CN112405112A - Five-axis machine tool linkage error detection device and measurement method - Google Patents
Five-axis machine tool linkage error detection device and measurement method Download PDFInfo
- Publication number
- CN112405112A CN112405112A CN202011395510.5A CN202011395510A CN112405112A CN 112405112 A CN112405112 A CN 112405112A CN 202011395510 A CN202011395510 A CN 202011395510A CN 112405112 A CN112405112 A CN 112405112A
- Authority
- CN
- China
- Prior art keywords
- machine tool
- sensor
- displacement
- axis
- detection device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 77
- 238000000691 measurement method Methods 0.000 title claims description 5
- 238000006073 displacement reaction Methods 0.000 claims abstract description 65
- 230000006698 induction Effects 0.000 claims abstract description 19
- 230000033001 locomotion Effects 0.000 claims abstract description 18
- 238000005259 measurement Methods 0.000 claims abstract description 18
- 238000000034 method Methods 0.000 claims abstract description 16
- 230000004044 response Effects 0.000 claims abstract description 6
- 230000001939 inductive effect Effects 0.000 claims abstract description 3
- 230000005540 biological transmission Effects 0.000 claims description 14
- 238000007726 management method Methods 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 6
- 239000011159 matrix material Substances 0.000 claims description 6
- 238000013519 translation Methods 0.000 claims description 6
- 230000009466 transformation Effects 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims 1
- 238000009434 installation Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 description 7
- 238000003754 machining Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000011426 transformation method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
Images
Classifications
-
- 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
-
- 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
- B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Machine Tool Sensing Apparatuses (AREA)
Abstract
The invention relates to the technical field of machine tool error detection equipment, and discloses a five-axis machine tool linkage error detection device which comprises a detection component and an induction component, wherein the detection component is detachably connected with an output main shaft at one end of an XYZ linear shaft system, and the induction component is detachably connected with a workbench at one end of an AC rotary shaft system; a battery pack and a measurement and control module which are electrically connected are arranged in an outer housing of the detection component, and a precise core ball is arranged at one end of the outer housing, which is far away from the output main shaft; the sensor base of response part is equipped with three support arm and is equipped with displacement sensor respectively towards the one end of detecting part, and three displacement sensor's axis quadrature each other, and three displacement sensor's centripetal one end is the inductive head. No cable is required to be arranged, the structure is simple, interference is avoided, and the installation is convenient; the five-axis machine tool linkage error measuring and calculating method can detect the space displacement error of the machine tool cutter, can also measure the motion attitude of the cutter and the position error of the cutter point in real time synchronously, and has great popularization value and wide application prospect.
Description
Technical Field
The invention relates to the technical field of machine tool error detection equipment, in particular to a five-axis machine tool linkage error detection device and a measuring and calculating method.
Background
The five-axis linkage numerical control machine tool is widely applied to the fields of aerospace, precision machinery, high-precision medical equipment and the like by virtue of the excellent performance of the five-axis linkage numerical control machine tool in machining complex space curved surfaces. The machining precision of the numerical control machine tool directly influences the quality of machined products, and the problem of machining precision reduction caused by insufficient machine tool precision is increasingly prominent. How to detect the error of the numerical control machine tool quickly and efficiently and improve the precision is a very important and meaningful topic. The introduction of two rotating shafts makes the detection of the movement precision of the five-axis numerical control machine tool more difficult, and how to judge whether the linkage performance of the five-axis numerical control machine tool meets the precision requirement is a big difficulty of the current research in the field of five-axis machine tool detection. And the limitations of some traditional precision detection instruments such as laser interferometers, double-sphere rod instruments, laser trackers and the like in the aspect of multi-axis linkage precision detection of the machine tool gradually appear.
