CN108655827A - Five-axle number control machine tool space error discrimination method - Google Patents
Five-axle number control machine tool space error discrimination method Download PDFInfo
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- CN108655827A CN108655827A CN201810853190.XA CN201810853190A CN108655827A CN 108655827 A CN108655827 A CN 108655827A CN 201810853190 A CN201810853190 A CN 201810853190A CN 108655827 A CN108655827 A CN 108655827A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
- B23Q17/248—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves using special electromagnetic means or methods
- B23Q17/2495—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves using special electromagnetic means or methods using interferometers
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Abstract
The invention belongs to numerically-controlled machine tool Research on measuring technique fields, are related to a kind of five-axle number control machine tool space error discrimination method by it；It is fixed on five-axle number control machine tool main shaft by building an one end, the other end is fixed on the ball bar error measuring means at rotary table center；Establish space error measurement model；And establish model experiment, by ball bar different angle work of making up the difference, the practical bar that the ball bar theory bar for reading numerically controlled lathe is grown and ball bar is shown is long, and data are brought into the space error measurement model, five-axle number control machine tool rotation shaft angle error component and rotation error factor are recognized, so that ball bar is become the more plane motions in space from the movement of XOY single planes, the identification range of ball bar is changed into Space Rotating from Plane Rotation.
Description
Technical field
The invention belongs to numerically-controlled machine tool Research on measuring technique field, a kind of five-axle number control machine tool space error is related to by it and is distinguished
Knowledge method.
Background technology
Original NC Machine Error discrimination method is that ball bar one end is mounted in tool cup, during the other end is mounted on
On heart seat.It, further according to respective algorithms, can be obtained after running program by adjusting the length of ball bar and the height of centre mount
About each error elements in XOY plane；This method is chiefly used in the measurement of three axis lathes, for five-axis machine tool by its be carry out
The machine tool error of Machining of Curved Surface measures property poor for applicability；
And for five-axle number control machine tool, there is a large amount of coupling phenomenon, space errors to be primarily present for multi-axis interpolation
Feed shaft straight line error and rotary shaft rotation error；Original discrimination method, mostly use greatly change ball bar mounting height with
Based on ball bar length method, this method is easy that mushing error is added during the adjustment, causes the result solved not accurate enough
Really；Meanwhile conventional method needs repeatedly dismounting ball bar, since demolition, installation process is difficult to be obtained on the same coordinate basis
The data property of can refer to gone out is poor, moreover, the process that dismounting is reinstalled is time-consuming longer, is unfavorable for automation compensation, particularly disadvantageous
Research and the macroprogram establishment of machine learning are carried out in the later stage.
Invention content
The present invention is for the problems in above-mentioned background technology of effective solution, it is proposed that a kind of five-axle number control machine tool space mistake
Poor discrimination method, specific technical solution are as follows：
A kind of five-axle number control machine tool space error discrimination method, includes the following steps：
Step 1. builds an one end and is fixed on five-axle number control machine tool main shaft, and the other end is fixed on rotary table center
Ball bar error measuring means；
Step 2. establishes space error measurement model according to the ball bar measuring device；
Step 3. establishes model experiment, by ball bar in the work of making up the difference of different angle, reads the club of numerically controlled lathe
The practical bar that instrument theory bar is grown and ball bar is shown is long, and data are brought into the space error measurement model, to five number of axle
Control rotary axis of machine tool angular error factor and rotation error factor are recognized.
