CN103878641B  The rotating shaft geometric error discrimination method that a kind of fiveaxle number control machine tool is general  Google Patents
The rotating shaft geometric error discrimination method that a kind of fiveaxle number control machine tool is general Download PDFInfo
 Publication number
 CN103878641B CN103878641B CN201410096074.XA CN201410096074A CN103878641B CN 103878641 B CN103878641 B CN 103878641B CN 201410096074 A CN201410096074 A CN 201410096074A CN 103878641 B CN103878641 B CN 103878641B
 Authority
 CN
 China
 Prior art keywords
 axle
 ball bar
 rotating shaft
 geometric error
 machine tool
 Prior art date
 Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
 Expired  Fee Related
Links
 230000000875 corresponding Effects 0.000 claims abstract description 56
 238000009434 installation Methods 0.000 claims abstract description 14
 230000035945 sensitivity Effects 0.000 claims abstract description 8
 230000001360 synchronised Effects 0.000 claims description 18
 230000003068 static Effects 0.000 claims description 4
 238000005259 measurement Methods 0.000 abstract description 21
 238000003801 milling Methods 0.000 abstract description 2
 239000011159 matrix material Substances 0.000 description 10
 238000000034 method Methods 0.000 description 5
 238000003754 machining Methods 0.000 description 2
 238000004519 manufacturing process Methods 0.000 description 2
 239000000203 mixture Substances 0.000 description 2
 230000000052 comparative effect Effects 0.000 description 1
 238000010586 diagram Methods 0.000 description 1
 230000000694 effects Effects 0.000 description 1
 238000005516 engineering process Methods 0.000 description 1
 238000010998 test method Methods 0.000 description 1
Classifications

