CN105159228A - Five-axis calibration method for five-axis linkage numerical control machine tool having real-time transport control protocol (RTCP)-based function - Google Patents

Abstract

The invention relates to a five-axis calibration method, wherein a solid geometrical model of a motion structure of a machine tool is established based on the three-dimensional solid geometrical concept. Through the simple measurement, the eccentric distance of each rotation axis and the distance between a tool nose and a rotation center, namely geometrical vectors required for the five-axis transformation, are analyzed and calculated based on mathematical operation formulas. After that, calculated data are respectively filled into the parameters of a machine tool required for the five-axis transformation, so that the five-axis calibration purpose is realized. According to the technical scheme of the invention, the above calibration method can be grasped by operators who have only got the mathematical and geometric knowledge. Therefore, the method is low in requirement on operators, simple and clear in operation steps, and wide in application range. The method can be used for the RTCP-based function calibration of five-axis numerical control equipment of various motion structures.

Description

5-shaft linkage numerical control lathe realizes five axle scaling methods of RTCP function

Technical field

The present invention relates to numerical control machine tool technique field, be specifically related to the five axle scaling methods that a kind of 5-shaft linkage numerical control lathe realizes RTCP function.

Background technology

5-shaft linkage numerical control lathe be a kind of high in technological content, precision is high, is specifically designed to the lathe of processed complex curved surface, this machine tool system, to a national industry such as Aeronautics and Astronautics, military affairs, scientific research, precision instruments, has very important influence power.

RTCP function is the feature functionality of five-axle linkage, the feature of this function performance is, when only having turning axle to move (system with five-shaft interlock function can have two turning axles to rotate simultaneously), by the real-time synchronization compensating motion of three linear axis, a certain specified point on cutter or workpiece is made to remain motionless in the position in space.Namely cutter or workpiece rotate around this specified point.This specified point be generally point of a knife and absorption surface cut that, i.e. cutting point.

Realize five-axle linkage RTCP function, the eccentric throw of the position relationship between the motion structure form of lathe, turning axle, turning axle and the point of a knife distance to rotation center must be known.This process is exactly the five axle calibration process that 5-shaft linkage numerical control lathe realizes RTCP function.

Realize the eccentric throw of the turning axle needed for five-axle linkage RTCP function and point of a knife to the defining method of the distance of rotation center at present and have two kinds, one is that lathe manufacturer determines the eccentric throw of turning axle and the point of a knife distance to rotation center in Design of Mechanical Structure process, this method needs to know the position dimension between the accurate dimension of machine tool mechanical structure and turning axle, and lathe manufacturer particularly import lathe manufacturer for technical know-how, the schematic diagram of physical construction is often only provided, and accurate dimension is not provided, when lathe RTCP precise decreasing needs repairing or lathe needs overhaul, due to cannot provide accurate rotating shaft eccentric apart from and point of a knife to the distance of rotation center, make RTCP function and precision cannot reach machine finish requirement, two is the five axle calibration measurements functions adopting digital control system manufacturer to provide, as CNC System from Siemens the option CYCLE996 that provides measure circulatory function, calculate the geometric vector needed for five axial coordinates conversions by the three-dimensional position measuring spheroid.Use CYCLE996 to be configured with detailed understanding without the need to the basis machinery for lathe, perform and measure also without the need to dimensional drawing and the structural drawing of lathe, lathe measures circulatory function by performing CYCLE996, thus automatically realizes five axle calibration process.But adopt high to equipment requirement in this way, lathe is needed to possess on-line measurement function and corresponding option, require that operator is familiar with digital control system, and its method of operating of different digital control systems is also different, so only have a minority to grasp completely simultaneously.

Summary of the invention

Instant invention overcomes in prior art high to equipment requirement, lathe is needed to possess on-line measurement function and corresponding option, require that operator is familiar with digital control system simultaneously, and the deficiency that its method of operating of different digital control systems is also different, provide a kind of employing to set up solid geometry mathematical model, the corresponding each coordinate axis resolute of survey calculation turning axle thus complete the five axle scaling methods that 5-shaft linkage numerical control lathe that five axles demarcate realizes RTCP function.

