CN112631199A - Method and device for calibrating structural parameters of machine tool and machine tool control system - Google Patents

Method and device for calibrating structural parameters of machine tool and machine tool control system Download PDF

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CN112631199A
CN112631199A CN202011355184.5A CN202011355184A CN112631199A CN 112631199 A CN112631199 A CN 112631199A CN 202011355184 A CN202011355184 A CN 202011355184A CN 112631199 A CN112631199 A CN 112631199A
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machine tool
structural parameters
height
rotation angle
calibrated
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CN112631199B (en
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谢淼
徐力宇
罗一尧
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Shanghai Friendess Electronic Technology Co ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35349—Display part, programmed locus and tool path, traject, dynamic locus

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Abstract

The invention relates to a method and a device for calibrating structural parameters of a machine tool and a machine tool control system. The method comprises the following steps: a) under the condition that the height of the end of the machining head of the machine tool is kept unchanged, enabling each rotating shaft of the machine tool to respectively rotate to at least 2 different rotating angles to form N different rotating angle groups, and acquiring height coordinate values in corresponding N machine tool mechanical coordinates of the end of the machining head, wherein N is a natural number larger than 1 and is at least 1 larger than the number of structural parameters; b) calculating structural parameters to be calibrated from a terminal pose matrix of the machining head based on the N different rotation angle groups and the obtained N height coordinate values; c) checking whether the calculated structural parameters meet the precision requirement; d) if not, increasing N, and executing the steps a) to c) again until the precision requirement is met; and e) calibrating the calculated structural parameters as structural parameters of the machine tool.

Description

Method and device for calibrating structural parameters of machine tool and machine tool control system
Technical Field
The present invention relates to the field of machine tools, and more particularly to a method and a device for calibrating structural parameters of a machine tool, and a corresponding machine tool control system.
Background
Machine tool machining plays a very important role in modern machine manufacturing, but parts with high precision requirements and fine surface roughness requirements generally need to be finally machined on a machine tool. There are many kinds of machine tools, but no matter which machine tool, the structural parameters thereof directly affect the actual machining accuracy.
In the process of mounting the actual machine tool according to the design drawing thereof, due to the existence of tolerance and mounting error, the actual structural parameters inevitably deviate from the originally designed structural parameters. Also, after the installation is finished, during the actual use, the structural parameters of the machine tool are inevitably affected by the vibration generated by the machining of the machine tool, and the structural parameters may be slightly changed particularly after long-time work. If the actual structural parameters of the machine tool have changed, i.e. deviate from the preset structural parameters, the machining still performed according to the preset values may have deformed machining paths. Therefore, the actual structural parameters of the machine tool need to be calibrated for many times during installation and service life of the machine tool, so that the machining scheme of the machine tool can be timely adjusted according to the calibrated structural parameters.
The existing method for calibrating the structural parameters of the machine tool comprises a numerical control system adopting a ball bar instrument and a method for calibrating by using a laser interferometer or a dial indicator. However, the numerical control system using the ball bar machine has high cost, and the operator needs to be familiar with the related programming and the use of the ball bar machine, and the method is only suitable for the machine tool with the hardware cutter and has certain limitation. The laser interferometer is adopted for calibration, although the measurement precision is high, the equipment cost is too expensive, and the operation is very complicated. The dial indicator is used for calibration, a large amount of manual intervention is needed, and time and labor are wasted.
Therefore, a new technical solution is needed to quickly, conveniently and inexpensively realize the automatic calibration of the structural parameters of the machine tool.
Disclosure of Invention
The present invention is directed to overcoming the above-mentioned and/or other problems in the art. By the method, the device and the machine tool control system for calibrating the structural parameters of the machine tool, provided by the invention, the full-automatic calibration of the structural parameters of the machine tool can be completed without any additional equipment.
According to a first aspect of the invention, a method for calibrating structural parameters of a machine tool is provided, comprising the following steps: a) under the condition that the height of the processing head end of the machine tool is kept unchanged, enabling each rotating shaft of the machine tool to respectively rotate to at least 2 different rotating angles so as to form N different rotating angle groups based on the number of the structural parameters, and acquiring height coordinate values in corresponding N machine tool mechanical coordinates of the processing head end, wherein N is a natural number larger than 1 and is at least 1 larger than the number of the structural parameters; b) calculating structural parameters to be calibrated from a terminal pose matrix of a machining head of the machine tool based on the N different rotation angle groups and the acquired N height coordinate values; c) checking whether the calculated structural parameters meet the precision requirement; d) if the calculated structural parameter does not meet the precision requirement, increasing N, and executing the steps a) to c) again until the calculated structural parameter meets the precision requirement; and e) calibrating the calculated structural parameter to the structural parameter of the machine tool.