 B—PERFORMING OPERATIONS; TRANSPORTING
 B23—MACHINE TOOLS; METALWORKING 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 METALWORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
 B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
Abstract
The invention discloses the rotating shaft geometric error discrimination method that a kind of fiveaxle number control machine tool is general, including: according to fiveaxle number control machine tool type, it is determined that ball bar measurement pattern；According to Geometric Error for Computerized Numerical Control Milling Machine model, utilize ball bar sensitivity vector, it is thus achieved that ball bar reading model；According to ball bar reading model and ball bar measurement pattern, the character of geometric error item and translation shaft geometric error item, obtain rotary axis of machine tool geometric error item expression formula；Select suitable installation parameter, run lathe, obtain corresponding ball bar reading；Input three translation shaft geometric error items of fiveaxle number control machine tool, according to rotating shaft geometric error item expression formula and ball bar reading, obtain 16 geometric errors of two rotating shafts of fiveaxle number control machine tool.This invention is suitable for different types of fiveaxle number control machine tool, it is possible to obtain whole 16 geometric errors of two rotating shafts of lathe, installs simple simultaneously, and the time of measuring is short, and identification result meets the character of geometric error item, and certainty of measurement is high.
Description
Technical field
The present invention relates to fiveaxle number control machine tool error identification field, particularly relate to the rotating shaft geometric error discrimination method that a kind of fiveaxle number control machine tool is general.
Background technology
Along with processing manufacturing industry is more and more higher to the requirement of precision and efficiency, fiveaxle number control machine tool is more and more important in manufacture field.In general, fiveaxle number control machine tool comprises two rotating shafts and three linear axes.The two rotating shaft can provide rotary motion to adjust cutterorientation thus reducing clamping workpiece number of times.Rotating shaft makes fiveaxle number control machine tool have the advantages such as stock removal rate height, surface accuracy is high, process time is few.But rotating shaft have also been introduced a lot of error term so that machine tool error modeling and error compensation are relatively difficult.
Improving machine tool accuracy to realize fiveaxis machine tool geometric error compensation, the measurement of geometric error item is just particularly important.The geometric error item of fiveaxle number control machine tool includes 21 geometric error items of translation shaft and 16 geometric error items of two rotating shafts.Measuring method for translation shaft geometric error item is a lot, has 9 collimation methods, 12 collimation methods, 21 collimation methods and substep diagonal method etc., and survey tool has laser interferometer, laser tracker, ball bar, level indicator etc..So the 21 of translation shaft geometric error items can be measured and obtain.But the measurement for the geometric error item of rotary axis of machine tool is still left to be desired and improves.For measurement and the identification of rotating shaft error, Chinese scholars proposes a lot of discrimination method.
(1) MasaomiTsutsumi and AkinoriSaito uses ball bar to propose threeshaft linkage and fouraxle linked method is measured and analyzed the geometric error item obtaining rotary axis of machine tool.null(referring to TsutsumiM,SaitoA(2003)Identificationandcompensationofsystematicdeviationsparticularto5axismachiningcenters,InternationalJournalofMachineToolsandManufacture43 (8): 771780 and TsutsumiM,SaitoA(2004)Identificationofangularandpositionaldeviationsinherentto5axismachiningcenterswithatiltingrotarytablebysimultaneousfouraxiscontrolmovements,InternationalJournalofMachineToolsandManufacture44 (12 13): 13331342).But the geometric error item that the method obtains is all fixed value, this geometric properties with geometric error item does not correspond.Next does not account for the impact of 21 geometric error items of translation shaft so that identification precision reduces, because multishaft interlocked middle translation shaft is also synchronized with the movement, identification precision is had a significant impact by its error term.Last the method has to 8 errors of two rotating shafts, does not obtain whole 16 errors of two rotating shafts.
(2) ZagarbashiS.H.H. and MayerJ.R.R. utilizes ball bar to propose a kind of A axle geometric error discrimination method, and the method only needs the independently moving of A axle, it is also considered that the alignment error of ball bar.(referring to ZargarbashiSHH, MayerJRR (2006) Assessmentofmachinetooltrunnionaxismotionerror, usingmagneticdoubleballbar, InternationalJournalofMachineToolsandManufacture46 (14): 18231834).But the method cannot obtain the error of perpendicularity and the angle position error of A axle.
(3) LeiW.T. et al. adopts ball bar to propose a kind of special Circular test method to measure rotating shaft geometric error item.This Circular test is synchronized with the movement by translation shaft and rotating shaft and is formed.(referring to LeiWT, SungMP, LiuWL, ChuangYC (2007) DoubleballbartestfortherotaryaxesoffiveaxisCNCmachineto ols, InternationalJournalofMachineToolsandManufacture47 (2): 273285).But the method identification can only obtain kinematic error, it is impossible to identification obtains the error of perpendicularity.
(4) KwangIILee et al. uses ball bar to propose a series of method and obtain kinematic geometry error term and the geometry of position error term of C axle to measure identification.(referring to LeeKI, LeeDM, YangSH (2012) Parametricmodelingandestimationofgeometricerrorsforarota ryaxisusingdoubleballbar.InternationalJournalofAdvanced ManufacturingTechnology62 (58): 741750；LeeKI, YangSH (2013) Robustmeasurementmethodanduncertaintyanalysisforpositionindependentgeometricerrorsofarotaryaxisusingadoubleballbar.InternationalJournalofPrecisionEngineeringandManufac turing14 (2): 231239).But these methods are easy for C axle, but relatively difficult for A axle and B axle, because the method is harsher to the installation of ball bar.Additionally the method does not account for the impact of translation shaft geometric error item, and this affects identification precision.
(5) He Gaiyun et al. proposes the Fiveaxis NC Machining Center accuracy checking method of a kind of pair of turntable structure, and the method, by designing lathe fiveaxle linkage curve movement, carrys out identification rotating shaft error in conjunction with ball bar and error model.(referring to He Gaiyun, Guo Longzhen, Liu Xin, Liu Peipei, the Fiveaxis NC Machining Center accuracy checking method of a kind of pair of turntable structure of patent, 2013 years, publication number was CN102944197A).But the method does not account for the impact of translation shaft error.
