of a workpiece, wherein the coordinate values of the two detection points c and d on the X axis and the Y axis of a machine tool coordinate system are points c
And point d
Wherein D is the diameter of the surface to be processed of the workpiece; and respectively measuring coordinate values Z3 and Z4 of the detection points c and d in the Z-axis direction under the machine tool coordinate system through a machine tool measuring needle, and enabling the coordinate values of the detection points c and d of the surface to be processed of the workpiece in the Z-axis direction under the machine tool coordinate system to be equal through rotating the B axis of the machine tool.
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