For detection of linkage performance of a rotating shaft, common detection instruments comprise a ball bar instrument, an R-Test tester and the like, the detection instruments are all realized based on an RTCP (real-time transport control protocol) function of a five-axis numerical control machine tool, multi-axis linkage motion can be performed when a tool point of the machine tool is stationary by utilizing the RTCP function, so that motion errors of the tool in the five-axis linkage process of the machine tool can be accurately detected, and the performance of the machine tool in the actual machining process can be evaluated. However, the ball bar instrument and the R-test detector can only be used for detecting three axial displacement errors of a tool tip point on a five-axis numerically-controlled machine tool, and cannot reflect the posture of the five-axis numerically-controlled machine tool, so that the detection error result is inconvenient to correspond to an error position, error compensation is inaccurate or even counteractive, and in addition, the traditional detection device for testing the angle by using the encoder is complex in structure, and a signal transmission cable is easy to cause interference in the linkage process with the machine tool.
Therefore, the technical field of machine tool error detection equipment urgently needs a five-axis machine tool linkage error detection device which is simple in structure, avoids interference, can detect the space displacement error of a machine tool cutter, and can measure the motion attitude and the position error of a tool nose point of the cutter synchronously and in real time.
Disclosure of Invention
The five-axis machine tool linkage error detection device overcomes the defects of the prior art, has a simple structure, avoids interference, can detect the space displacement error of a machine tool cutter, and can synchronously measure the motion attitude of the cutter and the position error of the cutter point in real time.
The invention is realized by the following technical scheme:
a five-axis machine tool linkage error detection device comprises a detection part detachably connected with an output main shaft and an induction part detachably connected with a workbench; the detection component comprises a cylindrical outer housing, a battery pack and a measurement and control module which are electrically connected are arranged in the outer housing, a precise core ball which acts with the sensing component is arranged at one end, away from the output main shaft, of the outer housing, and the measurement and control module comprises an angle sensor; the response part includes the sensor base, the sensor base is equipped with the support arm of three circumference equipartition towards the one end of detecting part, the support arm top is equipped with the perforating hole, and is three be equipped with displacement sensor in the perforating hole respectively, it is three displacement sensor's the mutual quadrature of axis, it is three displacement sensor's the induction head of centripetal one end for with precision core ball interact.
Furthermore, a battery bin for taking and placing the battery pack is arranged on the side wall of the outer casing, and a battery cover is arranged at the opening position of the battery bin.
Furthermore, the one end that the outer casing is close to response part is equipped with and is used for getting the chamber that holds of putting the observing and controlling module, the open position that holds the chamber is equipped with the casing lid, the underrun of casing lid passes through connecting rod and accurate core ball rigid coupling.
Furthermore, one end of the outer housing, which is far away from the induction component, is provided with a clamping column, and the clamping column is detachably connected with the machine tool spindle through a tool shank.
Furthermore, observe and control the module and still include power management module, wireless transmission module, power management module and group battery electric connection, power management module and angle sensor, wireless transmission module power supply are connected, angle sensor and wireless transmission module communication connection.
Furthermore, the measurement and control module is of a multilayer structure which is stacked.
Further, the types of the angle sensor include a gyroscope sensor, an inclination sensor, an angular displacement sensor, and a rotation vector sensor.
Furthermore, the displacement sensor is in communication connection with the wireless transmission module, and the displacement sensor is a contact type flat head sensor.
The invention also provides a five-axis machine tool linkage error measuring and calculating method, which utilizes the five-axis machine tool linkage error detection device and comprises the following steps:
A. mounting a detection component on the main shaft, and mounting an induction component on a machine tool workbench;
B. adjusting the position or direction of the induction component to enable the projection of the measuring direction of one displacement sensor on the plane of the workbench to be parallel to one linear axis of the machine tool;
C. adjusting the spatial position of the detection component to enable the direction of one detection angle of the angle sensor to be consistent with the rotating shaft of the machine tool;
D. moving the linear shaft system to enable the precise core ball to be in contact with the three displacement sensors, and then finely adjusting the linear shaft system to enable the detection direction axes of the three displacement sensors to point to the center of the precise core ball;
E. adjusting a machine tool rotating shaft to an initial position (0, 0, 0), and initializing an angle sensor and a displacement sensor;
F. planning an error detection track of the five-axis machine tool, and compiling a machine tool motion instruction program of the detection track according to the detection track;
G. simultaneously collecting displacement value epsilon detected by displacement sensorX,εY,εZAnd the angular velocity value omega detected by the angle sensorA，ωC；
H. Shift value epsilonX,εY,εZAnd angular velocity value omegaA，ωCAnd converting to obtain a displacement error value and a tool posture.
