CN101595373A - 用于补偿加工机械中的几何误差的方法和装置 - Google Patents

用于补偿加工机械中的几何误差的方法和装置 Download PDF

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CN101595373A
CN101595373A CNA2007800465882A CN200780046588A CN101595373A CN 101595373 A CN101595373 A CN 101595373A CN A2007800465882 A CNA2007800465882 A CN A2007800465882A CN 200780046588 A CN200780046588 A CN 200780046588A CN 101595373 A CN101595373 A CN 101595373A
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B·彼得松
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    • 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
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    • B23Q15/013—Control or regulation of feed movement
    • B23Q15/06—Control or regulation of feed movement according to measuring results produced by two or more gauging methods using different measuring principles, e.g. by both optical and mechanical gauging
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    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
    • B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
    • B23Q1/545—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces
    • B23Q1/5462—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only comprising spherical surfaces with one supplementary sliding pair
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    • B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
    • B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
    • B23Q15/18—Compensation of tool-deflection due to temperature or force
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
    • B23Q16/00—Equipment for precise positioning of tool or work into particular locations not otherwise provided for
    • B23Q16/02—Indexing equipment
    • B23Q16/04—Indexing equipment having intermediate members, e.g. pawls, for locking the relatively movable parts in the indexed position
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    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/09—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool
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    • B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
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    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/0061—Force sensors associated with industrial machines or actuators
    • G01L5/0076—Force sensors associated with manufacturing machines
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    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract

本发明涉及一种测量执行加工时加工机械中产生的力的方法，进一步涉及一种补偿由该力引起的几何误差的方法，其中工件夹具(10)设置为测量该力并且可以基于已被接收的测量信号而被调节，通过这种方式，可以相对于工件夹具所连接的加工机械中的夹紧装置(11)转动该工件夹具。本发明还涉及一种用于实现所述方法的装置，所述装置包括工件夹具(10)，所述工件夹具(10)相对于其所连接的加工机械中的夹紧装置(11)的角度可以被调节，并且设置力测量装置(13)以测量施加到所述工件夹具(10)上的力。