Summary of the invention
From now methodical defect, the invention provides a kind of general rotating shaft geometric error discrimination method being suitable for various fiveaxle number control machine tool, it is by means of lathe following function and ball bar, all 16 geometric errors of two rotating shafts can be measured, and ball bar installation is simple and convenient, measure the time short.
The rotating shaft geometric error discrimination method that a kind of fiveaxle number control machine tool is general, comprises the steps:
Step 1, according to fiveaxle number control machine tool type, utilize the following function of fiveaxle number control machine tool, it is determined that ball bar measure three Installation Modes, i.e. ball bar measurement patterns；
Step 2, according to Geometric Error for Computerized Numerical Control Milling Machine model, utilize ball bar sensitivity vector, it is thus achieved that the relation between ball bar reading and rotating shaft geometric error, i.e. ball bar reading model；
Step 3, according to ball bar reading model and ball bar measurement pattern, in conjunction with the character of rotating shaft geometric error item, it is considered to translation shaft geometric error item, obtain rotary axis of machine tool geometric error item expression formula；
Step 4, according to rotary axis of machine tool geometric error item expression formula and corresponding ball bar measurement pattern, select suitable installation parameter, run lathe according to lathe following function, obtain corresponding ball bar reading；
Step 5, input three translation shaft geometric error items of fiveaxle number control machine tool, according to rotary axis of machine tool geometric error item expression formula and ball bar reading, identification obtains 16 geometric errors of two rotating shafts of fiveaxle number control machine tool；
In step 1, fiveaxle number control machine tool type need to be determined according to rotary axis of machine tool type and position, then determines the concrete installation form of three ball bar measurement patterns according to machine tool type, including step:
Step 1.1, determining two rotating shaft kinds of fiveaxle number control machine tool: A axle, B axle or C axle, during for guaranteeing that ball bar is measured, ball bar is static relative to the rotating shaft measured, and utilizes the following function of lathe, it is determined that the machine spindle being synchronized with the movement when measuring rotating shaft；
Step 1.2, according to rotary axis of machine tool kind and the axle that is synchronized with the movement accordingly, determine the Installation Modes (i.e. the concrete installation form of measurement pattern) that ball bar is measured: in pattern one, workpiece ball coordinate under rotating shaft coordinate system is [0, M, L], the coordinate of cutter ball is [R, M, L], ball bar sensitive direction is rotating shaft coordinate system x positive direction；In pattern two, workpiece ball coordinate under rotating shaft coordinate system is [0,0, L], and the coordinate of cutter ball is [0, R, L], and ball bar sensitive direction is rotating shaft coordinate system y positive direction；In pattern three, workpiece ball coordinate under rotating shaft coordinate system is [0,0, L], and the coordinate of cutter ball is [0,0, L+R], and ball bar sensitive direction is rotating shaft coordinate system z positive direction；Wherein R is ball bar length, L be ball bar workpiece ball to rotating shaft coordinate origin z to distance, M is ball bar workpiece ball to rotating shaft coordinate origin y to distance.
Further, in order to improve error identification precision in step 2, fiveaxle number control machine tool geometric error model need to be converted into the error model represented under the rotating shaft coordinate system measured.Its ball bar sensitivity vector is homogeneous vectors, and in pattern one, ball bar sensitive direction is x positive direction, and its homogeneous vectors expression formula is [1,0,0,0].Rotate the machine spindle of motion when rotating shaft is measured according to lathe following function two different, then the ball bar reading model of two rotating shafts is different, and the geometric error item that it comprises is different.And under different measurement patterns, ball bar reading model is also different.
Further, according to the geometric error item comprised in ball bar reading model and each ball bar measurement pattern in step 3, to the combination of each corresponding model selection corresponding parameter, come identification obtain each pattern can the expression formula of identification, including step:
Step 3.1, according to ball bar reading model in pattern one, determine that each rotating shaft needs the geometric error item of identification, geometric properties according to geometric error item, selects three groups of parameters of pattern one, and utilizes corresponding ball bar reading to obtain the expression formula of these geometric error items.These three groups of parameters are: L=L_{1}, M=0, R=R；L=L_{2}, M=0, R=R；And L=L_{1}, M ≠ 0, R=R.Wherein L_{1}≠L_{2}.The expression formula of rotating shaft geometric error is consistent with its character, and namely the expression formula of kinematic error is about rotating shaft amount of feeding expression formula, geometric error item as basic in 6, rotating shaft；Site error expression formula is definite value, such as two error of perpendicularitys of rotating shaft.
Step 3.2, according to ball bar reading model in pattern two, determine that each rotating shaft needs the geometric error item of identification, geometric properties according to geometric error item, selects two groups of parameters of pattern two, and utilizes corresponding ball bar reading to obtain the expression formula of these geometric error items.These two groups of parameters are: L=L_{1}, R=R；And L=L_{2}, R=R.Wherein L_{1}≠L_{2}。
Step 3.3, according to ball bar reading model in pattern three, determine that each rotating shaft needs the geometric error item of identification, geometric properties according to geometric error item, selects one group of parameter of pattern three, and utilizes corresponding ball bar reading to obtain the expression formula of these geometric error items.This group parameter is: L=L_{1}, R=R.
Further, difference group parameter according to each pattern determined in step 4, combining with digital control machine tool structure selects suitable numerical value to install ball bar, runs lathe according to lathe following function, obtains each group of corresponding ball bar reading of parameter, including step:
Step 4.1, according to parameter L=L in pattern one_{1}, M=0, R=R installs workpiece ball, utilizes lathe following function to measure two rotating shafts respectively according to pattern one structure, and records each rotating shaft this group parameter ball bar reading correspondingWhereinSubscript represents first group of parameter；It is pattern one that subscript " 1 " represents, i represents rotating shaft type, i=a, b, c.