Further, the transformation method in the step H comprises the following steps:
h1, setting coordinates (X, Y, Z) and (X ', Y ', Z ') of a certain measuring point in a machine tool coordinate system O-XYZ and a sensor coordinate system O ' -X ' Y ' Z ', respectively, wherein three translation parameters delta X, delta Y and delta Z and three rotation parameters alpha, beta and gamma exist between the two sets of coordinate systems, and then:
wherein, λ is a scale factor between two coordinates, R is a rotation transformation matrix between the coordinates,
wherein [ Δ X, [ Δ Y, [ Δ Z ]]TIs a translation matrix between coordinates;
h2, the displacement value of the detecting component measured in the X, Y, Z direction is epsilonX、εY、εZObtaining displacement error value [ epsilon ] through two times of coordinate system transformationX″ εY″ εZ″]Is composed of
h3, and obtaining the tool attitude generated by the rotation motion of the rotating shaft of the five-axis numerical control machine tool by integrating the angular speed detection value
Compared with the prior art, the invention has the following advantages and beneficial effects:
the invention discloses a five-axis machine tool linkage error detection device, which comprises a detection component detachably connected with an output main shaft at one end of an XYZ linear shaft system and an induction component detachably connected with a workbench at one end of an AC rotary shaft system; a battery pack and a measurement and control module which are electrically connected are arranged in an outer housing of the detection component, and a precise core ball is arranged at one end of the outer housing, which is far away from the output main shaft; the sensor base of response part is equipped with three support arm and is equipped with displacement sensor respectively towards the one end of detecting part, and three displacement sensor's axis quadrature each other, and three displacement sensor's centripetal one end is the inductive head. No cable is required to be arranged, the structure is simple, interference is avoided, and the installation is convenient; the five-axis machine tool linkage error measuring and calculating method can detect the space displacement error of the machine tool cutter, can also measure the motion attitude of the cutter and the position error of the cutter point in real time synchronously, and has great popularization value and wide application prospect.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is an exploded view of the overall structure of the present invention;
FIG. 2 is a schematic view of the present invention mounted on a five-axis machine tool;
FIG. 3 is a schematic diagram of two sets of coordinate systems according to the present invention;
FIG. 4 is a logic diagram of the measurement and calculation method according to the present invention;
FIG. 5 is a schematic diagram of a detection trace according to the present invention.
Reference numbers and corresponding part names in the drawings:
the device comprises a knife handle 1, a knife handle 2, an outer housing shell 21, a housing cover 3, a battery pack 31, a battery cover 4, a measurement and control module 5, a precise core ball 6, a displacement sensor 7 and a sensor base.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
A five-axis machine tool linkage error detection device comprises a detection part detachably connected with an output main shaft and an induction part detachably connected with a workbench; the detection component comprises a cylindrical outer housing, a battery pack and a measurement and control module which are electrically connected are arranged in the outer housing, a precise core ball which is acted with the sensing component is arranged at one end of the outer housing, which is far away from the output main shaft, and the measurement and control module comprises an angle sensor; the response part includes the sensor base, and the sensor base is equipped with the support arm of three circumference equipartition towards the one end of detecting part, and the support arm top is equipped with the perforating hole, is equipped with displacement sensor in the three perforating hole respectively, three displacement sensor's the mutual quadrature of axis, three displacement sensor's the induction head of entad one end for with accurate core ball interact. It can be understood that, as shown in fig. 2, a schematic diagram of the linkage error detection device on a double-turntable five-axis machine tool is shown, wherein the detection component is detachably connected with a machine tool spindle located at one end of an XYZ linear axis through a tool shank, the sensing component is arranged on a double turntable, and the linkage error detection device can have a similar installation mode for the five-axis machine tools of common forms such as a double-swinging type, a nodding worktable type, a swinging and rotating type and the like.
