CN112276674B - Precision measurement method and system for geometric motion error of rotating shaft of multi-axis numerical control machine tool - Google Patents

Precision measurement method and system for geometric motion error of rotating shaft of multi-axis numerical control machine tool Download PDF

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CN112276674B
CN112276674B CN202011092325.9A CN202011092325A CN112276674B CN 112276674 B CN112276674 B CN 112276674B CN 202011092325 A CN202011092325 A CN 202011092325A CN 112276674 B CN112276674 B CN 112276674B
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pdge
rotating shaft
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CN112276674A (en
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杜正春
邓铭
李慧敏
朱梦瑞
冯晓冰
杨建国
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Shanghai Jiaotong University
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Abstract

A precise measurement method and a system for geometric motion errors of a rotating shaft of a multi-shaft numerical control machine tool are disclosed, the distances between at least three groups of non-collinear measuring points on the rotating shaft to be measured and at least four non-coplanar stations in a reference coordinate system of the multi-shaft numerical control machine tool are obtained through multi-edge measurement, a rigid motion constraint equation set between the measuring points on the rotating shaft to be measured and a measuring point coordinate calculation model considering rigid motion constraint are established according to the distances, and then the coordinates of the measuring points and the comprehensive position error value of the measuring points are obtained through least square fitting; respectively establishing a PIGE model, a PDGE model and a corresponding PIGE identification model and a PDGE identification model, and obtaining 10 geometric error elements by substituting the comprehensive position error values of the measuring points. The measuring point coordinate calculation process has higher robustness and lower sensitivity to random factors such as machine tool repeatability, instrument measurement noise and the like, so that the calculation precision of the measuring point coordinate is greatly improved, 10 geometric error elements of the rotating shaft are indirectly identified from the measuring point coordinate, the measurement precision of the geometric motion error of the rotating shaft is obviously improved, and smaller measurement uncertainty is obtained.

Description

Precision measurement method and system for geometric motion error of rotating shaft of multi-axis numerical control machine tool
Technical Field
The invention relates to a technology in the field of precision machining, in particular to a precision measurement method and a system for geometric motion errors of a rotating shaft of a multi-shaft numerical control machine tool.
Background
The rotating shaft is a key component of a multi-axis numerical control machine tool (such as a five-axis numerical control machine tool), according to international standard ISO230-1:2012, the geometric motion error of the rotating shaft comprises 4 PIGE (position-independent geometric error elements) and 6 PDGE (position-dependent geometric error elements), and the precise measurement of the geometric motion error of the rotating shaft is a precondition for reducing the contribution of the geometric motion error of the rotating shaft to the machining error of a part and improving the machining precision of the multi-axis numerical control machine tool.
Currently, the multilateration principle is widely applied to indirectly measure geometric motion errors of a rotation axis. The space coordinates of the measuring points on the rotating shaft in the reference coordinate system of the machine tool can be calculated according to the multilateration principle, so that the calculated measuring point coordinates can be used for indirectly identifying the geometric motion error of the rotating shaft. However, in the existing indirect measurement method based on the multilateration principle, the calculation accuracy of the measured point coordinates is obviously adversely affected by random factors such as machine tool repeatability, instrument measurement noise and the like, so that the accuracy of the final geometric motion error measurement result is also adversely affected.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a precision measurement method and a precision measurement system for geometric motion errors of a rotating shaft of a multi-shaft numerical control machine tool, which are characterized in that rigid body motion constraint which is naturally established based on rigid body assumption is introduced, namely, in the motion process of the rotating shaft to be measured, the distance between measuring points is fixed and unchanged, so that the calculation process of measuring point coordinates has higher robustness and lower sensitivity to random factors such as machine tool repeatability, instrument measurement noise and the like, thereby greatly improving the calculation precision of the measuring point coordinates, indirectly identifying all 10 geometric error elements of the rotating shaft from the measuring point coordinates, remarkably improving the measurement precision of the geometric motion errors of the rotating shaft and obtaining smaller measurement uncertainty.