Step 4.2, utilize according to pattern two structure lathe following function to measure two rotating shafts respectively, and record each rotating shaft this group parameter ball bar reading corresponding
Step 4.3, utilize according to pattern three structure lathe following function to measure two rotating shafts respectively, and record each rotating shaft this group parameter ball bar reading corresponding
Step 4.4, according to parameter L=L in pattern one_{1}, M ≠ 0, R=R installs workpiece ball, utilizes lathe following function to measure two rotating shafts respectively according to pattern one structure, and records each rotating shaft this group parameter ball bar reading corresponding
Step 4.5, according to parameter L=L in pattern one_{2}, M=0, R=R installs workpiece ball, utilizes lathe following function to be separately operable two rotating shafts and its axle that is synchronized with the movement accordingly according to pattern one structure, and records each rotating shaft this group parameter ball bar reading corresponding
Step 4.6, utilize according to pattern two structure lathe following function to measure two rotating shafts and its axle that is synchronized with the movement accordingly respectively, and record each rotating shaft this group parameter ball bar reading corresponding
Further, 21 geometric error items of the lathe translation shaft of input in step 5, it is possible to obtain with laser interferometer measurement.
Compared with prior art, the inventive method considers the impact on identification precision of the translation shaft geometric error item, also considers the geometric properties of geometric error item completely so that identification precision is high, the present invention is the rotating shaft geometric error discrimination method that fiveaxle number control machine tool is general, concrete provides the benefit that:
In three Installation Modes that ball bar is measured, the sensitive direction of ball bar is respectively placed in x, y and z direction, guarantee that ball bar is static relative to the rotating shaft measured by lathe following function simultaneously, the installation parameter suitable to each model selection, obtains 16 geometric errors of two rotating shafts of fiveaxle number control machine tool in conjunction with the character identification of geometric error item.The method is suitable for different fiveaxle number control machine tool, measures integrity good, it is possible to measure whole 16 geometric errors obtaining two rotating shafts of lathe, installing simple, the time of measuring is short, and identification result meets the character of geometric error item simultaneously, considering the impact of translation shaft error, certainty of measurement is high.
Accompanying drawing explanation
Fig. 1 is the structural representation of certain CAFYXZ type fiveaxle number control machine tool；
Fig. 2 a is CAFYXZ Digit Control Machine Tool measurement pattern one structural representation of the present invention；
Fig. 2 b is CAFYXZ Digit Control Machine Tool measurement pattern two structural representation of the present invention；
Fig. 2 c is CAFYXZ Digit Control Machine Tool measurement pattern three structural representation of the present invention；
Fig. 3 a is 3 linear geometry errors of CAFYXZ Digit Control Machine Tool A axle of the present invention；
Fig. 3 b is 3 corner geometric errors of CAFYXZ Digit Control Machine Tool A axle of the present invention；
Fig. 4 a is 3 linear geometry errors of CAFYXZ Digit Control Machine Tool C axle of the present invention；
Fig. 4 b is 3 corner geometric errors of CAFYXZ Digit Control Machine Tool C axle of the present invention；
Fig. 5 is the geometric error item calculated ball bar reading and true ball bar reading contrast effect figure that obtain with identification；
Fig. 6 is the flow chart of the general rotating shaft geometric error discrimination method of fiveaxle number control machine tool of the present invention.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention will be further described.
Accompanying drawing 6 show fiveaxle number control machine tool of the present invention general rotating shaft geometric error discrimination method flow chart, and accompanying drawing 1 show certain CAFYXZ type fiveaxle number control machine tool schematic diagram, for this lathe, illustrates rotating shaft discrimination method.
Step 1, according to fiveaxle number control machine tool type, utilize the following function of fiveaxle number control machine tool, it is determined that ball bar measure three Installation Modes:
Step 1.1, determine that two rotating shaft types of this fiveaxle number control machine tool are A axle and C axle.During for guaranteeing that ball bar is measured, ball bar is static relative to the rotating shaft measured, and utilizes the following function of lathe, it is determined that the axle that is synchronized with the movement when measuring A axle is A axle, Yaxis and Z axis, and the axle that is synchronized with the movement when measuring C axle is C axle, Xaxis and Yaxis.
Step 1.2, according to rotary axis of machine tool kind and the axle that is synchronized with the movement accordingly, it is determined that ball bar measure Installation Modes.The type lathe A axle is all connected with workbench with C axle, then ball bar is arranged on stage coordinates and fastens.In pattern one shown in Fig. 2 a, workpiece ball coordinate under stage coordinates system is [0, M, L], and the coordinate of cutter ball is [R, M, L], and ball bar sensitive direction is rotating shaft coordinate system x positive direction；In pattern two shown in Fig. 2 b, workpiece ball coordinate under stage coordinates system is [0,0, L], and the coordinate of cutter ball is [0, R, L], and ball bar sensitive direction is rotating shaft coordinate system y positive direction；In pattern three shown in Fig. 2 c, workpiece ball coordinate under stage coordinates system is [0,0, L], and the coordinate of cutter ball is [0,0, L+R], and ball bar sensitive direction is rotating shaft coordinate system z positive direction.Wherein R is ball bar length, L be ball bar workpiece ball to rotating shaft coordinate origin z to distance, M is ball bar workpiece ball to rotating shaft coordinate origin y to distance.Accompanying drawing 2 is the structural representation of these three pattern.
Step 2, according to this fiveaxle number control machine tool geometric error model, utilize ball bar sensitivity vector, it is thus achieved that the relation between ball bar reading and rotating shaft geometric error, i.e. ball bar reading model.Specific implementation process is as follows.
Fiveaxle number control machine tool geometrical error modeling process:
(1) for workpiece motion s chain, obtaining workbench homogeneous coordinates in lathe bed coordinate system is:
WhereinRepresent the A axle homogeneous transform matrix relative to lathe bed；Represent the C axle homogeneous transform matrix relative to A axle；Represent the workbench homogeneous transform matrix relative to C axle, for unit matrix；Represent workpiece homogeneous coordinates under stage coordinates system,Wherein wx, w_{y}、w_{y}Represent workpiece coordinate under stage coordinates system.
(2) for tool motion chain, obtaining point of a knife homogeneous coordinates in lathe bed coordinate system is:
