CN107830826B - Two-axis swinging head system and error detection method of two-axis swinging head - Google Patents

Two-axis swinging head system and error detection method of two-axis swinging head Download PDF

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Publication number
CN107830826B
CN107830826B CN201710656172.8A CN201710656172A CN107830826B CN 107830826 B CN107830826 B CN 107830826B CN 201710656172 A CN201710656172 A CN 201710656172A CN 107830826 B CN107830826 B CN 107830826B
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displacement sensor
linear displacement
head
axis
position data
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CN107830826A (en
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曾继跃
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Roufeng Machinery Technology (Jiangsu) Co., Ltd.
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Shanghai Lionstek Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/70—Auxiliary operations or equipment
    • B23K26/702—Auxiliary equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
    • B24C9/00—Appurtenances of abrasive blasting machines or devices, e.g. working chambers, arrangements for handling used abrasive material
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Optics & Photonics (AREA)
  • Plasma & Fusion (AREA)
  • Machine Tool Sensing Apparatuses (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

The invention provides a two-axis swinging head system and an error detection method of a two-axis swinging head, wherein the method comprises the following steps: providing a linear displacement sensor, connecting a first end of the linear displacement sensor to a connecting structure arranged on a machine plane through a spherical hinge pair, and directly or indirectly connecting a second end of the linear displacement sensor to a tool bit of the swinging head through the spherical hinge pair; driving a tool bit of the swing head to change different test postures; monitoring the first end of the linear displacement sensor to obtain the monitoring position data of the first end of the linear displacement sensor under different test postures; and obtaining an error result according to the monitoring position data and the corresponding preset theoretical data.