The invention is realized by the following technical scheme:
the invention relates to a precise measurement method for geometric motion errors of a rotating shaft of a multi-shaft numerical control machine tool, which comprises the steps of obtaining the distances between at least three groups of non-collinear measuring points on the rotating shaft to be measured and at least four non-coplanar stations in a reference coordinate system of the multi-shaft numerical control machine tool through multilateral measurement, establishing a rigid motion constraint equation set among the measuring points on the rotating shaft to be measured and a measuring point coordinate calculation model considering rigid motion constraint according to the distances, and then obtaining coordinates of the measuring points and a measuring point comprehensive position error value by adopting least square fitting; respectively establishing a PIGE model, a PDGE model and a corresponding PIGE identification model and a PDGE identification model, and obtaining all 10 geometric error elements by substituting the comprehensive position error values of the measuring points.
The number of the measuring points in each group is
Figure BDA0002722549040000021
Where k is the measurement interval (in °).
And the fitting is to perform optimal fitting on the distance and the measuring point coordinate calculation model to obtain the coordinate of the measuring point of the rotating shaft to be measured.
And the coordinate of the measuring point further subtracts a nominal value of the coordinate of the measuring point from the coordinate value obtained by fitting to obtain a measuring point comprehensive position error value of the rotating shaft to be measured, which is caused by geometric error.
The substituted measuring point comprehensive position error value is as follows: substituting the comprehensive measuring point position error value into a PIGE identification model to obtain 4 PIGE values of the rotating shaft, and further substituting the 4 PIGE values into the PIGE model to obtain a measuring point position error value caused by PIGE; and then subtracting a measuring point position error value caused by PIGE from the measuring point comprehensive position error value to obtain a measuring point position error value caused by PDGE, and further substituting the measuring point position error value into the PDGE identification model to obtain 6 PDGE values.
The rigid motion constraint equation set comprises all measuring point coordinates and describes a rigid motion constraint which is naturally established based on rigid assumption, namely, the distance between the measuring points is fixed and unchanged in the motion process of the rotating shaft to be measured; the rigid motion constraint equation set is composed of a series of rigid motion constraint equations, and specifically comprises the following steps:
Figure BDA0002722549040000022
Figure BDA0002722549040000023
wherein:
Figure BDA0002722549040000024
when the rotation axis is located at the kth position1At position i, belong to1A measurement point of the group;
Figure BDA0002722549040000025
and
Figure BDA0002722549040000026
have similar meanings; the operator | | | is to calculate the distance between two points.
The measuring point coordinate calculation model comprises all measuring point coordinates and station coordinates, and comprehensively considers the distance between the measuring points and the stations and rigid motion constraints between the measuring points, and specifically comprises the following steps:
Figure BDA0002722549040000027
Figure BDA0002722549040000028
wherein: t is tjThe method comprises the following steps of (1) setting a jth station in a reference coordinate system of the multi-axis numerical control machine tool; m isijkIs the distance between the measurement point belonging to the ith group and the jth station acquired when the rotation axis is at the kth position.
The PIGE model and the PDGE model respectively describe the relationship between the PIGE and the PDGE and the position error of the measuring point, and the PIGE identification model and the PDGE identification model are respectively the inverses of the PIGE model and the PDGE model.
The PIGE model is as follows: Δ wik,PIGE＝Bik,PIGE·[EAOC EBOC EXOC EYOC]TWherein: Δ wik,PIGEIs the position error of the measuring point caused by PIGE when the rotating shaft is positioned at the kth position and belongs to the measuring point of the ith group; b isik,PIGEIs a coefficient matrix; eAOC、EBOC、EXOCAnd EYOCBeing a rotating shaft4 item PIGE; the corresponding PIGE identification model is: [ E ]AOC EBOC EXOCEYOC]T＝((BPIGE)T·BPIGE)-1·(BPIGE)T·ΔwPIGEWherein: Δ wPIGEFrom all Δ wik,PIGEComposition is carried out; b isPIGEFrom all Bik,PIGEAnd (4) forming.
The PDGE model is: Δ wik,PDGE＝Bik,PDGE·[EAC EBC ECC EXC EYC EZC]TWherein: Δ wik,PDGEIs a measuring point position error caused by PDGE of the measuring points belonging to the ith group when the rotating shaft is positioned at the kth position; b isik,PDGEIs a coefficient matrix; eAC、EBC、ECC、EXC、EYCAnd EZC6 items PDGE being the axis of rotation; the corresponding PDGE identification model is: [ E ]AC EBCECC EXC EYC EZC]T＝((Bk,PDGE)T·Bk,PDGE)-1·(Bk,PDGE)T·Δwk,PDGEWherein: Δ wk,PDGEFrom all Δ w having the same subscript kik,PIGEComposition is carried out; b isPIGEFrom all B's having the same subscript kik,PDGEAnd (4) forming.