WhereinRepresent the Yaxis homogeneous transform matrix relative to lathe bed；Represent the Xaxis homogeneous transform matrix relative to Yaxis；Represent the Z axis homogeneous transform matrix relative to Xaxis；Represent the cutter homogeneous transform matrix relative to Z axis, be unit matrix here；Represent point of a knife homogeneous coordinates under tool coordinate system,Wherein t_{x}、t_{y}、t_{z}Represent point of a knife coordinate under tool coordinate system.
(3) because A axle is all connected on working table movement chain and with workbench with C axle, then geometric error model need to be set up under stage coordinates system.Then all need the homogeneous coordinates obtaining point of a knife under stage coordinates system:
So the geometric error model of this fiveaxle number control machine tool is:
Wherein V_{w}For fiveaxle number control machine tool synthetic geometry error homogeneous vectors.
Ball bar reading model is set up as follows:
(1) the unit homogeneous vectors of ball bar sensitive direction is obtained:
Wherein n_{x}, n_{y}And n_{z}For the vectorial coordinate under rotating shaft coordinate system of ball bar sensitivity, it is desirable to ${n}_{x}^{2}+{n}_{y}^{2}+{n}_{z}^{2}=1.$
(2) in conjunction with the geometric error model of fiveaxle number control machine tool, it is thus achieved that ball bar reading model:
Wherein R is ball bar length, and f is ball bar reading model, n^{T}Transposed matrix for n.
Step 3, the Installation Modes measured according to the rotating shaft geometric error item comprised in ball bar reading model and each ball bar, to the corresponding parameter combination of each corresponding model selection, come identification obtain each pattern can the expression formula of identification, because the 21 of translation shaft errors can obtain by precision measurement, just using these 21 errors as known come identification rotating shaft geometric error item, including step:
(1), when measuring A axle in pattern one, the axle being synchronized with the movement is A axle, Yaxis and Z axis, then ball bar reading model is:
f_{1a}=δ_{xa}δ_{xx}+δ_{xy}+δ_{xz}(Msinα+Lcosα)S_{xz}
L·(ε_{ya}+S_{az})+L·ε_{yx}cosα+N·ε_{yx}sinα
+l·ε_{yy}cosα+N·ε_{yy}sinα+M·(ε_{za}+S_{ay})
Wherein f_{1a}A axle ball bar reading in intermediate scheme one；α represents A Shaft angle error；δi_{j}Represent the linearity error in j axle i direction；εi_{j}Represent the angular errors in j axle i direction；Si_{j}Represent the error of perpendicularity of j axle and i axle.Wherein, i, j respectively x, y, z or a；X, y, z, a represent xaxis (direction), yaxis (direction), zaxis (direction) and A axle (direction) respectively, and lower same so ball bar reading model can be deformed into:
r_{1a}=δ_{xa}L·(ε_{ya}+S_{az})+M·(ε_{za}+S_{ay})(1)
Wherein r_{1a}Can be described as pattern one and measure ball bar reading total during A axle,
r_{1a}=g (α, M, L)=f_{1a}+δ_{xx}δ_{xy}δ_{xa}+(Msinα+Lcosα)S_{xz}
(2)
L·ε_{yx}cosαM·ε_{yx}sinαL·ε_{yy}cosαM·ε_{yy}sinα
Containing 5 A axle geometric error items in formula (1), in conjunction with geometric error item geometric properties, wherein two is vertical error, and for definite value, three is kinematic error, changes along with the change of A Shaft angle.So it is accomplished by three groups of data and carrys out these 5 geometric errors of identification.Selecting first group of parameter is L=L_{1}And M=0, corresponding ball bar reading isCalculate with formula (2) and obtain total ball bar readingSecond group of parameter is L=L_{2}And M=0, corresponding reading isCalculate with formula (2) and obtain total ball bar reading3rd group of parameter is L=L_{1}With M ≠ 0, corresponding reading isCalculate with formula (2) and obtain total ball bar readingThen formula (1) is
Wherein, L_{1}And L_{2}Represent two different values of L；
Obtaining corresponding A axle geometric error expression formula according to formula (3) identification is
(2), when measuring C axle in pattern one, the axle being synchronized with the movement is C axle, Xaxis and Yaxis, then ball bar reading model is:
f_{1c}=δ_{xc}L·(ε_{yc}+S_{cx})+M·ε_{zc}+cosγ(δ_{xx}+δ_{xy}+δ_{xz})
+sinγ(δ_{yx}+δ_{yy}+δ_{yz})sinγ(RcosγMsinγ)·(S_{xy}ε_{zy})
Lsinγ·(ε_{xx}+ε_{xy}+S_{yz})+Lcosγ·(ε_{yx}+ε_{yy}S_{xz})
Wherein f_{1c}Intermediate scheme one is measured ball bar reading during C axle；γ represents C Shaft angle error.So ball bar reading model can be deformed into:
r_{1c}=δ_{xc}L·(ε_{yc}+S_{cx})+M·ε_{zc}(5)
Wherein r_{1c}Can be described as total ball bar reading,
r_{1c}=g (γ, M, L)=f_{1c}cosγ(δ_{xx}+δ_{xy}+δ_{xz}]
sinγ(δ_{yx}+δ_{yy}+δ_{yz})+sinγ(RcosγMsinγ)·(S_{xy}ε_{zy})(6)
+Lsinγ·(ε_{xx}+ε_{xy}+S_{yz})lcosγ·(εy_{x}+ε_{yy}S_{xz})
Containing 4 C axle geometric error items in formula (5), in conjunction with geometric error item geometric properties, one of which is vertical error, and for definite value, three is kinematic error, changes along with the change of C Shaft angle.So it is accomplished by three groups of data and carrys out these 4 geometric errors of identification.Selecting first group of parameter identical with A axle, corresponding ball bar reading isCalculate with formula (6) and obtain total ball bar readingSecond group of parameter is identical with A axle, and corresponding reading isCalculate with formula (6) and obtain total ball bar reading3rd group of parameter is identical with A axle, and corresponding reading isCalculate with formula (6) and obtain total ball bar readingThen formula (5) is
Obtaining corresponding A axle geometric error expression formula according to formula (7) identification is
Step 3.2, according to ball bar reading model in pattern two, determine that each rotating shaft needs the geometric error item of identification, geometric properties according to error term, selects two groups of parameters of pattern two, and utilizes corresponding ball bar reading to obtain the expression formula of these geometric error items.Detailed process is:
(1) when measuring A axle in pattern two, ball bar reading model is:
f_{2a}=δ_{ya}+L·ε_{xa}+cosα(δ_{yz}+δ_{yy})+sinα(δ_{zy}+δ_{zz})
cosα(Rsinα+Lcosα)·(S_{yz}+ε_{xy})
Wherein f_{2a}A axle ball bar reading in intermediate scheme two.So ball bar reading model can be deformed into:
r_{2a}=δ_{ya}+L·ε_{xa}(9)
Wherein r_{2a}Can be described as ball bar reading total when measuring A axle in pattern two,
r_{2a}=g (α, L)=f_{2a}cosα(δ_{yz}+δ_{yy})sinα(δ_{zy}+δ_{zz}) (10)
+cosα(Rsinα+Lcosα)·(S_{yz}+ε_{xy})
Containing 2 A axle geometric error items in formula (9), in conjunction with geometric error item geometric properties, these two are kinematic error, change along with the change of A Shaft angle.So it is accomplished by two groups of data and carrys out these 2 geometric errors of identification.Selecting first group of parameter is L=L_{1}, corresponding ball bar reading isCalculate with formula (10) and obtain total ball bar readingSecond group of parameter is L=L2, and corresponding reading isCalculate with formula (10) and obtain total ball bar readingThen formula (9) is:
So identification can obtain corresponding A axle geometric error expression formula and be
(2) when measuring C axle in pattern two, ball bar reading model is:
f_{2c}=δ_{yc}+L·(ε_{xc}+S_{cy})sinγ(δ_{xx}+δ_{xy}+δ_{xz})
+cosγ(δ_{yx}+δ_{yx}+δ_{yy}+δ_{yz})+Rcosγsinγ(S_{xy}ε_{zy})
Lcosγ·(ε_{xx}+ε_{xy}+S_{yz})Lsinγ·(ε_{yx}+ε_{yy}S_{xz})
Wherein f_{2c}C axle ball bar reading in intermediate scheme two.So ball bar reading model can be deformed into:
r_{2c}=δ_{yc}+L·(ε_{xc}+S_{cy})(12)
Wherein r_{2c}Can be described as ball bar reading total when measuring C axle in pattern two,
r_{2c}=g (γ, L)=f_{2c}+sinγ(δ_{xx}+δ_{xy}+δ_{xz})cosγ(δ_{yx}+δ_{yy}+δyz)
Rcosγsinγ(S_{xy}ε_{xy})+Lcosγ·(ε_{xx}+ε_{xy}+Syz)(13)
+Lsinγ·(ε_{yx}+ε_{yy}S_{xz})
Containing 3 A axle geometric error items in formula (12), in conjunction with geometric error item geometric properties, wherein two is kinematic error, changes along with the change of C Shaft angle, and one is the error of perpendicularity.So it is accomplished by two groups of data and carrys out these 3 geometric errors of identification.Selecting first group of parameter is L=L_{1}, corresponding ball bar reading isCalculate with formula (13) and obtain total ball bar readingSecond group of parameter is L=L_{2}, corresponding reading isCalculate with formula (13) and obtain total ball bar readingThen formula (12) is:
So identification can obtain corresponding C axle geometric error expression formula and be
Step 3.3, according to ball bar reading model in pattern three, determine that each rotating shaft needs the geometric error item of identification, geometric properties according to error term, selects one group of group parameter of pattern three, and utilizes corresponding ball bar reading to obtain the expression formula of these geometric error items.Detailed process is:
(1) when measuring A axle in pattern three, ball bar reading model is:
f_{3a}=δ_{za}+(δ_{zy}+δ_{zz})cosα(δ_{yy}+δ_{yz}) sin α (15)
+(L+R)(ε_{xy}+S_{yz})cosαsinα
Wherein f_{3a}A axle ball bar reading in intermediate scheme three.
Formula (15) contains 1 A axle geometric error item, then have only to one group of data and carry out this 1 geometric error of identification.Selecting this group parameter is L=L_{1}, corresponding ball bar reading isSo identification can obtain corresponding A axle geometric error expression formula and be
(2) when measuring C axle in pattern three, ball bar reading model is:
f_{3c}=δ_{zc}+δ_{zz}(17)
Wherein f_{3c}C axle ball bar reading in intermediate scheme three.
Formula (17) contains 1 C axle geometric error item, then have only to one group of data and carry out this 1 geometric error of identification.Selecting this group parameter is L=L_{1}, corresponding ball bar reading isSo identification can obtain corresponding C axle geometric error expression formula and be
Difference group parameter according to each pattern determined in step 4, combining with digital control machine tool structure selects suitable numerical value to install ball bar, runs lathe according to lathe following function, obtains each group of corresponding ball bar reading of parameter, including step:
Step 4.1, according to this five shafts numerical controlled machine bed structure, select parameter L in pattern one_{1}=68mm, M=0, R=100mm, install workpiece ball, utilize lathe following function to measure A axle and C axle respectively according to pattern one structure, and record corresponding ball bar readingWith
Step 4.2, utilize according to pattern two structure lathe following function to measure A axle and C axle respectively, and record corresponding ball bar readingWith
Step 4.3, utilize according to pattern three structure lathe following function to measure A axle and C axle respectively, and record every corresponding ball bar readingWith
Step 4.4, according to parameter L in pattern one_{1}=68mm, M=40mm, R=100mm, install workpiece ball, utilize lathe following function to measure A axle and C axle respectively according to pattern one structure, and record the corresponding ball bar reading of each rotating shaftWith
Step 4.5, according to this five shafts numerical controlled machine bed structure, select parameter L in pattern one_{2}=90mm, M=0, R=100mm, install workpiece ball, utilize lathe following function to measure A axle and C axle respectively according to pattern one structure, and record corresponding ball bar readingWith
Step 4.6, utilize according to pattern two structure lathe following function to measure A axle and C axle respectively, and record corresponding ball bar readingWith
21 geometric errors of the translation shaft that step 5, the prior laser interferometer measurement of input obtain, according to rotating shaft geometric error item expression formula (4), (8), (11), (13), (14) and (18) and ball bar reading, identification obtains 6 kinematic geometry error terms that 16 geometric errors of two rotating shafts of fiveaxle number control machine tool, accompanying drawing 3 and accompanying drawing 4 are A axle and C axle.Wherein, Fig. 3 a is 3 linear geometry errors of CAFYXZ Digit Control Machine Tool A axle；Fig. 3 b is 3 corner geometric errors of CAFYXZ Digit Control Machine Tool A axle；Fig. 4 a is 3 linear geometry errors of CAFYXZ Digit Control Machine Tool C axle；Fig. 4 b is 3 corner geometric errors of CAFYXZ Digit Control Machine Tool C axle；The rotating shaft geometric error item obtained with identification and 21 translation shaft errors of measurement, in conjunction with geometric error model, calculate ball bar reading, compare with ball bar reading really, and accompanying drawing 5 is comparative effectiveness figure.Find out that identification precision of the present invention is high.
The present invention finally obtains 16 geometric error items of two rotating shafts of fiveaxis machine tool.Accompanying drawing is a preferred embodiment; the above embodiments are intended merely to the description present invention, not in order to limit the present invention, all within the spirit and principles in the present invention; any amendment of being made, equivalent replacement, improvement etc., should be included within the protection domain of present aspect.
Claims (7)
1. the rotating shaft geometric error discrimination method that a fiveaxle number control machine tool is general, it is characterised in that comprise the steps:
Step 1, according to fiveaxle number control machine tool type, utilize the following function of fiveaxle number control machine tool, it is determined that three ball bar measurement patterns, including step:
Step 1.1, determining two rotating shaft kinds of fiveaxle number control machine tool, during for guaranteeing that ball bar is measured, ball bar is static relative to the rotating shaft measured, and utilizes the following function of lathe, it is determined that the machine spindle being synchronized with the movement when measuring rotating shaft, namely determines the axle that is synchronized with the movement；
Step 1.2, according to fiveaxle number control machine tool rotating shaft kind and the axle that is synchronized with the movement accordingly, it is determined that ball bar measurement pattern, be respectively as follows:
In pattern one, workpiece ball coordinate under rotating shaft coordinate system is [0, M, L], and the coordinate of cutter ball is [R, M, L], and ball bar sensitive direction is rotating shaft coordinate system x positive direction；