Description

Two-axis swinging head system and error detection method of two-axis swinging head
Technical Field
The invention relates to a cutting machine, in particular to a two-axis swinging head system and an error detection method of a two-axis swinging head.
Background
In the five-axis linkage water jet cutting or laser cutting technology, a two-axis swinging head is additionally attached on the basis of XYZ orthogonal three-axis motion, so that five-axis linkage cutting is realized, and the system can cut a three-dimensional ruled surface.
Such a two-axis oscillating head usually uses the contact point of the water jet or laser with the workpiece as the center of rotation, so that the yawing motion of the oscillating head during the machining process does not cause the tool tip to deviate from the cutting path, and such a two-axis oscillating head may also be referred to as a spherical hinge type two-axis oscillating head. In order to realize that the contact point of the water jet or the laser and the workpiece is taken as a rotation center, the axes of the two motion shafts should be intersected at the processing contact point of the water jet or the laser and the workpiece theoretically, but due to manufacturing errors, the two axes are not necessarily completely intersected, even if the two axes are intersected, the intersection point and the contact point of the water jet or the laser and the workpiece are not necessarily completely overlapped, so that the deflection motion of the swinging head in the processing process can cause the cutter head to deviate from a cutting path to bring certain errors, and the error value is related to the manufacturing accuracy and is generally less than 1 mm. Since the error is distributed in three-dimensional space, the measurement of the error is difficult.
Disclosure of Invention
The invention aims to solve the technical problem of how to detect the error of a two-axis swinging head.
According to a first aspect of the present invention, there is provided an error detection method for a two-axis oscillating head, comprising:
providing a linear displacement sensor, connecting a first end of the linear displacement sensor to a connecting structure arranged on a machine plane through a spherical hinge pair, and directly or indirectly connecting a second end of the linear displacement sensor to a tool bit of the swinging head through the spherical hinge pair;
driving a tool bit of the swing head to change different test postures; monitoring the first end of the linear displacement sensor to obtain the monitoring position data of the first end of the linear displacement sensor under different test postures;
and obtaining an error result according to the monitoring position data and the corresponding preset theoretical data.
Optionally, the tool bit connecting the second end of the linear displacement sensor directly or indirectly to the swinging head through a spherical hinge pair includes:
and connecting the second end of the linear displacement sensor with the tool bit of the swinging head directly or indirectly through a spherical hinge pair, and initially setting the second end of the linear displacement sensor at the position of a machining contact point of the swinging head.
Optionally, the tool bit driving the swing head changes different test postures, including:
driving a tool bit of the swinging head to change different test postures in a mode that the position of a processing contact point of the two-axis swinging head is not changed;
the corresponding preset theoretical data comprises fixed theoretical point position data of the processing contact point;
the obtaining of an error result according to the monitoring position data and the corresponding preset theoretical data comprises:
and comparing the monitoring position data with the theoretical point position data to obtain the error result.
Optionally, the transforming different test gestures comprises:
driving a tool bit of the swinging head to deflect an inclination angle;
the cutter head of the swinging head is driven to rotate circumferentially around the vertical direction under the condition of keeping the inclination angle;
and repeating the steps, and respectively making circumferential rotation around the vertical direction under the condition of N inclination angles, wherein N is any integer greater than or equal to 1.
Optionally, the two axes of the oscillating head have an intersection point, and the machining contact point is the intersection point.
Optionally, the error result includes at least one of: errors in the X-direction, errors in the Y-direction, and errors in the Z-direction.
According to a second aspect of the present invention, there is provided a two-axis oscillating head system comprising an error detection processor, a linear displacement sensor, a first axis mechanism, a second axis mechanism, a tool bit, and a controller; the controller drives the cutter head to rotate around a first shaft through the first shaft mechanism, and drives the cutter head to rotate around a second shaft through the second shaft mechanism; the first end of the linear displacement sensor is connected with a connecting structure arranged on a machine plane through a spherical hinge pair, and the second end of the linear displacement sensor is directly or indirectly connected with the cutter head through the spherical hinge pair;
the controller is also used for driving the tool bit of the swing head to change different test postures through the first shaft mechanism and the second shaft mechanism;
the linear displacement sensor is used for monitoring and obtaining position data of a second end of the linear displacement sensor when the tool bit is in different test postures;
and the controller is used for obtaining an error result according to the monitoring position data and the corresponding preset theoretical data.
Optionally, the second end of the linear displacement sensor is initially arranged at a position of an intersection point of two axes of the two-axis swinging head;
the controller is specifically configured to:
driving a tool bit of the swinging head to change different test postures in a mode that the position of a processing contact point of the two-axis swinging head is not changed;
the corresponding preset theoretical data comprises fixed theoretical point position data of the processing contact point;
the controller is further specifically configured to: and comparing the monitoring position data with the theoretical point position data to obtain the error result.
Optionally, the first shaft and the second shaft have an intersection point, and the machining contact point is the intersection point.
Optionally, the first axis is along a vertical direction, and the second axis has a horizontal component and a vertical component.
Optionally, the first shaft has a horizontal component and a vertical component, and the second shaft is along the horizontal direction.