The 10 geometric error elements are used for reflecting the manufacturing and assembling precision of the rotating shaft and can be further used for error compensation of a multi-axis numerical control machine tool, and specifically comprise the following steps: angular error E of X, Y direction from axis of rotation shaft to be measuredAOC、EBOCLinear error E in direction X, YXOC、EYOCPIGE consisting of and angular error E about X, Y and Z from the axis of rotation to be measuredAC、EBC、ECCLine errors E in X, Y and Z directionsXC、EYC、EZCAnd (c) constituting PDGE.
Technical effects
Compared with the existing indirect measurement method, the method considers a rigid body motion constraint which is naturally established based on rigid body assumption when calculating the coordinates of the measurement points on the rotating shaft, namely the distance between the measurement points is fixed and invariable in the motion process of the rotating shaft to be measured. Therefore, the method and the system provided by the invention enable the calculation process of the measured point coordinate to have higher robustness and lower sensitivity to random factors such as machine tool repeatability, instrument measurement noise and the like, thereby greatly improving the calculation precision of the measured point coordinate and enabling each geometric error element identified from the measured point coordinate to have higher precision and smaller uncertainty.
Drawings
FIG. 1 is a flow chart of the present invention;
fig. 2 is a schematic view of a measurement object (a rotation axis C axis in a five-axis numerical control machine tool) in the embodiment;
FIG. 3 is a schematic diagram of multilateration in an example;
FIG. 4 is a schematic view showing the distance between a station and a station in the embodiment;
FIG. 5 is a schematic representation of rigid body motion constraints between measured points in an embodiment;
FIG. 6 is a position dependent geometric error element measurement in an embodiment;
fig. 7 is a schematic structural diagram of a system for measuring geometric motion errors of a rotating shaft of a multi-axis numerical control machine tool provided by the invention.
Detailed Description
As shown in fig. 1, the present embodiment relates to a method for measuring geometric motion errors of a rotating shaft of a multi-axis numerical control machine, which specifically includes:
step 101: and obtaining the distances between three groups of non-collinear measuring points on the rotating shaft to be measured and four non-coplanar stations in a reference coordinate system of the multi-axis numerical control machine tool through multilateral measurement.
As shown in fig. 2, in this embodiment, taking a rotating shaft C axis of a dual-turntable five-axis numerical control machine as an example, the dual-turntable five-axis numerical control machine includes: a table 201, a rotating shaft C shaft 202, a rotating shaft B shaft 203, a bed 204, a linear shaft X shaft 205, a linear shaft Y shaft 206, a linear shaft Z shaft 207, and a spindle 208, wherein: the table 201 is fixedly connected to a rotating shaft C-axis 202, and a linear axis Z-axis 207 is fixedly connected to a main shaft 208.
In the present embodiment, the multilateration is implemented by a laser tracking interferometer and a 120 ° mirror, as shown in fig. 3, wherein: the laser tracking interferometer is respectively arranged at three non-collinear mounting positions 302, 303 and 304 on a workbench 301, the workbench 301 rotates together with the C axis of the rotating shaft and pauses at 36 positions, so that three mounting positions 302, 303 and 304 form three groups of measuring points through the movement of the rotating shaft, namely, the C axis of a 360-degree stroke pauses once every 10 degrees during measurement, and then a group of measuring points formed by one mounting position of the instrument comprises 36 measuring points, as shown in FIG. 4; the reflecting mirror is arranged on a main shaft of the double-turntable five-axis numerical control machine tool, moves along with three linear axes of the double-turntable five-axis numerical control machine tool and sequentially stays at four non-coplanar positions 305, 306, 307 and 308 in a reference coordinate system, so that four stations are formed.
And a B shaft of a rotating shaft of the double-turntable five-axis numerical control machine tool is static at an initial position. The laser tracking interferometer continuously and automatically locks the reflecting mirror in the moving process of the workbench 301, and measures the distance between the laser tracking interferometer and the reflecting mirror when the workbench 301 is paused, so as to obtain the distance between three groups of non-collinear measuring points on the axis C of the rotating shaft and four non-coplanar stations in the reference coordinate system of the double-turntable five-axis numerical control machine tool.