In pattern two, workpiece ball coordinate under rotating shaft coordinate system is [0,0, L], and the coordinate of cutter ball is [0, R, L], and ball bar sensitive direction is rotating shaft coordinate system y positive direction；
In pattern three, workpiece ball coordinate under rotating shaft coordinate system is [0,0, L], and the coordinate of cutter ball is [0,0, L+R], and ball bar sensitive direction is rotating shaft coordinate system z positive direction；
Wherein R is ball bar length, L be ball bar workpiece ball to rotating shaft coordinate origin z to distance, M is ball bar workpiece ball to rotating shaft coordinate origin y to distance；
Step 2, according to Geometric Error for Computerized Numerical Control Milling Machine model, utilize ball bar sensitivity vector, it is thus achieved that the relation between ball bar reading and rotating shaft geometric error, i.e. ball bar reading model；
Step 3, according to ball bar reading model and ball bar measurement pattern, in conjunction with the character of rotating shaft geometric error item, it is considered to translation shaft geometric error item, obtain rotary axis of machine tool geometric error item expression formula；
Step 4, according to rotary axis of machine tool geometric error item expression formula and corresponding ball bar measurement pattern, select suitable installation parameter, run lathe according to lathe following function, obtain corresponding ball bar reading；
Step 5, input three translation shaft geometric error items of fiveaxle number control machine tool, according to rotary axis of machine tool geometric error item expression formula and ball bar reading, identification obtains 16 geometric errors of two rotating shafts of fiveaxle number control machine tool.
2. the rotating shaft geometric error discrimination method that fiveaxle number control machine tool according to claim 1 is general, it is characterized in that, in described step 2, fiveaxle number control machine tool geometric error model need to be converted into the fiveaxle number control machine tool geometric error model represented under the rotating shaft coordinate system measured, and its ball bar sensitivity vector is homogeneous vectors；Ball bar reading model is obtained according to the fiveaxle number control machine tool geometric error model after converting and ball bar sensitivity vector.
3. the rotating shaft geometric error discrimination method that fiveaxle number control machine tool according to claim 1 is general, it is characterised in that when determining rotary axis of machine tool geometric error item expression formula in described step 3, including step:
Step 3.1, according to ball bar reading model in pattern one, determine that each rotating shaft needs the geometric error item of identification, geometric properties according to geometric error item, selects three groups of parameters of pattern one, and utilizes corresponding ball bar reading to obtain the expression formula of described geometric error item；Three groups of described parameters are: L=L_{1}, M=0, R=R；L=L_{2}, M=0, R=R；And L=L_{1}, M ≠ 0, R=R；Wherein L_{1}≠L_{2}；
Step 3.2, according to ball bar reading model in pattern two, determine that each rotating shaft needs the geometric error item of identification, geometric properties according to geometric error item, selects two groups of parameters of pattern two, and utilizes corresponding ball bar reading to obtain the expression formula of described geometric error item；These described two groups of parameters are: L=L_{1}, R=R；And L=L_{2}, R=R；Wherein L_{1}≠L_{2}；
Step 3.3, according to ball bar reading model in pattern three, determine that each rotating shaft needs the geometric error item of identification, geometric properties according to geometric error item, selects one group of parameter of pattern three, and utilizes corresponding ball bar reading to obtain the expression formula of described geometric error item；This described group parameter is: L=L_{1}, R=R.
4. the rotating shaft geometric error discrimination method that fiveaxle number control machine tool according to claim 3 is general, it is characterised in that determine each group of corresponding ball bar reading of parameter in described step 4, including step:
Step 4.1, according to parameter L=L in pattern one_{1}, M=0, R=R installs workpiece ball, utilizes lathe following function to measure two rotating shafts respectively according to pattern one structure, and records each rotating shaft this group parameter ball bar reading corresponding
Step 4.2, utilize according to pattern two structure lathe following function to measure two rotating shafts respectively, and record each rotating shaft this group parameter ball bar reading corresponding
Step 4.3, utilize according to pattern three structure lathe following function to measure two rotating shafts respectively, and record each rotating shaft this group parameter ball bar reading corresponding
Step 4.4, according to parameter L=L in pattern one_{1}, M ≠ 0, R=R installs workpiece ball, utilizes lathe following function to measure two rotating shafts respectively according to pattern one structure, and records each rotating shaft this group parameter ball bar reading corresponding
Step 4.5, according to parameter L=L in pattern one_{2}, M=0, R=R installs workpiece ball, utilizes lathe following function to be separately operable two rotating shafts and its axle that is synchronized with the movement accordingly according to pattern one structure, and records each rotating shaft this group parameter ball bar reading corresponding
Step 4.6, utilize according to pattern two structure lathe following function to measure two rotating shafts and its axle that is synchronized with the movement accordingly respectively, and record each rotating shaft this group parameter ball bar reading corresponding
WhereinWhich group parameter middle subscript represents；Subscript 1,2,3 is pattern one, pattern two, pattern three respectively；I represents rotating shaft type.
5. the rotating shaft geometric error discrimination method that fiveaxle number control machine tool according to claim 1 is general, it is characterised in that 21 geometric error items of the lathe translation shaft of input in described step 5, it is possible to obtain with laser interferometer measurement.
6. the rotating shaft geometric error discrimination method that fiveaxle number control machine tool according to any one of claim 15 is general, it is characterised in that described fiveaxle number control machine tool is CAFYXZ type fiveaxle number control machine tool.
7. the rotating shaft geometric error discrimination method that fiveaxle number control machine tool according to claim 6 is general, it is characterised in that in step (2), two rotating shaft types of fiveaxle number control machine tool are A axle and C axle；The axle that is synchronized with the movement when determining measurement A axle is A axle, Yaxis and Z axis, and the axle that is synchronized with the movement when measuring C axle is C axle, Xaxis and Yaxis.
Priority Applications (1)
Application Number  Priority Date  Filing Date  Title 