According to a second aspect of the present invention, there is provided an apparatus for calibrating structural parameters of a machine tool, comprising a calculation unit and a control unit. The calculation unit is used for calculating structural parameters to be calibrated. The control unit is configured to perform the following operations: a) under the condition that the height of the processing head end of the machine tool is kept unchanged, enabling each rotating shaft of the machine tool to respectively rotate to at least 2 different rotating angles so as to form N different rotating angle groups based on the number of the structural parameters, and acquiring height coordinate values in corresponding N machine tool mechanical coordinates of the processing head end, wherein N is a natural number larger than 1 and is at least 1 larger than the number of the structural parameters; b) controlling the calculation unit to calculate structural parameters to be calibrated from an end pose matrix of a machining head of the machine tool based on the N different rotation angle groups and the acquired N height coordinate values; c) checking whether the calculated structural parameters meet the precision requirement; d) if the calculated structural parameter does not meet the precision requirement, increasing N, and executing the operations a) to c) again until the calculated structural parameter meets the precision requirement; and e) calibrating the calculated structural parameter to the structural parameter of the machine tool.
The method and the device adopt a brand-new invention concept of realizing calibration, and the structural parameters of the machine tool meeting the precision requirement can be obtained and calibrated only by continuously increasing the groups of the rotation angle and the height coordinate value which need to be input according to the inspection result. The rotation angle is preset, so that only the height coordinate value needs to be acquired, and the height coordinate value is recorded in a servo unit of the machine tool, so that only the currently recorded height coordinate value needs to be read from the servo unit, and no additional equipment is needed at all. The whole process can be automatically realized by a computer, is convenient and quick, and meets the precision requirement.
Preferably, if the machine tool is equipped with a height adjuster, the height adjuster can be set in a following state. Therefore, the height of the tail end of the processing head can be kept unchanged in the calibration process.
Preferably, the at least 2 different rotation angles are spaced from each other by a uniform angular difference. That is, the rotation angles to which the respective rotation axes rotate are dispersed as much as possible within the range in which the rotation axes can operate, so that the obtained data samples can calculate structural parameters meeting the precision requirement more easily, and the calibration can be realized more quickly.
Preferably, the verification is performed by interpolation. The machine tool can be put into an interpolation mode in which it can be checked whether the calculated structural parameters meet the accuracy requirements.
Preferably, when the number of the rotation axes is 2, a normal vector included angle of 2 rotation axes corresponding to at least 1 rotation angle in the N different rotation angle groups is different from that of the remaining (N-1) rotation angle groups, and the normal vector included angle is an included angle between a normal vector formed by positions of the 2 rotation axes and a height coordinate axis in a machine coordinate system of the machine tool. Therefore, poor samples in the data samples can be eliminated, and the calculated structural parameters can meet the precision requirement more quickly so as to realize calibration.
Preferably, if the machine has 2 axes of rotation and the machine structural parameter to be calibrated has 4, N may be set to 9. And additionally sampling 4 rotation angle groups and 4 height coordinate values on the basis of the 5 rotation angle groups and 5 height coordinate values which need to be sampled, so that the calculated structural parameters can meet the precision requirement more quickly by inputting more data samples, and the calibration is realized.
Preferably, the calculation process of the structural parameter to be calibrated may include the following steps: b1) obtaining a terminal height function of the processing head based on the terminal pose matrix of the processing head, wherein the terminal height function is in strain with the structural parameter to be calibrated, the rotation angle in the machine tool mechanical coordinate of the terminal of the processing head and the height coordinate value in the machine coordinate; and b2) calculating the structural parameter to be calibrated from the terminal height function based on the N different rotation angle sets and the acquired N height coordinate values.
The step b2) may further include: inputting the N different rotation angle groups and the obtained N height coordinate values into the tail end height function, so as to obtain a sampling matrix; and calculating the structural parameters to be calibrated based on the sampling matrix.
Preferably, the terminal pose matrix of the processing head is established based on machine tool coordinates of the terminal of the processing head and the structural parameters to be calibrated.
According to a third aspect of the invention, there is also provided a machine tool control system comprising a machine tool and a device according to the invention as described above. The device can quickly and accurately calibrate the structural parameters of the machine tool before the machine tool formally processes parts, so that the actual processing precision of the machine tool is ensured to meet the expected requirement.
According to a fourth aspect of the present invention, there is also provided a computer readable storage medium having encoded thereon instructions that, when executed, implement a method according to the present invention as described above.
Other features and aspects of the present invention will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings.
Drawings
The invention may be better understood by describing exemplary embodiments thereof in conjunction with the following drawings, in which:
fig. 1 is a flow chart of a method for calibrating structural parameters of a machine tool according to the invention;
FIGS. 2(a) and 2(b) are schematic views of structural parameters of an embodiment of a machine tool according to the present invention;
FIG. 3 is a flow chart of one embodiment of a method for calibrating structural parameters of a machine tool according to the present invention;
FIG. 4 is a flow chart of another embodiment of a method for calibrating structural parameters of a machine tool according to the present invention;
FIG. 5 is a block diagram of the apparatus for calibrating structural parameters of a machine tool according to the present invention; and
fig. 6 is a block diagram showing the structure of a machine tool control system according to the present invention.