For achieving the above object, the present invention is by the following technical solutions:

5-shaft linkage numerical control lathe realizes five axle scaling methods of RTCP function, and it comprises:

Survey instrument before a, preparation demarcation, described survey instrument comprises marble leveling ruler, square chi, dial gauge, magnetic power meter mounting, long ball head rod, short ball head rod and square;

B, geometric accuracy by marble leveling ruler, square chi, dial gauge and magnetic power meter mounting determination basic coordinates axle, and the verticality in each coordinate axis between X-axis, Y-axis, Z axis, then determine motion " zero " point of the first turning axle and the second turning axle;

The relational model of the BA Double swing head machine tool structure axis that c, foundation needs are demarcated, draws and realizes the motion structure that 5-shaft linkage numerical control lathe realizes PTCP function;

The solid geometric pattern that d, five-axle number control machine tool five axle setting up needs demarcation are demarcated, draw the eccentric throw needing the first turning axle and the second turning axle demarcated, measurement draws the first turning axle radius R _awith the second turning axle radius R _b;

E, measure the radius of turn R that the first turning axle installs short ball head rod respectively _a1, measure the radius of turn R that the first turning axle installs long ball rod _a2;

F, measure the radius of turn R that the second turning axle installs short ball head rod respectively _b1, measure the radius of turn R that the second turning axle installs long ball head rod _b2; .

G, by the motion structure in step c, the measured value R in integrating step e, f _a1, R _a2, R _b1, R _b2respectively in conjunction with formula

$\begin{array}{cc}{Z}_A=\frac{R_{A1}^2-R_{A2}^2-L_1^2+L_2^2}{2\left(L_1{\mathrm{-L}}_2\right)}& Y_A=\sqrt{R_{A1}^2-{\[\frac{R_{A1}^2-R_{A2}^2+{\left(L_1{\mathrm{-L}}_2\right)}^2}{2\left(L_1{\mathrm{-L}}_2\right)}\]}^2}\end{array}$

$\begin{array}{cc}{Z}_B=\frac{R_{B1}^2-R_{B2}^2-L_1^2+L_2^2}{2\left(L_1{\mathrm{-L}}_2\right)}& X_B=\sqrt{R_{B1}^2-{\[\frac{R_{B1}^2-R_{B2}^2+{\left(L_1{\mathrm{-L}}_2\right)}^2}{2\left(L_1{\mathrm{-L}}_2\right)}\]}^2}\end{array}$

Calculate the first vector value Z _a,, the second vector value Y _a, the 3rd vector value Z _bwith four-vector value X _b, wherein L ₁for short ball head rod is to the length of main shaft end face, L ₂for long ball head rod is to the length of main shaft end face.

Further technical scheme is, described step e specifically comprises:

Two of square surfaces are debugged parallel with X-axis with Y-axis axis of movement by h, use dial gauge respectively;

I, install on the first turning axle short ball head rod, short ball head rod to be gone along X-axis, Y-axis, Z axis three directions respectively recline three surfaces of square, and X value, Y value, the Z value of each close rear digital control system display of record respectively, namely draw the first coordinate figure P after then utilizing X value, Y value, Z value to add short ball head rod radius and 1/2nd square length of sides respectively ₁(x ₁, y ₁, z ₁);

J, the first turning axle is rotated to an angle after, record the angle step Δ │ θ │ of the first turning axle, repeat above-mentioned steps h-i, draw the second coordinate figure P ₂(x ₂, y ₂, z ₂);

K, in conjunction with the first coordinate figure P ₁(x ₁, y ₁, z ₁), the second coordinate figure P ₂(x ₂, y ₂, z ₂) and angle step Δ │ θ │ pass through formula

$R_{A1}=\frac{\sqrt{{(x_1-x_2)}^2+{(y_1-y_2)}^2+{(z_1-z_2)}^2}}{2\·Sin\frac{\left|\mathrm{\θ}\right|}{2}}$

Show that the first turning axle installs the radius of turn R of short ball head rod _a1;

L, by after the first turning axle different rotation angle, duplicate detection, record, the above-mentioned R of calculating _a1more than three times, with each R _a1mean value as R _a1net result.

M, long ball head rod is installed on the first turning axle, repeats above-mentioned steps h-l, calculate the radius of turn R that the first turning axle installs long ball rod _a2.