CN201410096074.XA CN103878641B (en)  20140314  20140314  The rotating shaft geometric error discrimination method that a kind of fiveaxle number control machine tool is general 
Applications Claiming Priority (1)
Application Number  Priority Date  Filing Date  Title 

CN201410096074.XA CN103878641B (en)  20140314  20140314  The rotating shaft geometric error discrimination method that a kind of fiveaxle number control machine tool is general 
Publications (2)
Publication Number  Publication Date 

CN103878641A CN103878641A (en)  20140625 
CN103878641B true CN103878641B (en)  20160706 
Family
ID=50947928
Family Applications (1)
Application Number  Title  Priority Date  Filing Date 

CN201410096074.XA Expired  Fee Related CN103878641B (en)  20140314  20140314  The rotating shaft geometric error discrimination method that a kind of fiveaxle number control machine tool is general 
Country Status (1)
Country  Link 

CN (1)  CN103878641B (en) 
Cited By (1)
Publication number  Priority date  Publication date  Assignee  Title 

CN107390632A (en) *  20170626  20171124  山东理工大学  Five axle drum type knife radius compensation methods are postprocessed based on AB types fiveaxle number control machine tool 
Families Citing this family (22)
Publication number  Priority date  Publication date  Assignee  Title 

CN105269406B (en) *  20140723  20180126  沈阳机床(集团)设计研究院有限公司上海分公司  The error compensating method of double turntable fiveaxis linkage machine tools rotary shafts 
CN104308657B (en) *  20141014  20160601  浙江大学  A kind of rotary axis of machine tool geometric error six measured based on ball bar encloses discrimination method 
CN105643362A (en) *  20141113  20160608  沈阳高精数控智能技术股份有限公司  Fiveaxis machine tool measuring method based on AxiSet 
CN104625880B (en) *  20141223  20151230  电子科技大学  A kind of fiveaxis machine tool cutterorientation and the synchronous testing agency of point of a knife point site error 
CN104786098B (en) *  20150410  20170322  浙江大学  Geometric error sixposition recognition method of multiaxis numerical control machine tool rotary table 
CN105043259B (en) *  20150825  20170711  大连理工大学  Digit Control Machine Tool rotary shaft error detection method based on binocular vision 
CN105127840B (en) *  20150908  20170915  清华大学  A kind of fiveaxis linkage machine tools main tapping attitude angle device and measuring method 
CN105184014B (en) *  20150929  20180202  南京工程学院  The appraisal procedure that a kind of double turntables influence on fiveaxis machine tool space error 
CN105371793B (en) *  20151029  20180109  华中科技大学  A kind of fiveaxis machine tool rotary shaft geometric error is once loaded measuring method 
CN106112693B (en) *  20160701  20180216  上海拓璞数控科技股份有限公司  A kind of fiveaxle number control machine tool translation shaft and rotary shaft synchronous error detection method 
CN106181583B (en) *  20160802  20180424  南京工业大学  The five unrelated error detection methods in axis gear making machine position based on small cutting output test specimen 
CN106774152B (en) *  20161008  20190322  西南交通大学  A kind of modeling method of numericallycontrolled machine tool position correlation geometric error item 
CN107695791B (en) *  20170926  20190226  西北工业大学  The general rotation axis geometric error discrimination method unrelated with position 
CN108214099B (en) *  20171229  20200519  广东工业大学  Method and system for measuring positionrelated geometric errors of numerical control machine turntable 
CN108415371B (en) *  20180131  20200922  西北工业大学  Geometric error compensation method for general fiveaxis numerical control machine tool 
CN108549319B (en) *  20180402  20200915  西南交通大学  Universal postprocessing method for doubleturntable fiveaxis numerical control machine tool 
CN110109418B (en) *  20190519  20210413  重庆理工大学  Method for quickly identifying geometric errors of large gantry fivesurface machining center 
CN110561190A (en) *  20190911  20191213  沈阳优尼斯智能装备有限公司  Space circular track testing method for fiveaxis linkage motion precision of continuous fiveaxis numerical control machine tool 
CN111189390A (en) *  20200109  20200522  陕西科技大学  Machine tool geometric error measuring device based on laser interference principle 
CN111487923B (en) *  20200325  20210330  成都飞机工业（集团）有限责任公司  Swing position error detection and identification method for CA doubleswing fiveaxis numerical control machine tool 
CN111922783A (en) *  20200713  20201113  杭州电子科技大学  Machine tool multidimensional geometric error measuring method based on lever principle 
CN112526927A (en) *  20210218  20210319  成都飞机工业（集团）有限责任公司  Quick optimization compensation method for space positioning error of rotating shaft of fiveaxis numerical control machine tool 
Family Cites Families (5)
Publication number  Priority date  Publication date  Assignee  Title 

JP5355037B2 (en) *  20081029  20131127  株式会社牧野フライス製作所  Accuracy measuring method, error control method for numerically controlled machine tool, and numerically controlled machine tool having error correcting function 
CN102001021B (en) *  20101022  20120314  西南交通大学  Method for measuring geometric error parameter value of rotary oscillation axis of fiveaxis linkage numerical control machine tool 
CN102430959A (en) *  20111010  20120502  西安交通大学  Method for quickly detecting kinematic errors of numerical control machine turntable 
CN102944197B (en) *  20121113  20160803  天津大学  A kind of method for detecting precision of fivespindle machining center of doublerotary table structure 
CN103447884B (en) *  20130802  20160120  西安交通大学  The measurement mechanism of Digit Control Machine Tool translation shaft geometric error and measurement and discrimination method 

2014
 20140314 CN CN201410096074.XA patent/CN103878641B/en not_active Expired  Fee Related
Cited By (1)
Publication number  Priority date  Publication date  Assignee  Title 

CN107390632A (en) *  20170626  20171124  山东理工大学  Five axle drum type knife radius compensation methods are postprocessed based on AB types fiveaxle number control machine tool 
Also Published As
Publication number  Publication date 

CN103878641A (en)  20140625 
Similar Documents
Publication  Publication Date  Title 

Jiang et al.  A method of testing position independent geometric errors in rotary axes of a fiveaxis machine tool using a double ball bar  
Ibaraki et al.  Calibration of location errors of rotary axes on fiveaxis machine tools by onthemachine measurement using a touchtrigger probe  
Nojedeh et al.  Tool path accuracy enhancement through geometrical error compensation  
CN103250025B (en)  The error of the measurement obtained using coordinate positioning apparatus by correction  
Tsutsumi et al.  Identification and compensation of systematic deviations particular to 5axis machining centers  
Tsutsumi et al.  Enhancement of geometric accuracy of fiveaxis machining centers based on identification and compensation of geometric deviations  
Chen et al.  A displacement measurement approach for machine geometric error assessment  
He et al.  A new error measurement method to identify all six error parameters of a rotational axis of a machine tool  
CN103447884B (en)  The measurement mechanism of Digit Control Machine Tool translation shaft geometric error and measurement and discrimination method  
Kong et al.  A kinematics and experimental analysis of form error compensation in ultraprecision machining  
Knapp  Circular test for threecoordinate measuring machines and machine tools  
CN104759942B (en)  A kind of milling deformation online measurement of thinwalled parts and compensation processing method  
CN103591913B (en)  A kind of fivecoordinate measuring machine composition error calibration steps  
CN104375460B (en)  A kind of Digit Control Machine Tool machining accuracy reliability sensitivity analysis method  
CN100504687C (en)  System and process for measuring, compensating and testing numerically controlled machine tool heads and/or tables  
Bringmann et al.  Machine tool calibration: Geometric test uncertainty depends on machine tool performance  
Ibaraki et al.  Machining tests to identify kinematic errors on fiveaxis machine tools  
CN102785128B (en)  The part processing precision online detecting system of NC Machine lathe and detection method  
CN106141814B (en)  The detection of Digit Control Machine Tool translation shaft geometric error and discrimination method based on LaserTRACER  
CN102944197B (en)  A kind of method for detecting precision of fivespindle machining center of doublerotary table structure  
Tsutsumi et al.  Identification of angular and positional deviations inherent to 5axis machining centers with a tiltingrotary table by simultaneous fouraxis control movements  
CN100462677C (en)  Threecoordinate measuring machinetool error compensation system and method  
CN105723182A (en)  Reduction of errors of a rotating device used during the determination of coordinates of a workpiece or during the machining of a workpiece  
US20110178782A1 (en)  Method for Estimating Geometric Error Between Linear Axis and Rotary Axis in a MultiAxis Machine Tool  
Xiang et al.  Using a double ball bar to identify positionindependent geometric errors on the rotary axes of fiveaxis machine tools 
Legal Events
Date  Code  Title  Description 

PB01  Publication  
C06  Publication  
SE01  Entry into force of request for substantive examination  
C10  Entry into substantive examination  
GR01  Patent grant  
C14  Grant of patent or utility model  
CF01  Termination of patent right due to nonpayment of annual fee 
Granted publication date: 20160706 Termination date: 20180314 

CF01  Termination of patent right due to nonpayment of annual fee 