Detailed Description
The present invention will be further described with reference to the following detailed description and the accompanying drawings, wherein the following description sets forth further details for the purpose of providing a thorough understanding of the present invention, but it is apparent that the present invention can be embodied in many other forms other than those described herein, and it will be readily apparent to those skilled in the art that the invention is susceptible to considerable generalization and deduction without departing from the spirit of the invention and therefore the scope of the invention should not be limited by the contents of this detailed description.
Unless otherwise defined, technical or scientific terms used in the claims and the specification should have the ordinary meaning as understood by those of ordinary skill in the art to which the invention belongs. The use of "first," "second," and similar terms in the description and claims of this application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. The terms "a" or "an," and the like, do not denote a limitation of quantity, but rather denote the presence of at least one. The word "comprise" or "comprises", and the like, means that the element or item listed before "comprises" or "comprising" covers the element or item listed after "comprising" or "comprises" and its equivalent, and does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, nor are they restricted to direct or indirect connections.
According to an embodiment of the present invention, a method for calibrating structural parameters of a machine tool is provided.
Referring to FIG. 1, a method 100 for calibrating structural parameters of a machine tool according to the present invention is shown. The method 100 includes steps 110 through 150.
In step 110, while the height of the processing head end of the machine tool remains unchanged, each rotation axis of the machine tool is rotated to at least 2 different rotation angles to form N different rotation angle groups based on the number of the structural parameters, and height coordinate values in corresponding N machine tool coordinates of the processing head end are acquired, where N is a natural number greater than 1 and greater than at least 1 of the number of the structural parameters.
The height of the machining head tip remains constant, i.e. the distance from the machining head tip to the part to be machined is constant. In order to describe the position more conveniently and accurately in machining, a machine tool coordinate system is established in addition to the real world coordinate system, and the machine tool coordinate system includes a value related to the rotation angle of the machine tool rotation axis in addition to three-dimensional (X, Y and Z) coordinate values, so that the position of a certain point in the machine tool coordinate system is described.
The N different rotation angle groups are formed by different rotation angles to which the respective rotation axes rotate. For example, if there are 2 rotation axes, the a axis may be rotated to 3 different rotation angles (e.g., -45 °, 10, 45 °), and the B axis may be rotated to 2 different rotation angles (e.g., -45 °, 10 °), where the rotation angles are rotation angles with respect to the initial positions of the respective rotation axes (in this case, the rotation angles are 0 °). After the above arrangement and combination, at most 3 × 2 — 6 different rotation angle groups (as shown in table 1 below) can be formed, and several groups can be selected from the 6 groups according to the number of the structural parameters. For example, if there are 4 structural parameters to be calibrated, then N may be taken as 5, and 5 groups are selected from the 6 rotation angle groups in table 1. For the state of the machine tool corresponding to each rotation angle group, the Z value used for describing the height coordinate in the machine tool coordinates of the machine tool to acquire the machining head end from the servo unit of the machine tool is repeated 5 times. Of course, it is also possible to take N to 6 and to obtain the Z value of the machining head end in the machine tool coordinates for describing the height coordinate for all the following 6 rotation angle groups.
TABLE 1
A axis (°) B axis (°)
-45 -45
10 -45
45 -45
-45 10
10 10
45 10
Next, in step 120, structural parameters to be calibrated are calculated from an end pose matrix of a processing head of the machine tool based on the N different rotation angle sets and the acquired N height coordinate values.
As described above, in machine tool machining, there are a world coordinate system and a machine tool coordinate system, and the pose matrix is used to convert between these two coordinate systems. After the N different rotation angle groups are preset and the corresponding N height coordinate values are obtained, the structural parameters to be calibrated can be preliminarily calculated through the terminal pose matrix of the processing head.
In step 130, it is checked whether the calculated structural parameters meet the accuracy requirements.
In other words, it is checked whether the structural parameter calculated in step 120 is the actual structural parameter of the machine tool or whether the difference from the actual structural parameter of the machine tool is within the accuracy requirement. The check may be performed in a number of ways, such as by having the machine tool run in accordance with instructions based on the calculated structural parameters to see if the same result as expected is obtained or if the difference between the obtained result and the expected result is within an acceptable range.
If the calculated structural parameters do not meet the accuracy requirement, then step 140 is reached. In step 140, N is increased, and then steps 110 to 130 are performed again until the calculated structural parameters satisfy the accuracy requirement.
For example, N may be increased by 1, such that the preset rotation angle set and the set of height coordinate values to be obtained are both increased, the accuracy of the calculated structural parameter is also increased, the recalculated structural parameter is checked again, and if the accuracy requirement is still not met, N may be increased by 1 until the calculated structural parameter meets the accuracy requirement. Of course, N may be added by 2, 3 or 4 … … at a time according to actual conditions, for example, the test results show that the accuracy of the structural parameter calculated in step 120 is far from the desired accuracy, and in this case, the preset rotation angle set and the height coordinate value set to be obtained need to be greatly increased, so that the accuracy of the recalculated structural parameter can be greatly improved.