Further technical scheme is, described step f specifically comprises:

Two of square surfaces are debugged parallel with X-axis with Y-axis axis of movement by n, use dial gauge respectively;

O, install on the second turning axle short ball head rod, short ball head rod to be gone along X-axis, Y-axis, Z axis three directions respectively recline three surfaces of square, and X value, Y value, the Z value of each close rear digital control system display of record respectively, namely draw three-dimensional value P after then utilizing X value, Y value, Z value to lengthen bulb rod radius and 1/2nd square length of sides respectively ₃(x ₃, y ₃, z ₃);

P, the second turning axle is rotated to an angle after, record the angle step Δ │ θ │ of the second turning axle, repeat above-mentioned steps n-p, draw 4-coordinate value P ₄(x ₄, y ₄, z ₄);

Q, in conjunction with three-dimensional value P ₃(x ₃, y ₃, z ₃), the second coordinate figure P ₄(x ₄, y ₄, z ₄) and angle step Δ

│ θ │ passes through formula

$R_{B1}=\frac{\sqrt{{(x_3-x_4)}^2+{(y_3-y_4)}^2+{(z_3-z_4)}^2}}{2\·Sin\frac{\left|\mathrm{\Φ}\right|}{2}}$

Show that the second turning axle installs the radius of turn R of short ball head rod _b1;

R, by after the second turning axle different rotation angle, duplicate detection, record, the above-mentioned R of calculating _b1more than three times, with each R _b1mean value as R _b1net result.

S, long ball head rod is installed on the first turning axle, repeats above-mentioned steps n-r, calculate the radius of turn R that the second turning axle installs long ball rod _b2.

Compared with prior art, the invention has the beneficial effects as follows:

The present invention is directed to Five Axis CNC System, adopt and set up solid geometry mathematical model, the corresponding each coordinate axis resolute of survey calculation turning axle thus complete five axles and demarcate.By the application attestation in actual production, the method has simple to operate, lathe five axle stated accuracy meets five-shaft numerical control equipment RTCP function requirement on machining accuracy, low to personnel and hardware, environmental requirement, demarcate the feature that efficiency is high, be applicable to all kinds of motion structure form, also can be generalized to other digital control systems, have broad application prospects.

Accompanying drawing explanation

Fig. 1 is the relational model schematic diagram of BA Double swing head machine tool structure axis in the present invention.

Fig. 2 is the solid geometric pattern schematic diagram that in the present invention, five-axle number control machine tool five axle is demarcated

Fig. 3 is that in the present invention, the first turning axle rotates resolute calculating schematic diagram.

Fig. 4 is that in the present invention, the second turning axle rotates resolute calculating schematic diagram.

In figure: 1 first rotating shaft axis, 2 second rotating shaft axis, the Z-direction vector of 3 main shaft end face to the first rotating shaft axis, the Y-direction vector of 4 main shaft end face to the first rotating shaft axis, the X of 5 main shaft end face to the second rotating shaft axis to vector, the Z-direction vector of 6 first rotating shaft axis to the second rotating shaft axis, 7 main shafts, main axis length L, short ball head rod is to spindle end face length degree L ₁, long ball head rod is to spindle end face length degree L ₂, the first vector value Z _a,, the second vector value Y _a, the 3rd vector value Z _bwith four-vector value X _b, the first turning axle installs the radius of turn R of short ball head rod _a1, the first turning axle installs the radius of turn R of long ball rod _a2, the second turning axle installs the radius of turn R of short ball head rod _b1, the second turning axle installs the radius of turn R of long ball rod _b2.

Embodiment

Below in conjunction with accompanying drawing, the present invention is further elaborated.