In this embodiment, the multilateration specifically includes the steps of: a laser tracking interferometer is arranged at a 1 st installation position 302 on a workbench 301; the reflector is arranged on a main shaft of the double-turntable five-axis numerical control machine tool, moves along with three linear axes of the double-turntable five-axis numerical control machine tool and stays at a 1 st position 305 in a reference coordinate system; adjusting the laser direction of the laser tracking interferometer to enable the laser to lock the reflector; the workbench 301 moves and pauses at the 1 st position, and the laser tracking interferometer measures and records the distance between the laser tracking interferometer and the reflecting mirror; the stage 301 moves and pauses at the next position and then repeats the measurement until the measurements at all 36 positions are completed; the mirror moves and stays at the next position and then repeats the steps until measurements at all positions 305, 306, 307 and 308 are completed; the laser tracking interferometer is set to the next mounting position on the stage 301 and the laser direction of the laser tracking interferometer is readjusted to cause the laser to lock the mirror, and then the steps and are repeated until the measurements at all mounting positions 302, 303 and 304 are completed.
As shown in fig. 4, in this embodiment, the distance between three sets of measuring points (401, 402, and 403) that are not collinear on the C-axis of the rotation axis to be measured and four non-coplanar stations (404, 405, 406, and 407) in the reference coordinate system of the dual-turntable five-axis numerical control machine tool is acquired in step 101.
Step 102: establishing a rigid motion constraint equation set between measuring points on a rotating shaft to be measured, which specifically comprises the following steps:
as shown in fig. 5, during the movement of the C axis of the rotation axis to be measured, the distances 504, 505 and 506 between the three mounting positions 501, 502 and 503 of the laser tracking interferometer on the C axis of the rotation axis to be measured are fixed, which means that the measuring points on the C axis of the rotation axis to be measured satisfy the rigid motion constraint.
The rigid motion constraint is described by a rigid motion constraint equation set, and the equation set is formed by a series of rigid motion constraint equations, and specifically comprises the following steps:
Figure BDA0002722549040000041
wherein:
Figure BDA0002722549040000042
indicates when the C axis of the rotation axis to be measured is located at the kth position1At position i, belong to1A measurement point of the group;
Figure BDA0002722549040000043
and
Figure BDA0002722549040000044
have similar meanings; the value range of the subscript is as follows: k is a radical of1＝2,…,36，k2＝1,…,k1-1，i1＝2,3，i2＝1,…,i1-1; the operator | | | represents calculating the distance between two points.
Step 103: establishing rigid motion constraints for the axis of rotation to be measuredThe measuring point coordinate calculation model specifically comprises the following steps:
Figure BDA0002722549040000045
wherein: t is tjThe method comprises the following steps of (1) setting a jth station in a reference coordinate system of the double-turntable five-axis numerical control machine tool; m isijkWhen the axis C of the rotating shaft to be measured is located at the kth position, the distance between the measuring point belonging to the ith group and the jth station is obtained; the value range of the subscript is as follows: i-1, …,3, j-1, …,4, k-1, …, 36.
In the embodiment, rigid motion constraint between measuring points is considered in the measuring point coordinate calculation model, so that the calculation result based on the measuring point coordinate calculation model has higher precision and smaller uncertainty.
Step 104: and (3) optimally fitting the distance and the measuring point coordinate calculation model by adopting a least square method to obtain the measuring point coordinate of the rotating shaft to be measured.
Step 105: and subtracting the nominal value of the measuring point coordinate from the measuring point coordinate to obtain a measuring point comprehensive position error value of the rotating shaft to be measured, which is caused by geometric error.
Step 106: respectively aiming at 4 PIGE and 6 PDGE of the rotating shaft to be measured, establishing a PIGE model and a PDGE model, and a corresponding PIGE identification model and a corresponding PDGE identification model, wherein the PIGE model and the PDGE model respectively describe the relationship between the PIGE and the PDGE and the position error of the measuring point, and the PIGE identification model and the PDGE identification model are respectively the inverses of the PIGE model and the PDGE model.