If the test of step 130 shows that the calculated structural parameters have met the accuracy requirements, then step 150 is entered. In step 150, the calculated structural parameter is calibrated as the structural parameter of the machine tool.
The method 100 for calibrating the structural parameters of the machine tool described above does not require any additional equipment, but rather, it is possible to accurately calibrate the structural parameters of the machine tool by presetting the rotation angle and accordingly reading the recorded height coordinate values in the machine tool coordinates of the machining head tip from the servo unit of the machine tool. The preset rotation angle and the acquired corresponding height coordinate value are in a machine tool mechanical coordinate system, the preset rotation angle and the acquired corresponding height coordinate value can be converted into world coordinates through a terminal pose matrix of the machining head, and the values of all structural parameters of the machine tool can be calculated by using the condition that the height of the terminal of the machining head is kept unchanged. The number of the rotation angle groups required to be preset and the corresponding groups of the height coordinate values required to be acquired is only required to be 1 greater than the number of the structural parameters to be calibrated. The sampling and calculating process is very convenient and rapid. For the calculated structural parameters, the method 100 further performs a test, and if the test result indicates that the accuracy requirement is not yet satisfied, increases the preset rotation angle set and the number of sets corresponding to the height coordinate values to be acquired, and calculates the values of the respective structural parameters of the machine tool again as described above until the test result indicates that the latest calculated structural parameters satisfy the accuracy requirement. The cyclic process is equivalent to continuously fitting the data for calculating the structural parameters, so that the influence of error data sampled under various interferences on the calculation of the structural parameters is eliminated to the maximum extent, and the finally calibrated structural parameters completely meet the precision requirement.
Alternatively, if the machine tool is equipped with an increaser, it can be achieved that the height of the machining head end remains constant during calibration by setting the increaser in the following state.
In general, all laser processing machines are equipped with an elevation, which is in fact a sensor, whose function is to detect the distance between the processing head and the part to be processed, which can be used to keep the height of the end of the processing head constant in the world coordinate system. For example, a five-axis groove machine tool is mainly used for cutting parts, and the capacitance sensor at the tail end of the cutting head is a height adjuster. The distance between the cutting head end and the cut part can be kept constant by the capacitance type height adjuster. When the capacitance type height adjuster is in a following state, namely the distance between the tail end of the cutting head and a part to be cut is kept constant, the height of the tail end of the cutting head can be kept unchanged in the calibration process.
Alternatively, the above-mentioned at least 2 different angles of rotation are spaced as far as possible from each other by a uniform angular difference.
Still taking the planar five-axis groove machine as an example, the rotation ranges of the two rotation axes a and B are assumed to be within ± 45 °, and the a and B axes can be respectively rotated to 3 different rotation angles as shown in table 2 below:
TABLE 2
A axis (°) B axis (°)
-45 -45
0 -45
45 -45
-45 0
0 0
45 0
-45 45
0 45
45 45
The A axis and the B axis respectively rotate to 45 degrees, 0 degrees and-45 degrees, namely, the A axis and the B axis are dispersed in the range where the rotating shaft can work as far as possible, so that the obtained data sample can calculate structural parameters meeting the precision requirement more easily, and calibration can be realized more quickly.
Alternatively, the verification step 130 may be implemented by interpolation.
For example, in the case of a five-axis groove machining tool, the tool may be put into an interpolation mode in which points, lines, or shapes are determined based on the structural parameters calculated in step 120, and it is determined whether the points, lines, or shapes match or substantially match the expected points, lines, or shapes, thereby checking whether the structural parameters calculated in step 120 meet the accuracy requirements. The term "substantially the same" as used herein means that the interpolation-determined point, line or shape does not differ from the expected point, line or shape by more than an acceptable degree of accuracy. This range corresponds to the accuracy requirement of the structural parameters. For example, for a five-axis groove machine tool, for example, the interpolation-determined point, line or shape may have an error of 0.01mm from the expected point, line or shape, and the difference between the interpolation-determined point, line or shape and the expected point, line or shape may be determined as the structural parameter calculated in step 120 meets the accuracy requirement as long as the difference does not exceed the error range, otherwise, the method 100 proceeds to step 140.
As described above, in practice, the method 100 for calibrating structural parameters of a machine tool according to the present invention can be implemented as long as the number N of initial groups is guaranteed to be 1 greater than the number of structural parameters, because the method 100 will automatically increase N and recalculate the structural parameters as long as it is verified that the structural parameters calculated in step 120 have not met the accuracy requirement, so that the accuracy of the structural parameters can be guaranteed. However, if the initial value of N is set to be larger in step 110, the preset rotation angle set and the corresponding set of height coordinate values to be obtained are also larger accordingly, and the structural parameters calculated thereby are more likely to satisfy the accuracy requirement without performing step 140, or require fewer cycles to obtain the structural parameters satisfying the accuracy requirement.