Preferably, the establishment step of the space error measurement model is as follows：
Step 1. carries out lathe coordinate system modeling according to many-body theory；
The coordinate system includes：With the fixed lathe coordinate system MCS in ground, tool coordinate system TCS, workpiece coordinate system WCS,
Three feeding coordinate system XCS, YCS of main shaft, ZCS, the rotation axis coordinate system ACS for driving tool coordinate rotation, workpiece is driven to sit
The rotation axis coordinate system CCS of mark system rotation, the ball bar are fixed in TCS and WCS, and are floating end O with TCS fixing ends2,
It is fixing end O with WCS fixing ends1；
Step 2. obtains the length and coordinate theoretical position relationship of ball bar according to space pythagorean theorem：
(L+ΔR)2=(x '1-x’2)2+(y’1-y’2)2+(z’1-Z’2)2 (2)
The relationship about ball bar radius change and each feed shaft error component is found out in conjunction with above formula (1), (2)；
Δ R is the stochastic variable of ball bar bar length, and Δ X, Δ Y, Δ Z are that ball bar measures Δ R on tri- directions X, Y, Z
Decomposable error variance；
Step 3. is with O1Coordinate system is established for origin, if ball bar floating end center O2Homogeneous coordinates are P at WCS, if ball
Bar instrument is θ along bar direction and X-axis angle, and a length of fixed numbers L of bar finds out the homogeneous coordinates of P points
Pi=[cos α cos θ L, sin α L, sin θ L+h, 1]T,
It is with XCS, YCS linkage error transfer matrixes
The P point coordinates found out is in the actual coordinate P for considering that error influencesa：
ε in formulaxx′、εyx′、εxy′、εyy′、εxz′、εyz' tri- feed shafts of X, Y, Z are generated respectively for X-axis and Y-axis movement
Angular error；δxx′、δxy′、δxz' the site error that tri- feed shafts of X, Y, Z are generated for X-axis movement；α is X, Y-axis carries out
When circular interpolation works, it is located at X-Y plane internal rotation angle degree；
Step 4. is Δ X, Δ Y, Δ Z from the component extracted in homogeneous coordinates matrix on tri- directions X, Y, Z, substitutes into formula
It can obtain equations of the Δ R about each error component：
Δ R '={ [cos α cos θ L+sin α L (- εxz’+εyz’)+(εxy’-εyy’)(sinθL+h)](x2-x1)+[cosαcosθ
L(εyz’+εxz’)+sinαL+(sinθL+h)(-εxx’+εyx’)](y2-y1)+[cosαcosθL(εxy’-εyy’)+sinαL(-εyx’+
εxx’)+sinθL+h](z2-z1)}/L
Caused by TCS coordinate systems are generated relative to 6 rotation error components of WCS coordinate systems under party's formula expression spherical coordinates
Ball bar length changes.
Preferably, before ball bar is installed, straightness error is recognized and is compensated using laser interferometer, elimination X,
Y, influence of the tri- direction straightness errors of Z to lathe coordinate system.
Preferably, which is characterized in that the model experiment is not only restricted to the work of making up the difference of ball bar special angle.
The beneficial effects of the present invention are：1. ball bar installation dimension can be avoided frequently adjusting to final detection result
It influences, establishes five-axis machine tool spatial error model.And on the basis of the model, ball bar and laser interferometer, needle is applied in combination
Research on Identification is carried out in linkage interpolation between workpiece coordinate system and tool coordinate system；2. ball bar is made to be moved from XOY single planes
Become the more plane motions in space, the identification range of ball bar is changed into Space Rotating from Plane Rotation；3. since the past is frequent
Ball bar is dismantled, causes positioning datum deviation uncontrollable.The present invention is without dismantling ball bar, only by adjusting sky
Between angle can meet measurement request, for machine tool error compensation in machine learning area research lay Research foundation.
Description of the drawings
Fig. 1 is five-axis machine tool topological diagram of the present invention；
Fig. 2 is five-axis machine tool machinery structure and the definition of each axis in the present invention；
Fig. 3 is ball bar working state figure of the present invention：
Table 1 indicates that XOY plane rotates clockwise circular interpolation data：
Table 2 indicates that XOY plane rotates circular arc interpolation data counterclockwise；
Table 3 indicates that XOY plane rotates clockwise angular error；
Table 4 indicates XOY plane rotated counterclockwise by angle error.
Specific implementation mode
The technical solution of this patent is described in more detail With reference to embodiment；
A kind of five-axle number control machine tool space error discrimination method, includes the following steps：
Step 1. builds an one end and is fixed on five-axle number control machine tool main shaft, and the other end is fixed on rotary table center
Ball bar error measuring means；Ball bar astrosphere 2 is connect by tool cup 1 with main shaft, and ball bar sensor ball 5 passes through center
Cup 6 is connected with the centre mount 7 at revolving platform center, and the sensor ball 5 can measure the real time length of ball bar in real time.
Step 2. establishes space error measurement model according to the ball bar measuring device；
Step 3. establishes model experiment, by ball bar in the work of making up the difference of different angle, reads the club of numerically controlled lathe
The practical bar that instrument theory bar is grown and ball bar is shown is long, and data are brought into the space error measurement model, to five number of axle
Control rotary axis of machine tool angular error factor and rotation error factor are recognized.