Furthermore, a battery bin for taking and placing the battery pack is arranged on the side wall of the outer casing, and a battery cover is arranged at the opening position of the battery bin. It can be understood that the battery bin for taking and placing the battery pack is arranged and provided with the battery cover, wireless power supply is achieved, cable interference is avoided, and detection efficiency is improved.
Furthermore, one end of the outer housing close to the sensing component is provided with a containing cavity for taking, placing, controlling and controlling the module, the opening position of the containing cavity is provided with a housing cover, and the bottom surface of the housing cover is fixedly connected with the precise core ball through a connecting rod. Furthermore, one end of the outer housing, which is far away from the induction component, is provided with a clamping column, and the clamping column is detachably connected with the machine tool spindle through a tool handle. It can be understood that the housing cover is convenient for replacing and maintaining the measurement and control module, and the rapid installation and disassembly of the induction component can be realized by arranging the clamping column.
Furthermore, observe and control the module and still include power management module, wireless transmission module, power management module and group battery electric connection, power management module and angle sensor, wireless transmission module power supply connection, angle sensor and wireless transmission module communication connection. It can be understood that the battery pack supplies power for the whole hardware circuit, is managed in a unified mode by the power management module, provides working voltage and is electrically connected to the angle sensor and the Bluetooth transmission module respectively, and the Bluetooth transmission circuit adopts a mature Bluetooth protocol and sends tool posture detection information to the acquisition system through Bluetooth.
Furthermore, the measurement and control module is of a multilayer structure in a stacking arrangement. It can be understood that the multilayer structure can avoid overlarge area to cause overlarge housing volume, thereby realizing the purposes of space saving, small size and exquisite design.
Further, the types of angle sensors include a gyro sensor, an inclination sensor, an angular displacement sensor, and a rotation vector sensor. It is understood that the angle sensor may be a gyroscope sensor, an inclination sensor, an angular displacement sensor, a rotation vector sensor, or other sensors capable of measuring an angular velocity as long as the angular sensor can measure the angular velocity.
Furthermore, the displacement sensor is in communication connection with the wireless transmission module, and the displacement sensor is a contact type flat head sensor.
The invention also provides a five-axis machine tool linkage error measuring and calculating method, which utilizes the five-axis machine tool linkage error detection device and comprises the following steps as shown in fig. 4:
A. mounting a detection component on the main shaft, and mounting an induction component on a machine tool workbench;
B. adjusting the position or direction of the induction component to enable the projection of the measuring direction of one displacement sensor on the plane of the workbench to be parallel to one linear axis of the machine tool; i.e. the projection of any of the three detector heads of the displacement sensor in the table plane is parallel to the X-axis or Y-axis or Z-axis.
C. Adjusting the spatial position of the detection component to enable the direction of one detection angle of the angle sensor to be consistent with the rotating shaft of the machine tool; it can be understood that the measurement and control module is of a multilayer structure, one detection angle can be consistent with the rotating shaft of the machine tool by adjusting the inclination angle of the layer where the angle sensor is located, and the measurement and control module can be adjusted according to the value fed back by the sensing system in actual operation.
D. Moving the linear shaft system to enable the precise core ball to be in contact with the three displacement sensors, and then finely adjusting the linear shaft system to enable the detection direction axes of the three displacement sensors to point to the center of the precise core ball;
E. adjusting a machine tool rotating shaft to an initial position (0, 0, 0), and initializing an angle sensor and a displacement sensor;
F. planning an error detection track of the five-axis machine tool, and compiling a machine tool motion instruction program of the detection track according to the detection track; as shown in fig. 5, similar to CAM planning detection traces, the instruction program is programmed by using the existing CAM design platform ratios such as UG, Master CAM, etc.
G. Simultaneously collecting displacement value epsilon detected by displacement sensorX,εY,εZAnd the angular velocity value omega detected by the angle sensorA，ωC；
H. Shift value epsilonX,εY,εZAnd angular velocity value omegaA，ωCAnd converting to obtain a displacement error value and a tool posture.