Taking a five-axis groove planer as an example, which has two rotating axes, namely an axis A and an axis B, fig. 2(a) and 2(B) respectively show a structural schematic diagram and a parameter schematic diagram of the five-axis groove planer. Where the world coordinate system and the machine tool coordinate system are shown in fig. 2(a), the machine tool coordinate system may be expressed as [ X Y Z a B ], where X, Y and Z are the relative positions of any point on the machine tool on the translation axes X, Y and Z in fig. 2(a), respectively, and a and B are the angular values of the rotation of the a and B axes in fig. 2(a), respectively. There are 4 structural parameters to be calibrated, i.e., L1 (B-axis) in the attitude shown in FIG. 2(B) (i.e., in the state where the rotation angles of both the A-axis and the B-axis are 0)The distance between the rotation center line and the axis A rotation center line in the Z-axis direction of the machine tool coordinate system), L2 (the distance between the end of the machining head and the axis B rotation center line in the X-axis direction of the machine tool coordinate system), L3 (the distance between the end of the machining head and the axis A rotation center line in the Y-axis direction of the machine tool coordinate system), and L4 (the distance between the end of the machining head and the axis A rotation center line in the Z-axis direction of the machine tool coordinate system), when the X-axis, the Y-axis, and the Z-axis of the machine tool coordinate system are respectively equal to the X-axis, the Y-World of thingsAxis, YWorld of thingsAxis and ZWorld of thingsThe axial directions coincide. When the 4 structural parameters of the planar five-axis groove machine are calibrated by the method 100, N needs to be set to 5 at minimum, so that 5 rotation angle sets are preset (for example, 5 sets can be selected from the above table 1) and corresponding 5 height coordinate values (i.e., Z-axis coordinate values in fig. 2 (a)) are acquired at step 110, and the following steps 120 to 150 are performed. However, if it is desired to obtain the structural parameters required for the matching accuracy more quickly, the initial value of N may be set to, for example, 9 directly, that is, when the method 100 starts, 9 rotation angle sets are preset (for example, the rotation angle sets in table 2 above may be used) and corresponding 9 height coordinate values (i.e., Z-axis coordinate values in fig. 2 (a)) are obtained in step 110, and the following steps 120 to 150 are performed.
Optionally, the end position and posture matrix of the processing head is established based on machine tool coordinates of the processing head end and the structural parameters to be calibrated.
As mentioned above, in machine tool machining, in addition to real world coordinates, machine tool coordinates are used to describe the position of a point, and these two coordinate systems can be transformed by a pose matrix. Still taking the planar five-axis groove machine shown in fig. 2(a) and 2(B) as an example, the machine tool mechanical coordinates of the cutting head tip can be expressed as [ X Y Z a B ], where X, Y and Z are the relative positions of the cutting head tip on the X-axis, Y-axis and Z-axis in fig. 2(a), respectively, and a and B are the angular values of the rotation of the a-axis and B-axis in fig. 2(a), respectively. And by combining structural parameters L1, L2, L3 and L4 to be calibrated, the following cutting head end pose matrix can be obtained:
Figure BDA0002802359900000091
optionally, when the number of the rotation axes is 2, the normal vector angles of the 2 rotation axes are not selected to be all the same as much as possible. And the normal vector included angle is an included angle between a normal vector formed by the positions of the 2 rotating shafts and a height coordinate axis under a machine tool mechanical coordinate system.
Still taking a five-axis planar beveling machine as an example, from the cutting head end pose matrix shown in the above formula (1), a normal vector Vec formed by the a axis and the B axis [ cosA × sinB, -sinA, cosA × cosB ] can be calculated. The coordinate axis of the height in the machine coordinate system of the machine tool is the Z axis in fig. 2(a), and the Z vector is [0, 0, 1], so that the angle therebetween, that is, the normal vector angle is aces (cos (a) × cos (b)). When the respective angles to which the a axis and the B axis are to be rotated are preset, if the finally obtained normal vector included angles acos (cos (a) × cos (B)) under each rotation angle group are all the same, such data samples are not favorable for calculating structural parameters meeting the accuracy requirement, and it is often necessary to increase N and perform the next sampling and calculation after the checking step 130. Therefore, when the angles to which the spins of the axes a and B are respectively rotated are preset, it is preferable that at least 1 of the N rotation angle groups have different normal vector angles acos (cos (a)) and cos (B)) from the remaining (N-1) normal vector angles acos (cos (a)) and cos (B)), so that poor samples in the data samples can be eliminated, and the calculated structural parameters can meet the precision requirement more quickly, thereby realizing calibration.
Optionally, the step 120 may comprise sub-steps 1202 and 1204 as shown in fig. 3.
In sub-step 1202, a tip height function of the machining head is derived based on the tip pose matrix of the machining head, the tip height function being dependent on the structural parameter to be calibrated, the rotation angle in machine coordinates of the machining head tip, and the height coordinate value in the machine coordinates.
Still taking a five-axis planar groove machine as an example, the following cutting head tip height function can be obtained through calculation from the cutting head tip pose matrix of the above formula (1):
WZ-L1 cos (b) + L2 sin (b) -L3 cos (b) -sin (a) -L4 cos (a) -cos (b) formula (2)
Wherein WZ represents the height of the tail end of the cutting head, and the height is in accordance with structural parameters L1-L4 to be calibrated, angles A and B in the machine tool mechanical coordinates (X Y Z A B) and a height coordinate value Z.
In sub-step 1204, the structural parameter to be calibrated is calculated from the terminal height function based on the N different rotation angle sets and the acquired N height coordinate values.
Still taking the example of a planar five-axis groove machine, if N is taken to be 5, then 5 rotation angle groups are preset and accordingly 5 height coordinate values Z are acquired from the servo unit of the machine tool1～Z5The 5 rotation angles are grouped into (A)1～A5And B1～B5For example, 5 groups may be selected from the above table 1) and 5 height coordinate values Z1～Z5By substituting the above equation (2), 5 equation sets can be obtained:
Z1-L1*cos(B1)+L2*sin(B1)-L3*cos(B1)*sin(A1)-L4*cos(A1)*cos(B1)＝const
Z2-L1*cos(B2)+L2*sin(B2)-L3*cos(B2)*sin(A2)-L4*cos(A2)*cos(B2)＝const
Z3-L1*cos(B3)+L2*sin(B3)-L3*cos(B3)*sin(A3)-L4*cos(A3)*cos(B3)＝const
Z4-L1*cos(B4)+L2*sin(B4)-L3*cos(B4)*sin(A4)-L4*cos(A4)*cos(B4)＝const
Z5-L1*cos(B5)+L2*sin(B5)-L3*cos(B5)*sin(A5)-L4*cos(A5)*cos(B5)＝const
const indicates that the height of the cutting head tip remains constant during calibration (e.g., by setting the height adjuster to the following state), i.e., WZ in equation (2) remains constant. Thus, structural parameters L1, L2, L3 and L4 can be calculated.
For another example, in the case of a five-axis groove planer, as described above, if N is directly 9, 9 rotation angle groups (for example, angle groups shown in table 2) may be preset, and 9 height coordinate values Z may be acquired from the servo unit of the planer in accordance with the preset rotation angle groups1～Z9The 9 rotation angles are grouped into (A)1～A9And B1～B9) And 9 height coordinate values Z1～Z9By substituting the above equation (2), 9 equations can be obtained:
Zi-L1*cos(Bi)+L2*sin(Bi)-L3*cos(Bi)*sin(Ai)-L4*cos(Ai)*cos(Bi) Const formula (3)
(i is a natural number 1 to 9)
The increased sampling arrays can be fitted, which is beneficial to eliminating the influence of various interference data when the structural parameters are calculated for the first time. The structural parameters L1, L2, L3 and L4 calculated in this way will be more likely to meet the accuracy requirement without performing step 140, or require fewer cycles to obtain structural parameters meeting the accuracy requirement.
Optionally, the sub-step 1204 may further include sub-step 12041 and sub-step 12042 as shown in fig. 4.
In substep 12041, the N different rotation angle groups and the acquired N height coordinate values are input to the terminal height function, thereby obtaining a sampling matrix.
In the above example of the planar five-axis groove machine tool, taking N to 9, 9 equation sets shown in formula (3) can be obtained, and based on the 9 equation sets, a sampling matrix can be obtained, specifically including a coefficient matrix a and a data matrix b:
Figure BDA0002802359900000111
in substep 12042, the structural parameter to be calibrated is calculated based on the sampling matrix.
In the example of the five-axis planar groove machine tool, based on the coefficient matrix a and the data matrix b obtained above, L ═ a \ b is calculated, L is a vector with a length of 5, and the first 4 dimensions of L are structural parameters L1, L2, L3, and L4, respectively.
It should be noted that although most of the above descriptions are given by taking a planar five-axis groove machine as an example, those skilled in the art will understand that the method for calibrating the structural parameters of the machine tool of the present invention is equally applicable to other five-axis machines and machines with other numbers of rotating axes.
Up to now, a method for calibrating structural parameters of a machine tool according to the invention has been described. Conventionally, in order to calibrate structural parameters of a machine tool, expensive additional equipment such as a ball bar instrument and a laser interferometer needs to be introduced, which greatly increases the equipment cost. The inventor of the application skillfully adopts a brand-new calibration method, does not need any additional equipment at all, and can accurately and automatically calibrate the structural parameters of the machine tool only by correspondingly acquiring the height coordinate value of the end of the machining head from the servo unit of the machine tool when the rotating shaft of the machine tool rotates to a corresponding angle. The calibration method can continuously fit the finally calculated data by gradually increasing the sampling samples according to the detection result, thereby realizing the calibration meeting the precision requirement with the least operation time.
There is also provided, in accordance with an embodiment of the present invention, a computer-readable storage medium having encoded thereon instructions that, when executed, implement the above-described method for calibrating structural parameters of a machine tool. The computer-readable storage medium may include a hard disk drive, a floppy disk drive, a compact disk read/write (CD-R/W) drive, a Digital Versatile Disk (DVD) drive, a flash memory drive, and/or a solid state storage device, among others.
According to the embodiment of the invention, the device for calibrating the structural parameters of the machine tool is also correspondingly provided.
Referring to fig. 5, there is shown an apparatus 500 for calibrating structural parameters of a machine tool according to the invention, comprising a calculation unit 520 and a control unit 540.
The calculation unit 520 is used for calculating structural parameters to be calibrated.
The control unit 540 is then configured to perform the following operations: a) under the condition that the height of the processing head end of the machine tool is kept unchanged, enabling each rotating shaft of the machine tool to respectively rotate to at least 2 different rotating angles so as to form N different rotating angle groups based on the number of the structural parameters, and acquiring height coordinate values in corresponding N machine tool mechanical coordinates of the processing head end, wherein N is a natural number larger than 1 and is at least 1 larger than the number of the structural parameters; b) controlling the calculation unit to calculate structural parameters to be calibrated from an end pose matrix of a machining head of the machine tool based on the N different rotation angle groups and the acquired N height coordinate values; c) checking whether the calculated structural parameters meet the precision requirement; d) if the calculated structural parameter does not meet the precision requirement, increasing N, and executing the operations a) to c) again until the calculated structural parameter meets the precision requirement; and e) calibrating the calculated structural parameter to the structural parameter of the machine tool.
Alternatively, if the machine tool is equipped with an increaser, the increaser can be set in a following state, so that the height of the end of the machining head remains unchanged during calibration.
Alternatively, the above-mentioned at least 2 different angles of rotation are spaced as far as possible from each other by a uniform angular difference.
Alternatively, the control unit 540 may control the machine tool to enter an interpolation mode to perform the inspection.
Alternatively, if the machine has 2 axes of rotation and 4 machine structural parameters to be calibrated, N may be set to 9.
Optionally, the calculation unit 520 establishes an end pose matrix of the processing head based on machine tool coordinates of the processing head and the structural parameters to be calibrated.
Optionally, when the number of the rotation axes is 2, a normal vector included angle of 2 rotation axes corresponding to at least 1 rotation angle in the N different rotation angle groups is different from that of the remaining (N-1) rotation angle groups, and the normal vector included angle is an included angle between a normal vector formed by positions of the 2 rotation axes and a height coordinate axis in a machine coordinate system of the machine tool.
Optionally, the calculation unit 520 is configured to: obtaining a terminal height function of the processing head based on the terminal pose matrix of the processing head, wherein the terminal height function is in strain with the structural parameter to be calibrated, the rotation angle in the machine tool mechanical coordinate of the terminal of the processing head and the height coordinate value in the machine coordinate; and calculating the structural parameter to be calibrated from the tail end height function based on the N different rotation angle groups and the obtained N height coordinate values.
Optionally, the calculation unit 520 is further configured to: inputting the N different rotation angle groups and the obtained N height coordinate values into the tail end height function, so as to obtain a sampling matrix; and calculating the structural parameters to be calibrated based on the sampling matrix.
The above-described device 500 may implement the method for calibrating the structural parameters of a machine tool according to the invention as described previously. Many design concepts and details applicable to the method for calibrating structural parameters of a machine tool according to the present invention are also applicable to the apparatus 500, and the same advantageous technical effects can be obtained, which are not described herein again.
There is also provided, in accordance with an embodiment of the present invention, a machine tool control system 600, as shown in fig. 6, which includes a machine tool 620 and a control device 640. The control device 640 corresponds to the device 500 for calibrating the structural parameters of the machine tool described above, and can quickly and accurately calibrate the structural parameters of the machine tool 620 before the machine tool 620 formally machines the part, so as to avoid the deformation of the machining trajectory when the machine tool 620 machines the part, and ensure that the actual machining precision of the machine tool 620 meets the expected requirement.
Various aspects of the present invention have been described above with reference to some exemplary embodiments. Nevertheless, it will be understood that various modifications may be made to the exemplary embodiments described above without departing from the spirit and scope of the invention. For example, if the described techniques are performed in a different order and/or if components in a described system, architecture, device, or circuit are combined in a different manner and/or replaced or supplemented by additional components or their equivalents, then these modified other implementations are accordingly intended to fall within the scope of the claims.

Claims (20)

1. A method for calibrating structural parameters of a machine tool, comprising the steps of:
a) under the condition that the height of the processing head end of the machine tool is kept unchanged, enabling each rotating shaft of the machine tool to respectively rotate to at least 2 different rotating angles so as to form N different rotating angle groups based on the number of the structural parameters, and acquiring height coordinate values in corresponding N machine tool mechanical coordinates of the processing head end, wherein N is a natural number larger than 1 and is at least 1 larger than the number of the structural parameters;
b) calculating structural parameters to be calibrated from a terminal pose matrix of a machining head of the machine tool based on the N different rotation angle groups and the acquired N height coordinate values;
c) checking whether the calculated structural parameters meet the precision requirement;
d) if the calculated structural parameter does not meet the precision requirement, increasing N, and executing the steps a) to c) again until the calculated structural parameter meets the precision requirement; and
e) and calibrating the calculated structural parameters as the structural parameters of the machine tool.