Optionally, the first shaft and the second shaft each have a horizontal component and a vertical component.
In order to realize error detection, the invention introduces the linear displacement sensor, wherein one end of the linear displacement sensor is relatively fixed, the other end of the linear displacement sensor is initially arranged at the intersection point of the two axes, and when the swing head is driven to test the attitude change, the monitoring position data can be obtained through the detection of the linear displacement sensor, so that the error of the swing head can be determined.
Drawings
FIG. 1 is a diagram illustrating an error detection method for a two-axis oscillating head according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a two-axis wobble head system in accordance with an embodiment of the present invention;
FIG. 3 is a schematic view of a two-axis wobble head system in accordance with another embodiment of the present invention;
fig. 4 shows the error of the rotation center measured when the two oscillating heads are respectively tilted at a certain cone angle and rotated 360 degrees in the circumferential direction in the embodiment:
in the drawings, 1 — first axis mechanism; 2-a second shaft mechanism; 3, a cutter head; 4-a linear displacement sensor; 5. 6-a spherical hinge pair; 7-an error detection processor; 8-a controller; 9-a connecting structure; 10-machine plane; 11-a first shaft; 12-a second axis; 13-quadrilateral linkage.
Detailed Description
The following will describe the two-axis oscillating head system and the error detection method of the two-axis oscillating head provided by the present invention in detail with reference to fig. 1 to 3, which are alternative embodiments of the present invention, and it is considered that those skilled in the art can modify and decorate the error detection method without changing the spirit and content of the present invention.
The method and system provided below can be applied to any device having a two-axis oscillating head, specifically a water cutting machine, and also a laser cutting machine.
Example 1
Referring to fig. 1, the present embodiment provides an error detection method for a two-axis swinging head, including:
s1: providing a linear displacement sensor;
s2: connecting a first end of the linear displacement sensor to a connecting structure arranged on a machine plane through a spherical hinge pair, and directly or indirectly connecting a second end of the linear displacement sensor to a tool bit of the swinging head through the spherical hinge pair;
s3: driving a tool bit of the swing head to change different test postures; monitoring the first end of the linear displacement sensor to obtain the monitoring position data of the first end of the linear displacement sensor under different test postures;
s4: and obtaining an error result according to the monitoring position data and the corresponding preset theoretical data. Wherein the error result may include at least one of: errors in the X-direction, errors in the Y-direction, and errors in the Z-direction.
Wherein the test pose may be understood to include different tilt angles and positions. The monitoring position data may include three-dimensional position data of the second end of the linear displacement sensor, may include only two-dimensional planar position data, or may include only one-dimensional single-direction position data. Correspondingly, the error result may have only one, two, or three of an error in the X direction, an error in the Y direction, and an error in the Z direction. The error result may refer to the quantized data itself, or may refer to a drawing or model representation obtained based on the quantized data.
In the embodiment, for realizing the detection of the error, a linear displacement sensor is introduced, wherein one end of the linear displacement sensor is relatively fixed, the other end of the linear displacement sensor is initially arranged at the intersection point of the two axes, and when the swing head is driven to test the change of the attitude, the monitoring position data can be obtained through the detection of the linear displacement sensor, so that the error of the swing head can be determined.
In one embodiment, when the second end of the linear displacement sensor is directly or indirectly connected to the tool bit of the swinging head through a spherical hinge pair, step S2 includes:
and directly or indirectly connecting the second end of the linear displacement sensor with the tool bit of the swinging head through a spherical hinge pair, and arranging the second end of the linear displacement sensor at the position of the processing contact point of the two-axis swinging head.
The tool bit that drives the oscillating head transforms different test poses, including:
driving a tool bit of the swinging head to change different test postures in a mode that the position of a processing contact point of the two-axis swinging head is not changed;
the corresponding preset theoretical data comprises fixed theoretical point position data of the processing contact point;
the obtaining of an error result according to the monitoring position data and the corresponding preset theoretical data comprises:
and comparing the monitoring position data with the theoretical point position data to obtain the error result.
The mode that the position of the processing contact point of the two-axis swinging head is not changed means that when the controller drives, the driving control is carried out under the aim of keeping the position unchanged, however, when the controller is driven to operate, an error occurs, and the optional scheme of the invention can detect the error.
Two axes of the swing head have an intersection point, and the machining contact point is the intersection point.
In the above embodiment, the error change of a single point is used as a monitoring object, which is beneficial to obtaining an error judgment result by monitoring faster and more accurately with less data and a motion mode which is convenient to implement.
In one embodiment, the transforming different test gestures includes:
driving a tool bit of the swinging head to deflect an inclination angle;
the cutter head of the swinging head is driven to rotate circumferentially around the vertical direction under the condition of keeping the inclination angle;
in a specific example, the inclination angle includes 1 degree, 5 degrees, 10 degrees, 20 degrees, and 30 degrees. The circumferential rotation angle is 360 degrees.
For each inclination angle, errors in at least two directions of X direction, Y direction and Z direction at 36 rotation positions which are equally divided in the circumferential direction are measured respectively when the circumferential angle is rotated. This embodiment has realized the rotational position detection of equalling divide for the detection of error is more accurate, comprehensive.