Further, the transformation method in the step H comprises the following steps:
h1, as shown in fig. 3, if a certain measurement point is set to have coordinates (X, Y, Z), (X ', Y ', Z ') in a machine tool coordinate system O-XYZ and a sensor coordinate system O ' -X ' Y ' Z ', respectively, and three translation parameters Δ X, Δ Y, Δ Z and three rotation parameters α, β, γ exist between the two sets of coordinate systems, then:
wherein, λ is a scale factor between two coordinates, R is a rotation transformation matrix between the coordinates,
wherein [ Δ X, [ Δ Y, [ Δ Z ]]TIs a translation matrix between coordinates;
h2, the displacement value of the detecting component measured in the X, Y, Z direction is epsilonX、εY、εZObtaining displacement error value [ epsilon ] through two times of coordinate system transformationX″ εY″ εZ″]Is composed of
h3, and obtaining the tool attitude generated by the rotation motion of the rotating shaft of the five-axis numerical control machine tool by integrating the angular speed detection value
In the process that the rotating central point of the cutter walks along a set track, the cutter attitude generated by the rotating motion of a rotating shaft of the five-axis numerical control machine tool and the space triaxial micro-displacement epsilon generated by the cutter pointX、εYAnd εZThe data can be synchronously measured in real time by a gyroscope and three displacement sensors respectively, and the measured data can be displayed and recorded in a detection system in real time. The motion angle measured by the gyroscope in the measured data represents the posture of the five-axis numerical control machine tool, and the motion angle is represented by epsilon in the measured dataX、εYAnd εZAfter certain form of transformation, the product can be obtainedPosition error [ epsilon ] from tool point of five-axis numerical control machine toolX″ εY″ εZ″]The position error of the tool tip point and the tool posture in the actual machining process of the five-axis numerical control machine tool can be reflected through the five groups of data.
It can be understood that, under ideal conditions, in the process of detecting the linkage error of the five-axis machine tool, the tool tip point travels along a set track, namely, the sphere center of the precise core ball is kept still, but when the machine tool has the linkage error, the sphere center can move within a certain range, so that the displacement sensor is compressed or stretched, and because the axial directions of the displacement sensor all point to the sphere center, the displacement sensor measures the spatial movement displacement of the sphere center in the process of linkage of the machine tool. When the rotating shaft moves, the integral detection instrument is driven to rotate in the space, the gyroscope is driven to detect, the movement angles of the two rotating shafts of the five-axis machine tool can be obtained, and the position error of the tool tip point and the posture of the tool in the actual machining process of the five-axis machine tool can be reflected through the five groups of data.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be understood that the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the invention, and do not indicate or imply that the components or mechanisms so referred to must be in a particular orientation, constructed and operated in a particular orientation, and thus are not to be considered as limiting the invention.
The above embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above embodiments are merely preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A five-axis machine tool linkage error detection device is characterized by comprising a detection part detachably connected with an output main shaft and an induction part detachably connected with a workbench;
the detection component comprises a cylindrical outer housing (2), a battery pack (3) and a measurement and control module (4) which are electrically connected are arranged in the outer housing (2), a precise core ball (5) which acts with the induction component is arranged at one end, far away from the output main shaft, of the outer housing (2), and the measurement and control module (4) comprises an angle sensor;
the response part includes sensor base (7), sensor base (7) are equipped with the support arm of three circumference equipartition towards the one end of detecting part, the support arm top is equipped with the perforating hole, and is three be equipped with displacement sensor (6), three in the perforating hole respectively the axis quadrature each other of displacement sensor (6), it is three displacement sensor (6) the centripetal one end be with accurate core ball (5) interact's inductive head.
2. The five-axis machine tool linkage error detection device according to claim 1, wherein a battery compartment for taking and placing the battery pack (3) is arranged on the side wall of the outer casing (2), and a battery cover (31) is arranged at the opening position of the battery compartment.
3. The five-axis machine tool linkage error detection device according to claim 2, wherein an accommodating cavity for taking and placing the measurement and control module (4) is formed in one end, close to the sensing component, of the outer housing shell (2), a housing cover (21) is arranged at an opening position of the accommodating cavity, and the bottom surface of the housing cover (21) is fixedly connected with the precision core ball (5) through a connecting rod.