5-shaft linkage numerical control lathe as shown in Figures 1 to 4 realizes five axle scaling methods of RTCP function, and it comprises the following steps:

Survey instrument before a, preparation demarcation, described survey instrument comprises marble leveling ruler, square chi, dial gauge, magnetic power meter mounting, long ball head rod, short ball head rod and square;

B, geometric accuracy by marble leveling ruler, square chi, dial gauge and magnetic power meter mounting determination basic coordinates axle, and the verticality in each coordinate axis between X-axis, Y-axis, Z axis, then determine motion " zero " point of the first turning axle and the second turning axle;

The relational model of the BA Double swing head machine tool structure axis that c, foundation needs are demarcated, draws and realizes the motion structure that 5-shaft linkage numerical control lathe realizes PTCP function;

The solid geometric pattern that d, five-axle number control machine tool five axle setting up needs demarcation are demarcated, draw the eccentric throw needing the first turning axle and the second turning axle demarcated, measurement draws the first turning axle radius R _awith the second turning axle radius R _b;

E, measure the radius of turn R that the first turning axle installs short ball head rod respectively _a1, measure the radius of turn R that the first turning axle installs long ball rod _a2;

Described step e specifically comprises:

Two of square surfaces are debugged parallel with X-axis with Y-axis axis of movement by h, use dial gauge respectively;

I, install on the first turning axle short ball head rod, short ball head rod to be gone along X-axis, Y-axis, Z axis three directions respectively recline three surfaces of square, and X value, Y value, the Z value of each close rear digital control system display of record respectively, namely draw the first coordinate figure P after then utilizing X value, Y value, Z value to add short ball head rod radius and 1/2nd square length of sides respectively ₁(x ₁, y ₁, z ₁);

J, the first turning axle is rotated to an angle after, record the angle step Δ │ θ │ of the first turning axle, repeat above-mentioned steps h-i, draw the second coordinate figure P ₂(x ₂, y ₂, z ₂);

K, in conjunction with the first coordinate figure P ₁(x ₁, y ₁, z ₁), the second coordinate figure P ₂(x ₂, y ₂, z ₂) and angle step Δ │ θ │ pass through formula

$R_{A1}=\frac{\sqrt{{(x_1-x_2)}^2+{(y_1-y_2)}^2+{(z_1-z_2)}^2}}{2\·Sin\frac{\left|\mathrm{\θ}\right|}{2}}$

Show that the first turning axle installs the radius of turn R of short ball head rod _a1;

L, by after the first turning axle different rotation angle, duplicate detection, record, the above-mentioned R of calculating _a1more than three times, with each R _a1mean value as R _a1net result.

M, long ball head rod is installed on the first turning axle, repeats above-mentioned steps h-l, calculate the radius of turn R that the first turning axle installs long ball rod _a2

F, measure the radius of turn R that the second turning axle installs short ball head rod respectively _b1, measure the radius of turn R that the second turning axle installs long ball head rod _b2; .

Described step f specifically comprises:

Two of square surfaces are debugged parallel with X-axis with Y-axis axis of movement by n, use dial gauge respectively;

O, install on the second turning axle short ball head rod, short ball head rod to be gone along X-axis, Y-axis, Z axis three directions respectively recline three surfaces of square, and X value, Y value, the Z value of each close rear digital control system display of record respectively, namely draw three-dimensional value P after then utilizing X value, Y value, Z value to lengthen bulb rod radius and 1/2nd square length of sides respectively ₃(x ₃, y ₃, z ₃);

P, the second turning axle is rotated to an angle after, record the angle step Δ │ θ │ of the second turning axle, repeat above-mentioned steps n-p, draw 4-coordinate value P ₄(x ₄, y ₄, z ₄);

Q, in conjunction with three-dimensional value P ₃(x ₃, y ₃, z ₃), the second coordinate figure P ₄(x ₄, y ₄, z ₄) and angle step Δ │ θ │ pass through formula

$R_{B1}=\frac{\sqrt{{(x_3-x_4)}^2+{(y_3-y_4)}^2+{(z_3-z_4)}^2}}{2\·Sin\frac{\left|\mathrm{\Φ}\right|}{2}}$

Show that the second turning axle installs the radius of turn R of short ball head rod _b1;

R, by after the second turning axle different rotation angle, duplicate detection, record, the above-mentioned R of calculating _b1more than three times, with each R _b1mean value as R _b1net result.