The PIGE model is as follows: Δ wik,PIGE＝Bik,PIGE·[EAOC EBOC EXOC EYOC]TWherein: Δ wik,PIGEWhen the axis C of the rotating shaft to be measured is positioned at the kth position, measuring point position errors caused by PIGE of measuring points belonging to the ith group are solved; b isik,PIGEIs a coefficient matrix; the value range of the subscript is as follows: 1, …,3, 1, …, 36; eAOC、EBOC、EXOCAnd EYOCIs 4 PIGE of the C axis of the rotating shaft to be measured.
The PIGE identification model is as follows: [ E ]AOC EBOC EXOC EYOC]T＝((BPIGE)T·BPIGE)-1·(BPIGE)T·ΔwPIGEWherein: Δ wPIGEFrom all Δ wik,PIGEComposition is carried out; b isPIGEFrom all Bik,PIGEComposition is carried out;
the PDGE model is as follows: Δ wik,PDGE＝Bik,PDGE·[EAC EBC ECC EXC EYC EZC]TWherein: Δ wik,PDGEWhen the axis C of the rotating shaft to be measured is positioned at the kth position, measuring point position errors caused by PDGE of measuring points belonging to the ith group are obtained; b isik,PDGEIs a coefficient matrix; the value range of the subscript is as follows: 1, …,3, 1, …, 36; eAC、EBC、ECC、EXC、EYCAnd EZCIs 6 PDGEs of the C axis of the rotating shaft to be measured.
The PDGE identification model is as follows: [ E ]AC EBC ECC EXC EYC EZC]T＝((Bk,PDGE)T·Bk,PDGE)-1·(Bk,PDGE)T·Δwk,PDGEWherein: Δ wk,PDGEFrom all Δ w having the same subscript kik,PIGEComposition is carried out; b isPIGEFrom all B's having the same subscript kik,PDGEAnd (4) forming.
Step 107: and substituting the comprehensive position error value of the measuring point into the PIGE identification model to obtain 4 PIGE values of the rotating shaft to be measured.
The embodiment identifies 4 PIGEs of the C axis of the rotating shaft to be detected, including the angle error E of the C axis of the rotating shaft to be detected around the X direction and the Y directionAOCAnd EBOCAnd straight line errors E in the X and Y directionsXOCAnd EYOCThe following table specifically shows:
EAOC/arcsec EBOC/arcsec EXOC/μm EYOC/μm
18.64 24.28 998.47 526.95
step 108: substituting the PIGE value into a PIGE model to obtain a measuring point position error value of the rotating shaft to be measured, which is caused by PIGE; and then, subtracting the measuring point position error value caused by PIGE from the measuring point comprehensive position error value to obtain the measuring point position error value caused by PDGE of the rotating shaft to be measured.
Step 109: and substituting the measuring point position error value caused by the PDGE into the PDGE identification model to obtain 6 PDGE values of the rotating shaft to be measured.
As shown in fig. 6 a-f, the present embodiment identifies 6 PDGEs of the C-axis of the rotation axis to be measured, including the angle errors E of the C-axis of the rotation axis to be measured around the X-direction, the Y-direction and the Z-directionAC、EBCAnd ECCAnd straight line errors E in the X, Y and Z directionsXC、EYCAnd EZC。
As shown in fig. 7, the measurement system for implementing the method includes: the device comprises a distance acquisition module for implementing multilateral measurement, a rigid motion constraint equation set building module for building a rigid motion constraint equation set between measurement points on a rotating shaft to be measured, a measurement point coordinate calculation model building module for building a measurement point coordinate calculation model of the rotating shaft to be measured, which takes rigid motion constraint into consideration, a measurement point coordinate value calculation module, a measurement point comprehensive position error value calculation module, an error model and error identification model building module, a PIGE identification module and a PDGE identification module, wherein: the distance acquisition module acquires the distances between at least three groups of non-collinear measuring points on the rotating shaft to be measured and at least four non-coplanar stations in a reference coordinate system of the multi-axis numerical control machine tool; the measuring point coordinate value calculation module performs optimal fitting on the distance and the measuring point coordinate calculation model by adopting a least square method to obtain measuring point coordinates of the rotating shaft to be measured; the measuring point comprehensive position error value calculation module subtracts a nominal value of the measuring point coordinate from the measuring point coordinate to obtain a measuring point comprehensive position error value of the rotating shaft to be measured, wherein the measuring point comprehensive position error value is caused by geometric errors; the error model and error identification model establishing module respectively establishes a PIGE model and a PDGE model and corresponding PIGE identification model and PDGE identification model aiming at 4 PIGE and 6 PDGE of the rotating shaft to be detected; substituting the comprehensive position error value of the measuring point into a PIGE identification model by a PIGE identification module to obtain 4 PIGE values of the rotating shaft to be measured; and finally, substituting the measuring point position error value caused by the PDGE into the PDGE identification model to obtain 6 PDGE values of the rotating shaft to be measured.