The establishment step of the space error measurement model is as follows：
Step 1. carries out lathe coordinate system modeling according to many-body theory；
The coordinate system includes：With the fixed lathe coordinate system MCS in ground, tool coordinate system TCS, workpiece coordinate system WCS,
Three feeding coordinate system XCS, YCS of main shaft, ZCS, the rotation axis coordinate system ACS for driving tool coordinate rotation, workpiece is driven to sit
The rotation axis coordinate system CCS of mark system rotation, the ball bar are fixed in TCS and WCS, and are floating end O with TCS fixing ends2,
It is fixing end O with WCS fixing ends1；
Wherein, ball bar is labeled as DDB in Fig. 1, is directly operated in lathe yaw and two coordinates of rotary table
Between system, reflect by MCS->YCS—>ZCS—>ACS—>TCS and MCS->XCS—>CCS—>Two movement branched chain shapes of WCS
At composition error；
Step 2. obtains the length and coordinate theoretical position relationship of ball bar according to space pythagorean theorem：
(L+ΔR)2=(x '1-x’2)2+(y’1-y’2)2+(z’1-z’2)2 (2)
The relationship about ball bar radius change and each feed shaft error component is found out in conjunction with above formula (1), (2)；
Δ R is the stochastic variable of ball bar bar length, and Δ X, Δ Y, Δ Z are that ball bar measures Δ R on tri- directions X, Y, Z
Decomposable error variance；
As long as obtaining the mathematical point of the floating end sphere center of circle in space and bar length variation numerical value, you can acquire the center of circle and exist
Physical location in space.
Step 3. is with O1Coordinate system is established for origin, if ball bar floating end center O2Homogeneous coordinates are P at WCS, if ball
Bar instrument is θ, a length of fixed numbers L of bar along bar direction and X-axis angle, circular interpolation work is carried out by X-axis and Y-axis, at this time
Two rotary shafts and vertical displacement axis are stationary state, and it is unit matrix that the error transfer matrixes of ACS, CCS, ZCS matrix, which are degenerated,
Find out the homogeneous coordinates of P points；
Pi=[cos α cos θ L, sin α L, sin θ L+h, 1]T,
It is with XCS, YCS linkage error transfer matrixes
The P point coordinates found out is in the actual coordinate P for considering that error influencesa：
ε in formulaxx′、εyx′、εxy′、εyy′、εxz′、εyz' tri- feed shafts of X, Y, Z are generated respectively for X-axis and Y-axis movement
Angular error；δxx′、δxy′、δxz' the site error that tri- feed shafts of X, Y, Z are generated for X-axis movement；α is X, Y-axis carries out
When circular interpolation works, it is located at X-Y plane internal rotation angle degree；
Step 4. is Δ X, Δ Y, Δ Z from the component extracted in homogeneous coordinates matrix on tri- directions X, Y, Z, substitutes into formula
It can obtain equations of the Δ R about each error component：
ΔR’{[cosαcosθL+sinαL(-εxz’+εyz’)+(εxy’-εyy’)(sinθL+h)](x2-x1)+[cosαcosθL
(εyz’+εxz’)+sinαL+(sinθL+h)(-εxx’+εyx’)](y2-y1)+[cosαcosθL(εxy’-εyy’)+sinαL(-εyx’+
εxx’)+sinθL+h](z2-z1)}/L
Caused by TCS coordinate systems are generated relative to 6 rotation error components of WCS coordinate systems under party's formula expression spherical coordinates
Ball bar length changes.
Before ball bar is installed, straightness error is recognized and compensated using laser interferometer, eliminates X, Y, Z tri-
Influence of the direction straightness error to lathe coordinate system.
The model experiment is not only restricted to the work of making up the difference of ball bar special angle.