4. The five-axis machine tool linkage error detection device according to claim 3, wherein a clamping column is arranged at one end, away from the induction component, of the outer housing (2), and the clamping column is detachably connected with a machine tool spindle through a tool shank (1).
5. The five-axis machine tool linkage error detection device according to claim 1, wherein the measurement and control module (4) further comprises a power management module and a wireless transmission module, the power management module is electrically connected with the battery pack (3), the power management module is in power supply connection with the angle sensor and the wireless transmission module, and the angle sensor is in communication connection with the wireless transmission module.
6. The five-axis machine tool linkage error detection device according to claim 5, wherein the measurement and control module (4) is of a stacked multi-layer structure.
7. The five-axis machine tool linkage error detection device according to claim 5 or 6, wherein the angle sensor is of a type including a gyroscope sensor, an inclination sensor, an angular displacement sensor, and a rotation vector sensor.
8. The five-axis machine tool linkage error detection device according to claim 7, wherein the displacement sensor (6) is in communication connection with a wireless transmission module, and the displacement sensor (6) is a contact type flat head sensor.
9. A five-axis machine tool linkage error measurement method is characterized in that the five-axis machine tool linkage error detection device of any one of claims 1 to 8 is used, and the method comprises the following steps:
A. mounting a detection component on the main shaft, and mounting an induction component on a machine tool workbench;
B. adjusting the position or direction of the induction component to enable the projection of the measuring direction of one displacement sensor on the plane of the workbench to be parallel to one linear axis of the machine tool;
C. adjusting the spatial position of the detection component to enable the direction of one detection angle of the angle sensor to be consistent with the rotating shaft of the machine tool;
D. moving the linear shaft system to enable the precise core ball to be in contact with the three displacement sensors, and then finely adjusting the linear shaft system to enable the detection direction axes of the three displacement sensors to point to the center of the precise core ball;
E. adjusting a machine tool rotating shaft to an initial position (0, 0, 0), and initializing an angle sensor and a displacement sensor;
F. planning an error detection track of the five-axis machine tool, and compiling a machine tool motion instruction program of the detection track according to the detection track;
G. simultaneously collecting displacement value epsilon detected by displacement sensorX,εY,εZAnd the angular velocity value omega detected by the angle sensorA，ωC；
H. Shift value epsilonX,εY,εZAnd angular velocity value omegaA，ωCAnd converting to obtain a displacement error value and a tool posture.
10. The five-axis machine tool linkage error measurement method according to claim 9, wherein the conversion method in the step H comprises the following steps:
h1, setting coordinates (X, Y, Z) and (X ', Y ', Z ') of a certain measuring point in a machine tool coordinate system O-XYZ and a sensor coordinate system O ' -X ' Y ' Z ', respectively, wherein three translation parameters delta X, delta Y and delta Z and three rotation parameters alpha, beta and gamma exist between the two sets of coordinate systems, and then:
wherein, λ is a scale factor between two coordinates, R is a rotation transformation matrix between the coordinates,
wherein [ Δ X, [ Δ Y, [ Δ Z ]]TIs a translation matrix between coordinates;
h2, the displacement value of the detecting component measured in the X, Y, Z direction is epsilonX、εY、εZObtaining displacement error value [ epsilon ] through two times of coordinate system transformationX″ εY″ εZ″]Is composed of
h3, and obtaining the tool attitude generated by the rotation motion of the rotating shaft of the five-axis numerical control machine tool by integrating the angular speed detection value