S, long ball head rod is installed on the first turning axle, repeats above-mentioned steps n-r, calculate the radius of turn R that the second turning axle installs long ball rod _b2

G, by the motion structure in step c, the measured value R in integrating step e, f _a1, R _a2, R _b1, R _b2respectively in conjunction with formula

$\begin{array}{cc}{Z}_A=\frac{R_{A1}^2-R_{A2}^2-L_1^2+L_2^2}{2\left(L_1{\mathrm{-L}}_2\right)}& Y_A=\sqrt{R_{A1}^2-{\[\frac{R_{A1}^2-R_{A2}^2+{\left(L_1{\mathrm{-L}}_2\right)}^2}{2\left(L_1{\mathrm{-L}}_2\right)}\]}^2}\end{array}$

$\begin{array}{cc}{Z}_B=\frac{R_{B1}^2-R_{B2}^2-L_1^2+L_2^2}{2\left(L_1{\mathrm{-L}}_2\right)}& X_B=\sqrt{R_{B1}^2-{\[\frac{R_{B1}^2-R_{B2}^2+{\left(L_1{\mathrm{-L}}_2\right)}^2}{2\left(L_1{\mathrm{-L}}_2\right)}\]}^2}\end{array}$

Calculate the first vector value Z _a,, the second vector value Y _a, the 3rd vector value Z _bwith four-vector value X _b, wherein L ₁for short ball head rod is to the length of main shaft end face, L ₂for long ball head rod is to the length of main shaft end face.

BA Double swing head kinematic structure refers to: the first turning axle, second turning axle is relative to the demarcation of main shaft orientation end face radius of turn along each coordinate axis resolute, according to the first turning axle, the mutual superposition relation of the corresponding each coordinate axis resolute of the second turning axle axle radius of turn, its resolute path along coordinate axis is as shown in Figure 2: 3 → 4 → 5 → 6, simultaneously according to cube opposite side crest line principle, composition graphs 3, Fig. 4, turning axle can be released relative to main shaft orientation end face radius of turn along each coordinate axis resolute data, in conjunction with Siemens 840 D in NC five principal axis transformation parameter, there is following corresponding relation, ± number depend on that whether resolute is consistent with the positive dirction of coordinate axis, be unanimously "+".

Above embodiment is described in detail to essence of the present invention; but can not limit protection scope of the present invention; apparently; under enlightenment of the present invention; the art those of ordinary skill can also carry out many improvement and modification; it should be noted that these improve and modify all to drop within claims of the present invention.

Claims (3)

1. 5-shaft linkage numerical control lathe realizes five axle scaling methods of RTCP function, it is characterized in that: it comprises the following steps:

Survey instrument before a, preparation demarcation, described survey instrument comprises marble leveling ruler, square chi, dial gauge, magnetic power meter mounting, long ball head rod, short ball head rod and square;

B, geometric accuracy by marble leveling ruler, square chi, dial gauge and magnetic power meter mounting determination basic coordinates axle, and the verticality in each coordinate axis between X-axis, Y-axis, Z axis, then determine motion " zero " point of the first turning axle and the second turning axle;

The relational model of the BA Double swing head machine tool structure axis that c, foundation needs are demarcated, draws and realizes the motion structure that 5-shaft linkage numerical control lathe realizes PTCP function;

The solid geometric pattern that d, five-axle number control machine tool five axle setting up needs demarcation are demarcated, draw the eccentric throw needing the first turning axle and the second turning axle demarcated, measurement draws the first turning axle radius R _awith the second turning axle radius R _b;

E, measure the radius of turn R that the first turning axle installs short ball head rod respectively _a1, measure the radius of turn R that the first turning axle installs long ball rod _a2;

F, measure the radius of turn R that the second turning axle installs short ball head rod respectively _b1, measure the radius of turn R that the second turning axle installs long ball head rod _b2; .