And repeating the steps, and respectively making circumferential rotation around the vertical direction under the condition of N inclination angles, wherein N is any integer greater than or equal to 1.
In the above mode, the control process can be more standardized, and the monitoring requirements of various postures can be met as far as possible. Meanwhile, the method is simple to operate, automatic processing is facilitated, and the obtained data are easy to use.
Example 2
Referring to fig. 2 and 3, the present embodiment provides a two-axis oscillating head system, which corresponds to the error detection method of the two-axis oscillating head illustrated in embodiment 1, and includes an error detection processor 7, a linear displacement sensor 4, a first axis mechanism 1, a second axis mechanism 2, a tool bit 3, and a controller 8; the controller 8 drives the cutter head 3 to rotate around a first shaft 11 through the first shaft mechanism 1, and drives the cutter head to rotate around a second shaft 12 through the second shaft mechanism 2; the first end of the linear displacement sensor 4 is connected with a connecting structure 9 arranged on a machine plane 10 through a spherical hinge pair 6, and the second end of the linear displacement sensor is directly or indirectly connected with the cutter head 3 through a spherical hinge pair 5;
the controller 8 is also used for driving the tool bit 3 of the swing head to change different test postures through the first shaft mechanism 1 and the second shaft mechanism 2;
the linear displacement sensor 4 is used for monitoring and obtaining position data of a second end of the linear displacement sensor 4 when the tool bit 3 is in different test postures;
and the controller 8 is used for obtaining an error result according to the monitoring position data and the corresponding preset theoretical data.
In the embodiment, for realizing the detection of the error, a linear displacement sensor is introduced, wherein one end of the linear displacement sensor is relatively fixed, the other end of the linear displacement sensor is initially arranged at the intersection point of the two axes, and when the swing head is driven to test the change of the attitude, the monitoring position data can be obtained through the detection of the linear displacement sensor, so that the error of the swing head can be determined.
In one embodiment, the second end of the linear displacement sensor 4 is arranged at the position of a processing contact point of the two-axis swinging head;
the controller 8 is specifically configured to:
the tool bit 3 of the swing head is driven to change different test postures in a mode that the position of a processing contact point of the two-axis swing head is not changed;
the corresponding preset theoretical data comprises fixed theoretical point position data of a processing contact point of the two-axis swinging head;
the controller 8 is further specifically configured to: and comparing the monitoring position data with the theoretical point position data to obtain the error result.
Wherein the first shaft and the second shaft have an intersection point, and the machining contact point is the intersection point.
In the embodiment illustrated in fig. 2, the first axis is in a vertical direction, and the second axis has a horizontal component and a vertical component, which can be understood as the second axis is obliquely disposed.
In the embodiment illustrated in fig. 3, the first axis has a horizontal component and a vertical component, which can be understood as the first axis being obliquely arranged, and the second axis being in the horizontal direction, wherein the second axis mechanism 2 drives the cutter head 3 to rotate along the second axis via the quadrilateral linkage 13. In this embodiment, because the linkage manner is complex, compared with fig. 3, there are more links that may generate errors, and there are more ways that the errors may be generated, and the error detection method of the two-axis swinging head provided by the present invention and its optional embodiments can be applied in complex scenes, and still maintain higher error detection precision and accuracy.
In other alternative embodiments, the first and second shafts may each have a horizontal component and a vertical component.
Example 3
The embodiment specifically develops an error detection method for a two-axis swinging head, which includes:
s1: arranging a linear displacement sensor on the machine, wherein the linear displacement sensor can be arranged along the horizontal X-axis direction;
one end of the linear displacement sensor is fixed at the rotation center of the spherical hinge type two-axis swinging head in a spherical hinge pair mode and is also a contact point of the water jet or the laser and the workpiece; the other end of the linear displacement sensor is fixed at a point which passes through the above rotation center and is on the X axis of the machine in a spherical hinge pair mode;
s2: enabling a tool bit of the swinging head to incline by a certain angle (such as 1 degree), then rotating by 360 degrees in the circumferential direction, monitoring an error value of the linear displacement sensor in the rotating motion process, and considering the error value of the linear displacement sensor as the error of the rotation center of the spherical hinge type two-axis swinging head in the X direction under the condition of neglecting the tiny X-axis angle change caused by errors in the Y and Z axes;
s3: repeating the step S2 to obtain the X-direction component of the spatial error generated by the rotation of the rotation center in the circumferential direction by 360 degrees at different tilt angles;
s4: repeating the steps S2 and S3 in the Y-axis direction may obtain a Y-direction component of the rotational center spatial error;
s5: repeating the steps S2 and S3 in the Z-axis direction can obtain the Z-direction component of the rotational center spatial error;
s6: for water jet and laser cutting, XY direction errors are the most important errors. Table 1 below shows the error of the center of rotation measured at 36 points in the circumferential direction when the two oscillating heads are tilted at a certain angle of taper and rotated 360 degrees in the circumferential direction.
In summary, in order to realize error detection, the present invention introduces a linear displacement sensor, wherein one end of the linear displacement sensor is fixed relatively, and the other end is initially disposed at the intersection of the two axes, so that when the swing head is driven to perform a test posture change, monitoring position data can be obtained through detection of the linear displacement sensor, and further, an error of the swing head can be determined.