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011395510.5A CN112405112B (en) | 2020-12-03 | Five-axis machine tool linkage error detection device and measurement method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011395510.5A CN112405112B (en) | 2020-12-03 | Five-axis machine tool linkage error detection device and measurement method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112405112A true CN112405112A (en) | 2021-02-26 |
| CN112405112B CN112405112B (en) | 2024-07-16 |
Family
ID=
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113770806A (en) * | 2021-09-02 | 2021-12-10 | 杭州电子科技大学 | Machine tool geometric error separation method based on double-ball-bar instrument |
| CN114234877A (en) * | 2022-02-28 | 2022-03-25 | 成都飞机工业（集团）有限责任公司 | Displacement sensor vector calibration method for R-test instrument |
| CN114273981A (en) * | 2022-03-04 | 2022-04-05 | 苏州古田自动化科技有限公司 | Horizontal five-axis numerical control machining center with error compensation function |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102252617A (en) * | 2011-04-06 | 2011-11-23 | 哈尔滨工业大学 | Morphology registration analysis-based method for detecting precision of precise main shaft rotation |
| JP2012232376A (en) * | 2011-04-28 | 2012-11-29 | Okuma Corp | Geometrical error identification device |
| CN104625880A (en) * | 2014-12-23 | 2015-05-20 | 电子科技大学 | Five-axis machine tool cutter posture and cutter point position error synchronous detection mechanism |
| KR101571973B1 (en) * | 2014-05-29 | 2015-11-25 | 경북대학교 산학협력단 | Tiling Axis Measuring Method for Multi-axis Machine Tool with a Tilting Rotary Table |
| CN106112693A (en) * | 2016-07-01 | 2016-11-16 | 上海拓璞数控科技有限公司 | A kind of five-axle number control machine tool translation shaft and rotary shaft synchronous error detection method |
| CN106225724A (en) * | 2016-07-29 | 2016-12-14 | 厦门大学 | A kind of circular linkage error measuring means of band angle of revolution feedback function |
| CN108036751A (en) * | 2017-12-17 | 2018-05-15 | 胡长悦 | Based on the formula roundness error separation device and method that is synchronized with the movement |
| CN108362493A (en) * | 2018-01-23 | 2018-08-03 | 大连理工大学 | A kind of numerically-controlled machine tool linear axis angular errors rapid detection method |
| US20190011327A1 (en) * | 2017-07-07 | 2019-01-10 | Fives Machining Systems, Inc. | Cnc machine geometry error and accuracy monitoring and evaluation |
| CN109773585A (en) * | 2019-01-11 | 2019-05-21 | 电子科技大学 | A kind of five-axle number control machine tool space error detection method based on RTCP |
| CN111580460A (en) * | 2020-06-05 | 2020-08-25 | 沈机（上海）智能***研发设计有限公司 | Error detection system and error detection and compensation method of five-axis machine tool |
| CN214054600U (en) * | 2020-12-03 | 2021-08-27 | 中国工程物理研究院机械制造工艺研究所 | Five-axis machine tool linkage error detection device |
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102252617A (en) * | 2011-04-06 | 2011-11-23 | 哈尔滨工业大学 | Morphology registration analysis-based method for detecting precision of precise main shaft rotation |
| JP2012232376A (en) * | 2011-04-28 | 2012-11-29 | Okuma Corp | Geometrical error identification device |
| KR101571973B1 (en) * | 2014-05-29 | 2015-11-25 | 경북대학교 산학협력단 | Tiling Axis Measuring Method for Multi-axis Machine Tool with a Tilting Rotary Table |
| CN104625880A (en) * | 2014-12-23 | 2015-05-20 | 电子科技大学 | Five-axis machine tool cutter posture and cutter point position error synchronous detection mechanism |
| CN106112693A (en) * | 2016-07-01 | 2016-11-16 | 上海拓璞数控科技有限公司 | A kind of five-axle number control machine tool translation shaft and rotary shaft synchronous error detection method |
| CN106225724A (en) * | 2016-07-29 | 2016-12-14 | 厦门大学 | A kind of circular linkage error measuring means of band angle of revolution feedback function |
| US20190011327A1 (en) * | 2017-07-07 | 2019-01-10 | Fives Machining Systems, Inc. | Cnc machine geometry error and accuracy monitoring and evaluation |
| CN108036751A (en) * | 2017-12-17 | 2018-05-15 | 胡长悦 | Based on the formula roundness error separation device and method that is synchronized with the movement |