Description

用于补偿加工机械中的几何误差的方法和装置
本发明涉及一种用于补偿由外加力，例如切削力，引起的几何误差的方法，该外加力来自于以CNC机床为例的加工机械中的铣削(milling)。本发明还涉及一种装置，利用该装置可以测量所述的力并可以补偿加工机械中的误差。
当机械受到加工过程中产生的力(切削力)时，可以测量和/或计算加工机械中产生的几何误差。所产生的误差通常是弯曲(由于有限的刚度)，还可能是移动。这意味着该误差既包括角度误差也包括位移。该误差还可能是机械中的位置的函数。
为了补偿加工机械中的这些偏差，如果机械具有至少五个轴，且所施加的力已知，则将误差输入系统中，系统考虑并补偿由所施加的力引起的误差，从而可以达到补偿偏差的效果。这可以通过至少一种方式来实现，即将要施加的变化被传送到机械的控制系统中，并以此来改变运动的规定形式。但是，多数加工机械，不只是已被商业化应用的加工机械，还包括那些待售的加工机械，具有三个轴，这样的加工机械不能补偿角度误差，特别是如果刀具相对于工件在机械上采用了错误的角度，以至于在轴的运动过程中误差发生变化时。
因此，本发明的一个目的是获得解决上述问题的方案，从而在三轴加工机械中也可以补偿角度误差。
本发明的上述目的通过如下方法来实现，即工件夹具(workpieceholder)设置有传感器，该传感器可以测量执行加工时产生的力的大小和方向。
本发明的另一个目的是工件夹具不只设置有用于测量力的传感器，还设置为可以根据已接收到的测量信号被调节，通过这种方式，可以至少相对于工件夹具所连接的加工机械中的夹紧装置(fixture)转动该工件夹具。
在此，术语“工件夹具”用于表示直接固定工件的单元(虎钳或类似物)，或表示间接固定工件的工作台。
优选地，工件夹具设置为可以绕至少一个轴转动。
本发明的另一个目的是获得能够补偿加工机械中的至少一个角度误差的工件夹具。
本发明的该目的是通过根据本发明的工件夹具实现的，该工件夹具可以相对于工件夹具所连接的加工机械中的夹紧装置进行角度调节。
根据一个优选实施例，工件夹具借助于可以被压缩或伸长的调节杆连接到夹紧装置上，这意味着工件夹具可以相对于基座以自由选择的值被移动和定位。
下面将参考借助于附图进行说明的两个实施例更详细地描述本发明，其中图1A和图1B示意性地显示了用于绕两个轴旋转的调节装置的原理图，即在图1A的主视图中和相对于图1A旋转90°的图1B的侧视图中，图2显示了根据本发明的工件夹具的第一实施例，图3显示了根据本发明的工件夹具的第二实施例。
根据图1A所示，通过绕轴2旋转，工件夹具1的表面法线相对于夹紧装置(fixture)3能够采取自由选择的角度，这通过改变致动器4的长度来实现。根据图1B所示，通过相同的方式，借助于另一块板5且通过绕垂直于轴2的另一个轴6旋转，通过改变另一致动器7的长度，工件夹具1的表面法线相对于夹紧装置3采取自由选择的角度。通过在每个致动器4和7上分别设置传感器8和9，可以测量作用在致动器4和7上的力。
当然，也可以通过在旋转接合点设置测量力矩的传感器来测量该力。通过在圆形工作台上设置全套部件包(complete package)，并进一步在圆形工作台上设置位于旋转方向中的传感器，可以测量并补偿三种力矩。圆形工作台可以设置在自由选择的板(1，3，或5)上。此外，通过在底板3之间或其中引入力传感器，可以测量并补偿x，y和z方向的力。
图2显示了在实际中如何设计这种装置，而无需额外的板或垂直设置的两个枢轴关节。在这种情况下，工件夹具10借助于可被压缩和伸长的六根杆12连接到夹紧装置11。可被压缩和伸长的杆12设置为相邻的杆在相反的方向中倾斜。可以通过电动、液压或气压方式操纵可被压缩和伸长的杆12，从而每根杆可以独立于其他杆被操纵。可被压缩和伸长的杆还包括可以测量相关杆的方向中的力的传感器13。
根据优选实施例，可被压缩和伸长的杆12既作为枢轴关节，还作为以上描述的根据本发明的补偿原理中的致动器。
通过合成各个可被压缩和伸长的杆的力，可以计算系统所受到的力的大小和方向。这是通过测量加工过程中和非加工过程中的值的差来实现的，可以进行校准从而去除工件的重力。
因此，通过根据不同方式来操纵可被压缩和伸长的杆12，可以获得自由选择的角度设置。在此情况下，还可以获得工件夹具10相对于附件11的位移。
图3显示了根据本发明的工件夹具10的另一个例子，与图2中的例子相同，工件夹具10借助于六根可被压缩和伸长的杆12连接到夹紧装置11上。夹紧装置11可以是连接到加工机械上的部件。与图2中一样，可被压缩和伸长的杆12设置有力传感器13。
上述可被压缩和伸长的杆12的结构可以获得工件夹具相对于夹紧装置的移动和旋转，从而所有角度误差都可以被补偿。
工件夹具可以是用于固定工件的任何适当的装置，例如工作台、虎钳或卡盘。

Claims (7)

1、一种用于补偿加工机械中的由以切削力为例的外加力引起的几何误差的方法，其特征在于工件夹具(1，10)设置为可以相对于该工件夹具所连接的加工机械中的夹紧装置(3，11)测量执行加工时加工机械中产生的外加力的大小和方向。
2、根据权利要求1所述的方法，其特征在于所述工件夹具设置为可以围绕至少实质上彼此垂直的两个轴(2，6)旋转。
3.一种施加力以及补偿由该力引起的加工机械中的几何误差的装置，其特征在于所述装置包括工件夹具(1，10)，所述工件夹具(1，10)相对于其所连接的加工机械中的夹紧装置(3，11)的角度可以被调节，并且设置力测量装置(8，9，13)以测量施加到所述工件夹具(1，10)上的力。
4、根据权利要求3所述的装置，其特征在于所述工件夹具(1，10)设置为可以根据已接收到的测量信号被调节。
5、根据权利要求3或4所述的装置，其特征在于所述工件夹具(10)通过可被压缩和伸长的调节杆(12)连接到所述夹紧装置(11)，并且设置力测量装置(13)用于测量每根杆(12)的力。
6、根据权利要求5所述的装置，其特征在于所述工件夹具(10)通过可被压缩和伸长的六个独立调节杆(12)连接到所述夹紧装置(11)，并且设置力测量装置(13)用于测量每根可被压缩和伸长的杆(12)的力。
7、根据权利要求5或6所述的装置，其特征在于相邻的可被压缩和伸长的杆(12)设置为在相反的方向中倾斜。
CN2007800465882A 2006-12-21 2007-11-16 用于补偿加工机械中的几何误差的方法和装置 Expired - Fee Related CN101595373B (zh)

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