In conclusion, rigid motion constraint among the measuring points is considered when the measuring point coordinates on the rotating shaft are calculated, so that the measuring point coordinate calculation process has higher robustness and lower sensitivity to random factors such as machine tool repeatability, instrument measurement noise and the like, the calculating precision of the measuring point coordinates is obviously improved, and each geometric error element identified from the measuring point coordinates has higher precision and smaller uncertainty.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Claims (8)

1. A precise measurement method for geometric motion errors of a rotating shaft of a multi-shaft numerical control machine tool is characterized in that distances between at least three groups of non-collinear measuring points on the rotating shaft to be measured and at least four non-coplanar stations in a reference coordinate system of the multi-shaft numerical control machine tool are obtained through multi-edge measurement, a rigid motion constraint equation set between the measuring points on the rotating shaft to be measured and a measuring point coordinate calculation model considering rigid motion constraint are established according to the distances, and then the coordinates of the measuring points and the comprehensive position error value of the measuring points are obtained through least square fitting; respectively establishing a PIGE model, a PDGE model and a corresponding PIGE identification model and a PDGE identification model, and substituting measuring point comprehensive position error values to obtain 10 geometric error elements;
the coordinate of the measuring point further subtracts a nominal value of the coordinate of the measuring point from the coordinate value obtained by fitting to obtain a measuring point comprehensive position error value of the rotating shaft to be measured, which is caused by geometric error;
the PIGE model and the PDGE model respectively describe the relationship between the PIGE and the PDGE and the position error of the measuring point, and the PIGE identification model and the PDGE identification model are respectively the inverses of the PIGE model and the PDGE model;
the rigid motion constraint equation set comprises all measuring point coordinates and describes a rigid motion constraint which is naturally established based on rigid assumption, namely, the distance between the measuring points is fixed and unchanged in the motion process of the rotating shaft to be measured; the rigid motion constraint equation set is composed of a series of rigid motion constraint equations, and specifically comprises the following steps:
Figure FDA0002998272630000011
wherein:
Figure FDA0002998272630000012
when the rotation axis is located at the kth position1At position i, belong to1A measurement point of the group;
Figure FDA0002998272630000013
and
Figure FDA0002998272630000014
have similar meanings; the operator | | | is to calculate the distance between two points.
2. The precision measurement method of the geometric motion error of the rotating shaft of the multi-axis numerical control machine tool according to claim 1, wherein the fitting is to perform the best fitting of the distance and the measured point coordinate calculation model to obtain the coordinate of the measured point of the rotating shaft to be measured.
3. The precision measurement method for the geometric kinematic error of the rotating shaft of the multi-axis numerical control machine tool according to claim 1, wherein the substituted measuring point comprehensive position error value is: substituting the comprehensive measuring point position error value into a PIGE identification model to obtain 4 PIGE values of the rotating shaft, and further substituting the 4 PIGE values into the PIGE model to obtain a measuring point position error value caused by PIGE; and then subtracting a measuring point position error value caused by PIGE from the measuring point comprehensive position error value to obtain a measuring point position error value caused by PDGE, and further substituting the measuring point position error value into the PDGE identification model to obtain 6 PDGE values.
4. The precision measurement method for the geometric kinematic error of the rotating shaft of the multi-axis numerical control machine tool according to claim 1, wherein the measured point coordinate calculation model comprises all measured point coordinates and station coordinates, and comprehensively considers the distance between the measured points and the station and the rigid motion constraint between the measured points, and specifically comprises the following steps:
Figure FDA0002998272630000015
Figure FDA0002998272630000021
wherein: t is tjThe method comprises the following steps of (1) setting a jth station in a reference coordinate system of the multi-axis numerical control machine tool; m isijkIs the distance between the measurement point belonging to the ith group and the jth station acquired when the rotation axis is at the kth position.