| CN108362493A (en) * | 2018-01-23 | 2018-08-03 | 大连理工大学 | A kind of numerically-controlled machine tool linear axis angular errors rapid detection method |
| CN109773585A (en) * | 2019-01-11 | 2019-05-21 | 电子科技大学 | A kind of five-axle number control machine tool space error detection method based on RTCP |
| CN111580460A (en) * | 2020-06-05 | 2020-08-25 | 沈机（上海）智能***研发设计有限公司 | Error detection system and error detection and compensation method of five-axis machine tool |
| CN214054600U (en) * | 2020-12-03 | 2021-08-27 | 中国工程物理研究院机械制造工艺研究所 | Five-axis machine tool linkage error detection device |
Non-Patent Citations (1)
| Title |
|---|
| 姜忠;丁杰雄;杜丽;李晴朝;宋智勇;: "五轴联动机床联动精度检测及优化方法", 制造技术与机床, no. 04, 2 April 2017 (2017-04-02), pages 92 - 96 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113770806A (en) * | 2021-09-02 | 2021-12-10 | 杭州电子科技大学 | Machine tool geometric error separation method based on double-ball-bar instrument |
| CN113770806B (en) * | 2021-09-02 | 2022-07-08 | 杭州电子科技大学 | Machine tool geometric error separation method based on double-ball-bar instrument |
| CN114234877A (en) * | 2022-02-28 | 2022-03-25 | 成都飞机工业（集团）有限责任公司 | Displacement sensor vector calibration method for R-test instrument |
| CN114234877B (en) * | 2022-02-28 | 2022-06-14 | 成都飞机工业（集团）有限责任公司 | Displacement sensor vector calibration method for R-test instrument |
| CN114273981A (en) * | 2022-03-04 | 2022-04-05 | 苏州古田自动化科技有限公司 | Horizontal five-axis numerical control machining center with error compensation function |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Lei et al. | Accuracy test of five-axis CNC machine tool with 3D probe–ball. Part I: design and modeling | |
| EP2591310B1 (en) | Method for recalibrating coordinate positioning apparatus | |
| CN102001021B (en) | Method for measuring geometric error parameter value of rotary oscillation axis of five-axis linkage numerical control machine tool | |
| US8931183B2 (en) | Measurement method and apparatus | |
| US9212906B2 (en) | Device for detecting axis coplanarity of orthogonal rotary shafts having built-in intersection and precision detecting method | |
| CN111487923B (en) | Swing position error detection and identification method for CA double-swing five-axis numerical control machine tool | |
| CN101992407A (en) | Error identifying method and error identifying program of machine | |
| Ibaraki et al. | Error calibration for five-axis machine tools by on-the-machine measurement using a touch-trigger probe | |
| Srinivasa et al. | Spindle thermal drift measurement using the laser ball bar | |
| CN111678472B (en) | Error identification method for rotary table of four-axis coordinate measuring machine | |
| CN103481122A (en) | Contact measurement error compensation method oriented to freeform surface and compensation system | |
| CN110076631A (en) | Complex thin-wall constitutional detail wall thickness on-machine measurement method | |
| Lei et al. | Error measurement of five-axis CNC machines with 3D probe–ball | |
| Dassanayake et al. | A strategy for identifying static deviations in universal spindle head type multi-axis machining centers | |
| CN112157635B (en) | Double-encoder type dynamic angle generation turntable and use method thereof | |
| CN109253710A (en) | A kind of REVO gauge head A axis error of zero scaling method | |
| CN114782513B (en) | Point laser sensor mounting pose calibration method based on plane | |
| CN109141194A (en) | A kind of rotation pivot angle head positioning accuracy measures compensation method indirectly | |
| CN112797931B (en) | Industrial robot pose accuracy and pose repeatability detection device and detection method | |
| CN214054600U (en) | Five-axis machine tool linkage error detection device | |
| CN212674090U (en) | Dynamic measuring device with rotary shaft with six degrees of freedom | |
| CN111708321B (en) | Device and method for detecting dynamic error of cutter shaft direction of numerical control machine tool | |
| CN112405112A (en) | Five-axis machine tool linkage error detection device and measurement method | |
| CN112405112B (en) | Five-axis machine tool linkage error detection device and measurement method | |
| Li et al. | A high-speed in situ measuring method for inner dimension inspection |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |