CN115383518B - Quick measuring method for turntable error of numerically controlled milling machine - Google Patents
Quick measuring method for turntable error of numerically controlled milling machine Download PDFInfo
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Abstract
The method uses a laser tracker or a multi-camera to fix a target on a turntable of the machine tool, the turntable moves according to a set program, the instrument tracks and measures the target coordinate value, and the turntable error can be obtained according to coordinate data and a calculation formula provided by the invention, so that the quick and accurate measurement of the turntable error of the machine tool is realized.
Description
Technical Field
The invention relates to the field of numerical control machining of metals, in particular to a measuring method for a turntable movement error of a numerical control milling machine tool.
Background
Numerical control milling is a method of performing metal cutting on a workpiece by setting processing parameters such as rotation speed and feed and a processing path specified in a numerical control program.
The machining path refers to the motion track of a cutter relative to a workpiece during machining, and the accuracy degree of the motion track directly influences the shape and position accuracy of milling machining. The five-axis numerically controlled machine tool comprises three translational axes XYZ and two rotational axes AC, AB or BC. One way to achieve C-axis revolution is to add a turntable on the X/Y axis. The motion error of the turntable has great influence on the machining path precision of the numerical control machine tool.
The turntable motion error comprises six items, namely translation error delta cx 、δ cy 、δ cz Refers to the deviation error and the rotation angle error epsilon of the machine tool X, Y, Z in three directions in the movement process of the turntable cx 、ε cy 、ε cz Refers to the torsional errors that occur in three directions around the machine X, Y, Z during turntable movement. Different angles of rotation of the turntable correspond to different error values of each error term.
The existing measuring method of the turntable error comprises the following steps:
1. and fixing the dial indicator on a main shaft of the machine tool, driving the dial indicator to move by the XYZ translational shaft of the machine tool, and evaluating the flatness of the turntable of the machine tool according to the fluctuation range of the dial indicator. And arranging a standard check rod or a standard ball on the turntable, installing a measuring probe on a main shaft of the machine tool, operating the probe to measure the check rod or the standard ball according to a detection specification set by a manufacturer through a measuring cycle arranged in the machine tool, and evaluating the error of the turntable according to the result.
The method can not separate the translational shaft movement error, and can not measure the actual movement error value of the turntable, and can only evaluate whether the turntable movement error is overlarge according to the performance.
2. Two ends of the ball arm instrument are respectively arranged on a machine tool turntable and a spindle head, one end of the machine tool is driven to move by an XYZ translational shaft, the turntable moves cooperatively according to a preset program, and various error values of the machine tool turntable are calculated back through the change of the expansion and contraction amount measured by the ball arm instrument. The method can not separate the translational shaft movement error, has complicated measurement mode, long measurement time, takes up a few days for completing the measurement, has low operability and can not measure the axial deviation error delta cz And c-axis angle error ε cx 、ε cy 、ε cz The measurement is completed in a time of several days.
3. The laser interferometer is arranged on the turntable, the reflecting mirror is arranged on the main shaft of the machine tool, the XYZ translational axis of the machine tool drives one end to move, the turntable moves cooperatively according to a preset program, and each error value of the turntable of the machine tool is calculated reversely through the change of the distance value measured by the laser interferometer. The method can not separate the translational shaft movement error, is difficult to debug, has high requirements on the internal space of the machine tool, takes up a week of machine time for completing the measurement, and has poor economy.
Disclosure of Invention
The invention aims to provide a rapid measuring method for errors of a turntable of a numerical control milling machine, which can realize rapid and accurate measurement of errors of a turntable of the machine tool.
The quick measuring method for the error of the turntable of the numerical control machine tool comprises a turntable, wherein the turntable is connected to a translational shaft, can move along the translational shaft and can rotate around the axis of the turntable, and is characterized by comprising the following steps:
1. and (3) equipment:
laser tracker, target and target seat
2. The operation mode is as follows:
1) Arranging a laser tracker outside the machine tool and close to the turntable, wherein the position requirement is free from shielding of the whole turntable visual angle; 2) Arranging a target and a target seat on a first position, which is far away from the axis of a turntable, of a turntable of a machine tool; 3) At the number ofOn the premise that the control machine tool is at a mechanical zero point, controlling the turntable to move along a translation axis, measuring target coordinates by using a laser tracker to obtain a series of target linear motion coordinate values under a laser tracker coordinate system, and fitting a space line of target motion by using the laser tracker; 4) The translational shaft of the numerical control machine tool is zeroed, the turntable is controlled to rotate around the axis of the numerical control machine tool at equal angles for a plurality of times to complete 360 degrees, a laser tracker is used for measuring target coordinates at each equal angular rotation position, a series of target rotary motion coordinate values under a laser tracker coordinate system are obtained, and a space plane of target motion, a rotary center and a rotary radius of target motion are fitted by using the laser tracker; 5) Setting the circle center of the target motion as an origin, setting the space linear direction of the target motion as the X direction of a coordinate system, setting the space plane of the target motion as the XY plane of the coordinate system, and establishing a machine tool coordinate system; 6) Converting the target rotary motion coordinate value under the laser tracker coordinate system into a machine tool coordinate system to obtain a first target position rotary motion coordinate value A (x a ，y a ，z a ) The method comprises the steps of carrying out a first treatment on the surface of the 7) Zeroing a machine tool turntable, arranging a target and a target seat on a second position, which is far away from the axis of the turntable, on the machine tool turntable, controlling the turntable to rotate around the axis of the turntable for a plurality of times at the same angle as the step 4) to complete 360 degrees, measuring a target coordinate at each equiangular rotation position by using a laser tracker, and obtaining a second target position rotary motion coordinate value B (x b ，y b ，z b ) The method comprises the steps of carrying out a first treatment on the surface of the 8) Returning the machine tool turntable to zero again, arranging the target and the target seat on a third position, which is far away from the axis of the turntable, on the machine tool turntable, controlling the turntable to rotate around the axis of the turntable for a plurality of times at the same angle as the step 4) to complete 360 degrees, measuring the target coordinates at each equiangular rotation position by using a laser tracker, and obtaining a series of third target position rotary motion coordinate values C (x c ，y c ，z c ) The method comprises the steps of carrying out a first treatment on the surface of the 9) According to the first target position rotary motion coordinate value A (x a ，y a ，z a ) Second target position rotary motion coordinate value B (x) b ，y b ，z b ) Third target position return under machine tool coordinate systemRotational motion coordinate value C (x) c ，y c ，z c ) The rotation errors of the turntable in the x direction, the rotation errors of the turntable in the y direction, the rotation errors of the turntable in the z direction, the translation errors of the turntable in the x direction, the translation errors of the turntable in the y direction and the translation errors of the turntable in the z direction are calculated respectively.
3. And (3) data processing:
1) For the rotational error of the turntable in the z-direction, calculated by the following formula,
in which x is a0 The coordinate value x is x of the rotary motion of the first target position under the angle zero degree of the turntable b0 The coordinate value of the second target position rotary motion x-direction under the angle zero degree of the turntable.
2) For the translation error of the turret in the x-direction, calculated with the following formula,
δ cx ＝x a -x a0 -ε cz ·y a0
in which x is a0 Is the x-direction coordinate value, y of the rotary motion of the first target position under the angle zero degree of the turntable a0 The y-direction coordinate value of the rotary motion of the first target position under the angle zero degree of the turntable.
3) For the translational error of the turntable in the y-direction, calculated by the following formula,
δ cy ＝y a -y a0 -ε cz ·x a0 in which x is a0 Is the x-direction coordinate value, y of the rotary motion of the first target position under the angle zero degree of the turntable a0 The y-direction coordinate value of the rotary motion of the first target position under the angle zero degree of the turntable.
4) For the rotation error of the turntable in the x-direction, calculated by the following formula,
in which x is a0 The coordinate value x is x of the rotary motion of the first target position under the angle zero degree of the turntable b0 The coordinate value x is x of the rotary motion x-direction of the second target position under the angle zero degree of the turntable c0 The coordinate value y of the rotary motion x-direction of the third target position under the angle zero degree of the turntable a0 The y-direction coordinate value, y of the rotary motion of the first target position under the angle zero degree of the turntable b0 The y-direction coordinate value, y of the rotary motion of the second target position under the angle zero degree of the turntable c0 The y-direction coordinate value of the rotary motion of the third target position under the angle zero degree of the turntable.
5) For the revolution error of the turntable in the y-direction, calculated by the following formula,
in which x is a0 The coordinate value x is x of the rotary motion of the first target position under the angle zero degree of the turntable b0 The coordinate value x is x of the rotary motion x-direction of the second target position under the angle zero degree of the turntable c0 The coordinate value y of the rotary motion x-direction of the third target position under the angle zero degree of the turntable a0 The y-direction coordinate value, y of the rotary motion of the first target position under the angle zero degree of the turntable b0 The y-direction coordinate value, y of the rotary motion of the second target position under the angle zero degree of the turntable c0 The y-direction coordinate value of the rotary motion of the third target position under the angle zero degree of the turntable.
6) For the translation error of the turntable in the z-direction, calculated with the following formula,
δ cz ＝z a -z a0 -ε cx ·y a0 -ε cy ·x a0
in which x is a0 Is the x-direction coordinate value, y of the rotary motion of the first target position under the angle zero degree of the turntable a0 The y-direction coordinate value, z of the rotary motion of the first target position under the angle zero degree of the turntable a0 The z coordinate value of the rotary motion of the first target position under the angle zero degree of the turntable.
Advantageous effects
The rapid measuring method for the turntable error of the numerical control milling machine can be widely applied to the turntable error measurement of various machine tools. The problems of incomplete measurement type, complicated measurement mode and long equipment debugging time of the old turntable error measurement method are effectively solved, and the machine occupation time of turntable error test is shortened from three days to 4 hours.
Drawings
FIG. 1 is a schematic view of a numerical control machine tool structure and a target mounting position
FIG. 2 is a schematic diagram of a machine tool measurement device arrangement
FIG. 3 is a schematic diagram of turntable error
FIG. 4 is a schematic illustration of the angular rotation of the turntable during error measurement
The numbering in the figures illustrates: 1 machine tool, 2 machine tool X axis, 3 machine tool C axis, 4 target position A, 5 target position B, 6 target position C, 7 machine tool coordinate system, 8 laser tracker coordinate system, 9 laser tracker, 10 rotary table offset delta in z direction when rotating cy The 11 turn table twists by an angle delta around the z-axis when rotating εz The 12 turn table generates an offset value delta in the x direction when rotating cx The 13 turntable twists around the x-axis by an angle epsilon when rotating cx The 14 rotary tables are offset by delta in y direction when rotating εy The 15 turntable generates an offset delta in the y direction during rotation εy 。
Detailed Description
Taking a laser tracker for measuring a Demahalanobis 160p machine tool as an example, the method for rapidly measuring the error of the turntable of the numerical control machine tool provided by the invention comprises the following specific steps:
1) Releasing the safety mode of the machine tool, opening a machine tool door, and controlling each shaft of the machine tool to return to zero;
2) The laser tracker 9 is arranged outside the machine tool 3, and the position is required to be free from shielding facing the whole turntable visual angle, as shown in fig. 2;
3) Arranging a target and a target seat on a first position, which is far away from the axis of a turntable, of a turntable of a machine tool;
4) On the premise that the numerical control machine is at a mechanical zero point, controlling the turntable to move along a translation axis, measuring target coordinates by using a laser tracker to obtain a series of target linear motion coordinate values under a laser tracker coordinate system, and fitting a space line of target motion by using the laser tracker;
5) Turning the translational shaft of the numerical control machine back to zero, controlling the turntable to rotate around the axis of the numerical control machine at equal angles for one circle, as shown in fig. 4, rotating each equal angle for 15 degrees for a plurality of times to finish 360 degrees, measuring target coordinates at each 15-degree rotation position by using a laser tracker to obtain a series of target rotary motion coordinate values under a laser tracker coordinate system, and fitting a space plane of target motion, a rotary center and a rotary radius of target motion by using the laser tracker;
6) Setting the circle center of the target motion as an origin, setting the space linear direction of the target motion as the X direction of a coordinate system, setting the space plane of the target motion as the XY plane of the coordinate system, and establishing a machine tool coordinate system;
7) Converting the target rotary motion coordinate value under the laser tracker coordinate system into a machine tool coordinate system to obtain a first target position rotary motion coordinate value A (x a ，y a ，z a )；
8) Zeroing a machine tool turntable, arranging a target and a target seat on a second position, which is far away from the axis of the turntable, on the machine tool turntable, controlling the turntable to rotate around the axis of the turntable at an equiangular angle of 15 degrees for a plurality of times to finish 360 degrees, measuring target coordinates at each equiangular rotation position by using a laser tracker, and obtaining a second target position rotary motion coordinate value B (x b ，y b ，z b )；
9) Returning the machine tool turntable to zero again, arranging the target and the target seat on a third position, which is far away from the axis of the turntable, on the machine tool turntable, controlling the turntable to rotate around the axis of the turntable for a plurality of times at an angle of 15 degrees to complete 360 degrees, measuring the target coordinates at each equiangular rotation position by using a laser tracker, and obtaining a series of third target position rotary motion coordinate values C (x c ，y c ，z c )；
10 According to the first target position rotary motion coordinate value A (x) in the machine tool coordinate system a ，y a ，z a ) Second target position rotary motion coordinate value B (x) b ，y b ，z b ) Third target position rotary motion coordinate value C (x) c ，y c ，z c ) The method comprises the steps of respectively calculating the rotation error of the turntable around the axis of the turntable at every 15 degrees, wherein the rotation error comprises the rotation error of the turntable in the x direction, the rotation error of the turntable in the y direction, the rotation error of the turntable in the z direction, the translation error of the turntable along the x direction, the translation error of the turntable along the y direction and the translation error of the turntable along the z direction.
11 Data processing:
a) For the rotational error of the turntable in the z-direction, calculated by the following formula,
in which x is a0 The coordinate value x is x of the rotary motion of the first target position under the angle zero degree of the turntable b0 The coordinate value of the second target position rotary motion x-direction under the angle zero degree of the turntable.
b) For the translation error of the turret in the x-direction, calculated with the following formula,
δ cx ＝x a -x a0 -ε cz ·y a0
in which x is a0 Is the x-direction coordinate value, y of the rotary motion of the first target position under the angle zero degree of the turntable a0 The y-direction coordinate value of the rotary motion of the first target position under the angle zero degree of the turntable.
c) For the translational error of the turntable in the y-direction, calculated by the following formula,
δ cy ＝y a -y a0 -ε cz ·x a0
in which x is a0 Is the x-direction coordinate value, y of the rotary motion of the first target position under the angle zero degree of the turntable a0 The y-direction coordinate value of the rotary motion of the first target position under the angle zero degree of the turntable.
d) For the rotation error of the turntable in the x-direction, calculated by the following formula,
in which x is a0 The coordinate value x is x of the rotary motion of the first target position under the angle zero degree of the turntable b0 The coordinate value x is x of the rotary motion x-direction of the second target position under the angle zero degree of the turntable c0 The coordinate value y of the rotary motion x-direction of the third target position under the angle zero degree of the turntable a0 The y-direction coordinate value, y of the rotary motion of the first target position under the angle zero degree of the turntable b0 The y-direction coordinate value, y of the rotary motion of the second target position under the angle zero degree of the turntable c0 The y-direction coordinate value of the rotary motion of the third target position under the angle zero degree of the turntable.
e) For the revolution error of the turntable in the y-direction, calculated by the following formula,
in which x is a0 The coordinate value x is x of the rotary motion of the first target position under the angle zero degree of the turntable b0 The coordinate value x is x of the rotary motion x-direction of the second target position under the angle zero degree of the turntable c0 The coordinate value y of the rotary motion x-direction of the third target position under the angle zero degree of the turntable a0 The y-direction coordinate value, y of the rotary motion of the first target position under the angle zero degree of the turntable b0 The y-direction coordinate value, y of the rotary motion of the second target position under the angle zero degree of the turntable c0 The y-direction coordinate value of the rotary motion of the third target position under the angle zero degree of the turntable.
f) For the translation error of the turntable in the z-direction, calculated with the following formula,
δ cz ＝z a -z a0 -ε cx ·y a0 -ε cy ·x a0
in which x is a0 Is the x-direction coordinate value, y of the rotary motion of the first target position under the angle zero degree of the turntable a0 The y-direction coordinate value, z of the rotary motion of the first target position under the angle zero degree of the turntable a0 The z coordinate value of the rotary motion of the first target position under the angle zero degree of the turntable.
Claims (7)
1. The quick measuring method for the turntable error of the numerically controlled milling machine comprises a turntable which is connected with a translation shaftThe rotary table can move along a translation shaft and can rotate around the axis of the rotary table, and is characterized by comprising the following steps that 1) the laser tracker is arranged outside the machine tool and is close to the rotary table, and the position is required to be free from shielding of the whole visual angle of the rotary table; 2) Arranging a target and a target seat on a first position, which is far away from the axis of a turntable, of a turntable of a machine tool; 3) On the premise that the numerical control machine is at a mechanical zero point, controlling the turntable to move along a translation axis, measuring target coordinates by using a laser tracker to obtain a series of target linear motion coordinate values under a laser tracker coordinate system, and fitting a space line of target motion by using the laser tracker; 4) The translational shaft of the numerical control machine tool is zeroed, the turntable is controlled to rotate around the axis of the numerical control machine tool at equal angles for a plurality of times to complete 360 degrees, a laser tracker is used for measuring target coordinates at each equal angular rotation position, a series of target rotary motion coordinate values under a laser tracker coordinate system are obtained, and a space plane of target motion, a rotary center and a rotary radius of target motion are fitted by using the laser tracker; 5) Setting the circle center of the target motion as an origin, setting the space linear direction of the target motion as the X direction of a coordinate system, setting the space plane of the target motion as the XY plane of the coordinate system, and establishing a machine tool coordinate system; 6) Converting the target rotary motion coordinate value under the laser tracker coordinate system into a machine tool coordinate system to obtain a first target position rotary motion coordinate value A (x a ，y a ，z a ) The method comprises the steps of carrying out a first treatment on the surface of the 7) Zeroing a machine tool turntable, arranging a target and a target seat on a second position, which is far away from the axis of the turntable, on the machine tool turntable, controlling the turntable to rotate around the axis of the turntable for a plurality of times at the same angle as the step 4) to complete 360 degrees, measuring a target coordinate at each equiangular rotation position by using a laser tracker, and obtaining a second target position rotary motion coordinate value B (x b ，y b ，z b ) The method comprises the steps of carrying out a first treatment on the surface of the 8) Returning the machine tool turntable to zero again, arranging the target and the target seat on a third position, which is far away from the axis of the turntable, on the machine tool turntable, controlling the turntable to rotate around the axis of the turntable for a plurality of times at the same angle as the step 4) to finish 360 degrees, and measuring the target coordinates at each equiangular rotation position by using a laser tracker to obtain a series of third target position rotary motion coordinates under the machine tool coordinate systemValue C (x) c ，y c ，z c ) The method comprises the steps of carrying out a first treatment on the surface of the 9) According to the first target position rotary motion coordinate value A (x a ，y a ，z a ) Second target position rotary motion coordinate value B (x) b ，y b ，z b ) Third target position rotary motion coordinate value C (x) c ，y c ，z c ) The rotation errors of the turntable in the x direction, the rotation errors of the turntable in the y direction, the rotation errors of the turntable in the z direction, the translation errors of the turntable in the x direction, the translation errors of the turntable in the y direction and the translation errors of the turntable in the z direction are calculated respectively.
2. The rapid measuring method of turntable error of numerically controlled milling machine according to claim 1, wherein the rotation error of the turntable in the z direction is calculated by the following formula,
in which x is a0 The coordinate value x is x of the rotary motion of the first target position under the angle zero degree of the turntable b0 The x-direction coordinate value, y of the rotary motion of the second target position under the angle zero degree of the turntable a0 The y-direction coordinate value, y of the rotary motion of the first target position under the angle zero degree of the turntable b0 The y-direction coordinate value of the rotary motion of the second target position under the angle zero degree of the turntable.
3. The rapid measuring method of turntable error of numerically controlled milling machine according to claim 1, wherein the translational error of the turntable along the x-direction is calculated by the following formula,
δ cx ＝x a -x a0 -ε cz ·y a0
in which x is a0 Is the x-direction coordinate value, y of the rotary motion of the first target position under the angle zero degree of the turntable a0 For the y-direction coordinate value epsilon of the rotary motion of the first target position under the angle zero degree of the turntable cz Refers to a rotation error which occurs around the Z direction of the machine tool in the process of moving the turntable.
4. The rapid measuring method of turntable error of numerically controlled milling machine according to claim 1, wherein the translational error of the turntable along the y direction is calculated by the following formula,
δ cy ＝y a -y a0 -ε cz ·x a0
in which x is a0 Is the x-direction coordinate value, y of the rotary motion of the first target position under the angle zero degree of the turntable a0 For the y-direction coordinate value epsilon of the rotary motion of the first target position under the angle zero degree of the turntable cz Refers to a rotation error which occurs around the Z direction of the machine tool in the process of moving the turntable.
5. The rapid measuring method of turntable error of numerically controlled milling machine according to claim 1, wherein the rotation error of the turntable in the x direction is calculated by the following formula,
in which x is a0 The coordinate value x is x of the rotary motion of the first target position under the angle zero degree of the turntable b0 The coordinate value x is x of the rotary motion x-direction of the second target position under the angle zero degree of the turntable c0 The coordinate value y of the rotary motion x-direction of the third target position under the angle zero degree of the turntable a0 The y-direction coordinate value, y of the rotary motion of the first target position under the angle zero degree of the turntable b0 The y-direction coordinate value, y of the rotary motion of the second target position under the angle zero degree of the turntable c0 The y-direction coordinate value of the rotary motion of the third target position under the angle zero degree of the turntable.
6. The rapid measuring method of turntable error of numerically controlled milling machine according to claim 1, wherein the rotation error of the turntable in the y direction is calculated by the following formula,
in which x is a0 The coordinate value x is x of the rotary motion of the first target position under the angle zero degree of the turntable b0 The coordinate value x is x of the rotary motion x-direction of the second target position under the angle zero degree of the turntable c0 The coordinate value y of the rotary motion x-direction of the third target position under the angle zero degree of the turntable a0 The y-direction coordinate value, y of the rotary motion of the first target position under the angle zero degree of the turntable b0 The y-direction coordinate value, y of the rotary motion of the second target position under the angle zero degree of the turntable c0 The y-direction coordinate value of the rotary motion of the third target position under the angle zero degree of the turntable.
7. The rapid measuring method of turntable error of numerically controlled milling machine according to claim 1, wherein the translational error of the turntable along the z direction is calculated by the following formula,
δ cz ＝z a -z a0 -ε cx ·y a0 -ε cy ·x a0
in which x is a0 Is the x-direction coordinate value, y of the rotary motion of the first target position under the angle zero degree of the turntable a0 The y-direction coordinate value, z of the rotary motion of the first target position under the angle zero degree of the turntable a0 For the z coordinate value epsilon of the rotary motion of the first target position under the angle zero degree of the turntable cx Refers to a rotation error epsilon generated around the X direction of a machine tool in the movement process of a turntable cy Refers to a rotation error which occurs around the Y direction of the machine tool during the movement of the turntable.
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