2. The method of claim 1, wherein the height adjuster of the machine tool is in a follow-up state.
3. The method of claim 1, wherein the at least 2 different rotation angles are spaced from each other by a uniform angular difference.
4. The method of claim 1, wherein the checking is performed by interpolation.
5. The method according to claim 1, wherein when the number of the rotation axes is 2, a normal vector included angle of 2 rotation axes corresponding to at least 1 rotation angle in the N different rotation angle groups is different from that of the remaining (N-1) rotation angle groups, and the normal vector included angle is an included angle between a normal vector formed by positions of the 2 rotation axes and a height coordinate axis in a machine coordinate system of the machine tool.
6. The method of claim 1, wherein the number of said rotational axes is 2, the number of said structural parameters is 4, and said N is 9.
7. The method according to any one of claims 1 to 6, wherein said step b) comprises:
b1) obtaining a terminal height function of the processing head based on the terminal pose matrix of the processing head, wherein the terminal height function is in strain with the structural parameter to be calibrated, the rotation angle in the machine tool mechanical coordinate of the terminal of the processing head and the height coordinate value in the machine coordinate; and
b2) and calculating the structural parameter to be calibrated from the tail end height function based on the N different rotation angle groups and the obtained N height coordinate values.
8. The method as claimed in claim 7, wherein the step b2) comprises:
inputting the N different rotation angle groups and the obtained N height coordinate values into the tail end height function, so as to obtain a sampling matrix; and
and calculating the structural parameters to be calibrated based on the sampling matrix.
9. A method as claimed in any one of claims 1 to 6 in which the matrix of end positions of the process head is established based on machine tool coordinates of the process head end and the structural parameters to be calibrated.
10. An apparatus for calibrating structural parameters of a machine tool, comprising:
the calculation unit is used for calculating structural parameters to be calibrated; and
a control unit configured to perform the following operations:
a) under the condition that the height of the processing head end of the machine tool is kept unchanged, enabling each rotating shaft of the machine tool to respectively rotate to at least 2 different rotating angles so as to form N different rotating angle groups based on the number of the structural parameters, and acquiring height coordinate values in corresponding N machine tool mechanical coordinates of the processing head end, wherein N is a natural number larger than 1 and is at least 1 larger than the number of the structural parameters;
b) controlling the calculation unit to calculate structural parameters to be calibrated from an end pose matrix of a machining head of the machine tool based on the N different rotation angle groups and the acquired N height coordinate values;
c) checking whether the calculated structural parameters meet the precision requirement;
d) if the calculated structural parameter does not meet the precision requirement, increasing N, and executing the operations a) to c) again until the calculated structural parameter meets the precision requirement; and
e) and calibrating the calculated structural parameters as the structural parameters of the machine tool.
11. The apparatus of claim 10, wherein the height adjuster of the machine tool is in a following state.
12. The apparatus of claim 10, wherein the at least 2 different rotation angles are spaced from each other by a uniform angular difference.
13. The apparatus of claim 10, wherein the checking is performed by interpolation.
14. The method according to claim 10, wherein when the number of the rotation axes is 2, a normal vector angle of 2 rotation axes corresponding to at least 1 rotation angle in the N different rotation angle groups is different from that of the remaining (N-1) rotation angle groups, and the normal vector angle is an angle between a normal vector formed by positions of the 2 rotation axes and a height coordinate axis in a machine coordinate system of the machine tool.
15. The apparatus of claim 10, wherein the number of said rotation axes is 2, the number of said structural parameters is 4, and said N is 9.
16. The apparatus of any of claims 10 to 15, wherein the computing unit is configured to:
obtaining a terminal height function of the processing head based on the terminal pose matrix of the processing head, wherein the terminal height function is in strain with the structural parameter to be calibrated, the rotation angle in the machine tool mechanical coordinate of the terminal of the processing head and the height coordinate value in the machine coordinate; and
and calculating the structural parameter to be calibrated from the tail end height function based on the N different rotation angle groups and the obtained N height coordinate values.
17. The apparatus of claim 16, wherein the computing unit is further configured to:
inputting the N different rotation angle groups and the obtained N height coordinate values into the tail end height function, so as to obtain a sampling matrix; and
and calculating the structural parameters to be calibrated based on the sampling matrix.
18. The apparatus of any of claims 10 to 15 wherein the calculation unit establishes an end pose matrix of the processing head based on machine tool coordinates of the processing head and the structural parameters to be calibrated.
19. A machine tool control system comprising:
a machine tool; and
a device according to any one of claims 10 to 18, for calibrating a structural parameter of the machine tool.
20. A computer readable storage medium having encoded thereon instructions that, when executed, implement the method of any of claims 1-9.
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