5. Multiaxis numerical control as claimed in claim 1The precision measurement method for the geometric motion error of the machine tool rotating shaft is characterized in that the PIGE model is as follows: Δ wik，PIGE＝Bik，PIGE·[EAOC EBOC EXOC EYOC]TWherein: Δ wik，PIGEIs the position error of the measuring point caused by PIGE when the rotating shaft is positioned at the kth position and belongs to the measuring point of the ith group; b isik，PIGEIs a coefficient matrix; eAOC、EBOC、EXOCAnd EYOC4-item PIGE as axis of rotation; the corresponding PIGE identification model is: [ E ]AOC EBOC EXOC EYOC]T＝((BPIGE)T·BPIGE)-1·(BPIGE)T·ΔwPIGEWherein: Δ wPIGEFrom all Δ wik，PIGEComposition is carried out; b isPIGEFrom all Bik，PIGEAnd (4) forming.
6. The method for precisely measuring the geometric motion error of the rotating shaft of the multi-axis numerical control machine tool according to claim 1, wherein the PDGE model is: Δ wik，PDGE＝Bik，PDGE·[EAC EBC ECC EXC EYC EZC]TWherein: Δ wik，PDGEIs a measuring point position error caused by PDGE of the measuring points belonging to the ith group when the rotating shaft is positioned at the kth position; b isik，PDGEIs a coefficient matrix; eAC、EBC、ECC、EXC、EYCAnd EZC6 items PDGE being the axis of rotation; the corresponding PDGE identification model is: [ E ]AC EBC ECC EACEYC EZC]T＝((Bk，PDGE)T·Bk，PDGE)-1·(Bk，PDGE)T·Δwk，PDGEWherein: Δ wk，PDGEFrom all Δ w having the same subscript kik，PIGEComposition is carried out; b isPIGEFrom all B's having the same subscript kik，PDGEAnd (4) forming.
7. The method for precisely measuring the geometric kinematic error of the rotating shaft of the multi-axis numerical control machine according to claim 1, wherein the 10 geometric error elements are used for reflecting the manufacturing and assembling precision of the rotating shaft, and can be further used for error compensation of the multi-axis numerical control machine, and specifically comprise: angular error E of X, Y direction from axis of rotation shaft to be measuredAOC、EBOCLinear error E in direction X, YXOC、EYOCPIGE consisting of and angular error E about X, Y and Z from the axis of rotation to be measuredAC、EBC、ECCLine errors E in X, Y and Z directionsXC、EYC、EZCAnd (c) constituting PDGE.
8. A measurement system for implementing the method of any one of claims 1 to 7, comprising: the device comprises a distance acquisition module for implementing multilateral measurement, a rigid motion constraint equation set building module for building a rigid motion constraint equation set between measurement points on a rotating shaft to be measured, a measurement point coordinate calculation model building module for building a measurement point coordinate calculation model of the rotating shaft to be measured, which takes rigid motion constraint into consideration, a measurement point coordinate value calculation module, a measurement point comprehensive position error value calculation module, an error model and error identification model building module, a PIGE identification module and a PDGE identification module, wherein: the distance acquisition module acquires the distances between at least three groups of non-collinear measuring points on the rotating shaft to be measured and at least four non-coplanar stations in a reference coordinate system of the multi-axis numerical control machine tool; the measuring point coordinate value calculation module performs optimal fitting on the distance and the measuring point coordinate calculation model by adopting a least square method to obtain measuring point coordinates of the rotating shaft to be measured; the measuring point comprehensive position error value calculation module subtracts a nominal value of the measuring point coordinate from the measuring point coordinate to obtain a measuring point comprehensive position error value of the rotating shaft to be measured, wherein the measuring point comprehensive position error value is caused by geometric errors; the error model and error identification model establishing module respectively establishes a PIGE model and a PDGE model and corresponding PIGE identification model and PDGE identification model aiming at 4 PIGE and 6 PDGE of the rotating shaft to be detected; substituting the comprehensive position error value of the measuring point into a PIGE identification model by a PIGE identification module to obtain 4 PIGE values of the rotating shaft to be measured; and finally, substituting the measuring point position error value caused by the PDGE into the PDGE identification model to obtain 6 PDGE values of the rotating shaft to be measured.
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