G, by the motion structure in step c, the measured value R in integrating step e, f _a1, R _a2, R _b1, R _b2respectively in conjunction with formula

$\begin{array}{cc}{Z}_A=\frac{R_{A1}^2-R_{A2}^2-L_1^2+L_2^2}{2\left(L_1{\mathrm{-L}}_2\right)}& Y_A=\sqrt{R_{A1}^2-{\[\frac{R_{A1}^2-R_{A2}^2+{\left(L_1{\mathrm{-L}}_2\right)}^2}{2\left(L_1{\mathrm{-L}}_2\right)}\]}^2}\end{array}$

$\begin{array}{cc}{Z}_B=\frac{R_{B1}^2-R_{B2}^2-L_1^2+L_2^2}{2\left(L_1{\mathrm{-L}}_2\right)}& X_B=\sqrt{R_{B1}^2-{\[\frac{R_{B1}^2-R_{B2}^2+{\left(L_1{\mathrm{-L}}_2\right)}^2}{2\left(L_1{\mathrm{-L}}_2\right)}\]}^2}\end{array}$

Calculate the first vector value Z _a, the second vector value Y _a, the 3rd vector value Z _bwith four-vector value X _b, wherein L ₁for short ball head rod is to the length of main shaft end face, L ₂for long ball head rod is to the length of main shaft end face.

2. 5-shaft linkage numerical control lathe according to claim 1 realizes five axle scaling methods of RTCP function, and it is characterized in that, described step e specifically comprises:

Two of square surfaces are debugged parallel with X-axis with Y-axis axis of movement by h, use dial gauge respectively;

I, install on the first turning axle short ball head rod, short ball head rod to be gone along X-axis, Y-axis, Z axis three directions respectively recline three surfaces of square, and X value, Y value, the Z value of each close rear digital control system display of record respectively, namely draw the first coordinate figure P after then utilizing X value, Y value, Z value to add short ball head rod radius and 1/2nd square length of sides respectively ₁(x ₁, y ₁, z ₁);

J, the first turning axle is rotated to an angle after, record the angle step Δ │ θ │ of the first turning axle, repeat above-mentioned steps h-i, draw the second coordinate figure P ₂(x ₂, y ₂, z ₂);

K, in conjunction with the first coordinate figure P ₁(x ₁, y ₁, z ₁), the second coordinate figure P ₂(x ₂, y ₂, z ₂) and angle step Δ │ θ │ pass through formula

$R_{A1}=\frac{\sqrt{{(x_1-x_2)}^2+{(y_1-y_2)}^2+{(z_1-z_2)}^2}}{2\·Sin\frac{\left|\mathrm{\θ}\right|}{2}}$

Show that the first turning axle installs the radius of turn R of short ball head rod _a1;

L, by after the first turning axle different rotation angle, duplicate detection, record, the above-mentioned R of calculating _a1more than three times, with each R _a1mean value as R _a1net result.

M, long ball head rod is installed on the first turning axle, repeats above-mentioned steps h-l, calculate the radius of turn R that the first turning axle installs long ball rod _a2.

3. 5-shaft linkage numerical control lathe according to claim 1 realizes five axle scaling methods of RTCP function, and it is characterized in that, described step f specifically comprises:

Two of square surfaces are debugged parallel with X-axis with Y-axis axis of movement by n, use dial gauge respectively;

O, install on the second turning axle short ball head rod, short ball head rod to be gone along X-axis, Y-axis, Z axis three directions respectively recline three surfaces of square, and X value, Y value, the Z value of each close rear digital control system display of record respectively, namely draw three-dimensional value P after then utilizing X value, Y value, Z value to lengthen bulb rod radius and 1/2nd square length of sides respectively ₃(x ₃, y ₃, z ₃);

P, the second turning axle is rotated to an angle after, record the angle step Δ │ θ │ of the second turning axle, repeat above-mentioned steps n-p, draw 4-coordinate value P ₄(x ₄, y ₄, z ₄);

Q, in conjunction with three-dimensional value P ₃(x ₃, y ₃, z ₃), the second coordinate figure P ₄(x ₄, y ₄, z ₄) and angle step Δ │ θ │ pass through formula

$R_{B1}=\frac{\sqrt{{(x_3-x_4)}^2+{(y_3-y_4)}^2+{(z_3-z_4)}^2}}{2\·Sin\frac{\left|\mathrm{\Φ}\right|}{2}}$

Show that the second turning axle installs the radius of turn R of short ball head rod _b1;

R, by after the second turning axle different rotation angle, duplicate detection, record, the above-mentioned R of calculating _b1more than three times, with each R _b1mean value as R _b1net result.

S, long ball head rod is installed on the first turning axle, repeats above-mentioned steps n-r, calculate the radius of turn R that the second turning axle installs long ball rod _b2.