Claims (9)

1. An error detection method for a two-axis swinging head is characterized in that: the method comprises the following steps:
providing a linear displacement sensor, connecting a first end of the linear displacement sensor to a connecting structure arranged on a machine plane through a spherical hinge pair, and directly or indirectly connecting a second end of the linear displacement sensor to a tool bit of the swinging head through the spherical hinge pair;
driving a tool bit of the swing head to change different test postures; monitoring the first end of the linear displacement sensor to obtain the monitoring position data of the first end of the linear displacement sensor under different test postures;
obtaining an error result according to the monitoring position data and corresponding preset theoretical data;
wherein the transforming different test poses comprises:
driving a tool bit of the swinging head to deflect an inclination angle;
the cutter head of the swinging head is driven to rotate circumferentially around the vertical direction under the condition of keeping the inclination angle;
and repeating the steps, and respectively making circumferential rotation around the vertical direction under the condition of N inclination angles, wherein N is any integer greater than or equal to 1.
2. The method of claim 1, wherein: the second end of the linear displacement sensor is directly or indirectly connected with the cutter head of the swinging head through a spherical hinge pair, and the linear displacement sensor comprises:
and directly or indirectly connecting the second end of the linear displacement sensor with the tool bit of the swinging head through a spherical hinge pair, and arranging the second end of the linear displacement sensor at the position of a processing contact point of the swinging head.
3. The method of claim 1, wherein: the tool bit that drives the oscillating head transforms different test poses, including:
driving a tool bit of the swinging head to change different test postures in a mode that the position of a processing contact point of the two-axis swinging head is not changed;
the corresponding preset theoretical data comprises fixed theoretical point position data of the processing contact point;
the obtaining of an error result according to the monitoring position data and the corresponding preset theoretical data comprises:
and comparing the monitoring position data with the theoretical point position data to obtain the error result.
4. A method according to claim 2 or 3, wherein the two axes of the oscillating head have an intersection point and the machining contact point is the intersection point.
5. A two-axis oscillating head system, characterized in that error detection is performed by the method of any of claims 1-4; the system comprises an error detection processor, a linear displacement sensor, a first shaft mechanism, a second shaft mechanism, a cutter head and a controller; the controller drives the cutter head to rotate around a first shaft through the first shaft mechanism, and drives the cutter head to rotate around a second shaft through the second shaft mechanism; the first end of the linear displacement sensor is connected with a connecting structure arranged on a machine plane through a spherical hinge pair, and the second end of the linear displacement sensor is directly or indirectly connected with the cutter head through the spherical hinge pair;
the controller is also used for driving the tool bit of the swing head to change different test postures through the first shaft mechanism and the second shaft mechanism;
the linear displacement sensor is used for monitoring to obtain monitoring position data of the second end of the linear displacement sensor when the tool bit is in different test postures;
and the controller is used for obtaining an error result according to the monitoring position data and the corresponding preset theoretical data.
6. The system of claim 5, wherein: the second end of the linear displacement sensor is arranged at the position of a processing contact point of the two-axis swinging head;
the controller is specifically configured to:
driving a tool bit of the swinging head to change different test postures in a mode that the position of a processing contact point of the two-axis swinging head is not changed;
the corresponding preset theoretical data comprises fixed theoretical point position data of the processing contact point;
the controller is further specifically configured to: and comparing the monitoring position data with the theoretical point position data to obtain the error result.
7. The system of claim 6, wherein the first axis and the second axis have an intersection point, and the machining contact point is the intersection point.
8. The system of claim 5 or 6, wherein: the first axis is in a vertical direction and the second axis has a horizontal component and a vertical component, or the first axis has a horizontal component and a vertical component and the second axis is in a horizontal direction.
9. The system of claim 5 or 6, wherein: the first and second shafts each have a horizontal component and a vertical component.
CN201710656172.8A 2017-08-03 2017-08-03 Two-axis swinging head system and error detection method of two-axis swinging head Active CN107830826B (en)

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US5643058A (en) * 1995-08-11 1997-07-01 Flow International Corporation Abrasive fluid jet system
IT1308434B1 (en) * 1999-04-01 2001-12-17 Fidia Spa SYSTEM AND PROCEDURE FOR THE QUALIFICATION OF THE POSITION OF A TOOL IN A MACHINE TOOL
CN101733678B (en) * 2009-12-04 2013-04-24 北京数码大方科技股份有限公司 Graphical cutter position tracking and controlling system and method
CN102962728A (en) * 2012-12-11 2013-03-13 成都飞机工业（集团）有限责任公司 Device for detecting position of center of ball joint
CN105171622B (en) * 2015-08-05 2017-07-04 上海狮迈科技有限公司 V-type swinging head mechanism and water-jet machine
CN105466371B (en) * 2015-11-23 2018-06-01 西安航空制动科技有限公司 The device and measuring method of survey aircraft undercarriage wheel shaft end position
CN106735596A (en) * 2017-03-06 2017-05-31 佛山市顺德区天擎电脑机械有限公司 A kind of 45 degree of swings cutter head

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Patentee after: Roufeng Machinery Technology (Jiangsu) Co., Ltd.

Address before: 226409 north of Changjiang Road and west of Huangshan Road, Chengzhong street, Rudong County, Nantong City, Jiangsu Province (Intelligent electromechanical Industrial Park, high tech Zone)

Patentee before: RUDONG SHIMAI TECHNOLOGY CO.,LTD.