A kind of methods experiment of the present invention：
Straightness error is recognized and compensated using laser interferometer, waits for eliminating three by pitch compensation method
After direction straightness error is to the influence of lathe coordinate system, Reinshaw QC20-W ball bars are mounted on five-axis machine tool, to machine
Two coordinate systems XCS and YCS of bed participation XOY plane interpolation carry out 12 angular error factors of total and are recognized.It is testing
In, selection ball bar measuring condition is：L=100mm, h=100mm, and in θ=0 °, 15 °, 30 °, 45 °, 60 °, 75 ° of six kinds of angles
Degree carries out interpolation work.Since interpolation experiment acquires, information content is larger to be unfavorable for post analysis, using the work for choosing its characteristic point
Simplified as mode, will each work 60 ° of disc interval progress value.Due to being deposited during the work time along with Thermal Error
, and it is coupled with lathe geometric error, in order to make measurement result for steady-state error as a result, having carried out 6h heat before lathe test
Machine, strict guarantee ambient temperature condition is 20 DEG C when test, be divided into it is clockwise with carry out twice counterclockwise, specific features point
Data are referring to table 1, table 2.
Data indicate the difference Δ of the practical bar length and theoretical bar length of ball bar between aforementioned theoretical fixing end and practical floating end
R, wherein the unit of each characteristic value is mm.
Data in table 1 are substituted into formula (9), such as the data of θ=15 in table 1 are substituted into, can learn matrix full rank, at this time
There is specific solution.Can calculate six direction component result of calculation using Gaussian elimination method is respectively：
εxx’=0.0006, εyx’=0.0007 εxy’=0.0009, εyy’- 0.0009, εxz’=00003, εyz’-
0.0006。
The corresponding data of segment space angle are arranged, it can be deduced that the rotation error member in specified angle plane
Element.By data in table 3 as it can be seen that error elements change in the space plane being made of different θ, and it changes linear pass
System, numerical value change is in consecutive variations state in space circular plane, this is because track of the ball bar when measuring follows sky
Between disk and generate.According to method as above, it is that space circular arc track counterclockwise is surveyed that rotation direction has been carried out on XOY plane
Examination, and show that part rotation error element size is as shown in table 4, the basic phase of numerical values recited on same characteristic features point position
Together.I.e. on the basis of carrying out static compensation, numerically-controlled machine tool does clockwise movement and counterclockwise movement, the size of rotation error
It is essentially identical.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as the protection domain of invention.
Claims (4)
1. five-axle number control machine tool space error discrimination method, it is characterised in that include the following steps：
Step 1. builds an one end and is fixed on five-axle number control machine tool main shaft, and the other end is fixed on the club at rotary table center
Instrument error measuring means；
Step 2. establishes space error measurement model according to the ball bar measuring device；
Step 3. establishes model experiment, by ball bar in the work of making up the difference of different angle, reads the ball bar reason of numerically controlled lathe
The practical bar shown by bar length and ball bar is long, and data are brought into the space error measurement model, to five shafts numerical controlled machine
Bed rotation shaft angle error component and rotation error factor are recognized.
2. five-axle number control machine tool space error discrimination method described in claim 1, which is characterized in that the space error measures
The establishment step of model is as follows：
Step 1. carries out lathe coordinate system modeling according to many-body theory；
The coordinate system includes：With the fixed lathe coordinate system MCS in ground, tool coordinate system TCS, workpiece coordinate system WCS, main shaft
Three feeding coordinate system XCS, YCS, ZCS, the rotation axis coordinate system ACS for driving tool coordinate rotation, drive workpiece coordinate system
The rotation axis coordinate system CCS of rotation, the ball bar are fixed in TCS and WCS, and are floating end O with TCS fixing ends2, with
WCS fixing ends are fixing end O1；
Step 2. obtains the length and coordinate theoretical position relationship of ball bar according to space pythagorean theorem：
(L+ΔR)2=(x '1-x’2)2+(y’1-y’2)2+(z’1-z’2)2 (2)
The relationship about ball bar radius change and each feed shaft error component is found out in conjunction with above formula (1), (2)；
Δ R is the stochastic variable of ball bar bar length, and Δ X, Δ Y, Δ Z measure Δ R for ball bar can divide on tri- directions X, Y, Z
The error variance of solution；
Step 3. is with O1Coordinate system is established for origin, if ball bar floating end center O2Homogeneous coordinates are P at WCS, if ball bar
It is θ along bar direction and X-axis angle, a length of fixed numbers L of bar finds out the homogeneous coordinates of P points
Pi=[cos α cos θ L, sin α L, sin θ L+h, 1]T,
It is with XCS, YCS linkage error transfer matrixes
The P point coordinates found out is in the actual coordinate P for considering that error influencesa：
ε in formulaxx'、εyx'、εxy'、εyy'、εxz'、εyz' moved respectively to the angle of tri- feed shafts of X, Y, Z generation for X-axis and Y-axis
Spend error；δxx'、δxy'、δxz' it is that X-axis moves the site error generated to tri- feed shafts of X, Y, Z；α is X, Y-axis carries out circular arc
When interpolation works, it is located at X-Y plane internal rotation angle degree；
Step 4. is Δ X, Δ Y, Δ Z from the component extracted in homogeneous coordinates matrix on tri- directions X, Y, Z, substitutes into Shi Ke get
Go out equations of the Δ R about each error component：
Δ R '={ [cos α cos θ L+sin α L (- εxz’+εyz’)+(εxy’-εyy’)(sinθL+h)](x2-x1)+[cosαcosθL
(εyz’+εxz’)+sinαL+(sinθL+h)(-εxx’+εyx’)](y2-y1)+[cosαcosθL(εxy’-εyy’)+sinαL(-εyx’+
εxx’)+sinθL+h](z2-z1)}/L
Club caused by TCS coordinate systems are generated relative to 6 rotation error components of WCS coordinate systems under party's formula expression spherical coordinates
Instrument length changes.
3. according to a kind of five-axle number control machine tool space error discrimination method described in claim 1, which is characterized in that in installation club
Before instrument, straightness error is recognized and compensated using laser interferometer, eliminates tri- direction straightness errors of X, Y, Z to machine
The influence of bed coordinate system.
4. a kind of five-axle number control machine tool space error discrimination method described in claim 1, which is characterized in that the model is real
Test the work of making up the difference for being not only restricted to ball bar special angle.
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| CN110109418A (en) * | 2019-05-19 | 2019-08-09 | 重庆理工大学 | A kind of geometric error Fast Identification Method of five face machining center of large-sized gantry |
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| CN109732401B (en) * | 2019-01-02 | 2020-09-01 | 天津工业大学 | Detection method for position-independent errors of double rotating shafts of five-axis numerical control machine tool |
| CN109732401A (en) * | 2019-01-02 | 2019-05-10 | 天津工业大学 | A kind of detection method about the unrelated error of five-axle number control machine tool double back rotating shaft position |
| CN110109418A (en) * | 2019-05-19 | 2019-08-09 | 重庆理工大学 | A kind of geometric error Fast Identification Method of five face machining center of large-sized gantry |
| CN110806721B (en) * | 2019-10-11 | 2022-04-01 | 襄阳华中科技大学先进制造工程研究院 | Three-axis numerical control machine tool space error prediction method based on error field characteristic points |
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| CN111580459A (en) * | 2020-06-01 | 2020-08-25 | 山东大学 | Five-axis machining center assembly error analysis control method |
| CN111638681A (en) * | 2020-06-17 | 2020-09-08 | 深圳市中图仪器股份有限公司 | Inductive wireless ball arm instrument |
| CN112059722A (en) * | 2020-08-12 | 2020-12-11 | 上海理工大学 | Detection device and detection method for rotational angle positioning error of rotating shaft of numerical control machine tool |
| CN112059722B (en) * | 2020-08-12 | 2022-09-23 | 上海理工大学 | Detection device and detection method for rotational angle positioning error of rotating shaft of numerical control machine tool |
| CN112518422A (en) * | 2020-11-19 | 2021-03-19 | 西安交通大学 | Five-axis AC swing head gantry machine tool geometric error modeling and separating method |
| CN112518422B (en) * | 2020-11-19 | 2021-12-28 | 西安交通大学 | Five-axis AC swing head gantry machine tool geometric error modeling and separating method |
| CN112355712B (en) * | 2020-11-23 | 2022-05-03 | 苏州千机智能技术有限公司 | Trigger type on-machine measurement precision calibration method and system |
| CN112355712A (en) * | 2020-11-23 | 2021-02-12 | 苏州千机智能技术有限公司 | Trigger type on-machine measurement precision calibration method and system |
| CN113093653A (en) * | 2021-03-09 | 2021-07-09 | 湖北文理学院 | Machine tool precision evaluation method |
| CN114905332A (en) * | 2022-05-20 | 2022-08-16 | 重庆大学 | Machine tool rotating shaft position-related geometric error identification method based on single-axis motion |
| CN115555918A (en) * | 2022-11-02 | 2023-01-03 | 重庆大学 | Method for identifying comprehensive errors of rotating shaft based on single-shaft driving of ball arm instrument |
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