CN105159228B - 5-shaft linkage numerical control lathe realizes five axle scaling methods of RTCP functions - Google Patents
5-shaft linkage numerical control lathe realizes five axle scaling methods of RTCP functions Download PDFInfo
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- CN105159228B CN105159228B CN201510522513.3A CN201510522513A CN105159228B CN 105159228 B CN105159228 B CN 105159228B CN 201510522513 A CN201510522513 A CN 201510522513A CN 105159228 B CN105159228 B CN 105159228B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/401—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
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Abstract
Five axles scaling method of the present invention is the motion structure solid geometric pattern that utilization space solid geometry concept establishes lathe, by simply measuring, with mathematical operation formula analysis calculate each rotating shaft eccentric away from and point of a knife to pivot distance, i.e. five axles conversion needed for geometric vector.The data calculated are respectively filled in the lathe parameter needed for five principal axis transformations, so as to reach the purpose of five axles demarcation.Scaling method involved in the present invention only needs operating personnel to possess mathematics geometric knowledge, requires low to operating personnel, and operating procedure is simple, clear, applied widely, may apply to the RTCP functions demarcation of the five-shaft numerical control equipment of all kinds of motion structures.
Description
Technical field
The present invention relates to numerical control machine tool technique field, and in particular to a kind of 5-shaft linkage numerical control lathe realizes RTCP functions
Five axle scaling methods.
Background technology
5-shaft linkage numerical control lathe be it is a kind of it is high in technological content, precision is high, dedicated for the lathe of processed complex curved surface,
The industries such as this machine tool system Aeronautics and Astronautics national to one, military affairs, scientific research, precision instruments, there is very important influence
Power.
The characteristics of RTCP functions are the feature functionalitys of five-axle linkage, and the function shows is (the tool when only rotary shaft is moved
The system for having five-shaft interlock function can have two rotary shafts while rotate), fortune is compensated by the real-time synchronization of three linear axis
It is dynamic, a certain specified point on cutter or workpiece is remained motionless in the position in space.That is cutter or workpiece is specific around this
Point rotates.This specified point be usually point of a knife cutting is contacted with workpiece that, i.e. cutting point.
Realize five-axle linkage RTCP functions, it must be understood that close the position between the motion structure form of lathe, rotary shaft
System, the distance of the eccentric throw of rotary shaft and point of a knife to pivot.This process is exactly that 5-shaft linkage numerical control lathe is realized
Five axle calibration process of RTCP functions.
Realize at present rotary shaft needed for five-axle linkage RTCP functions eccentric throw and point of a knife to pivot distance
Determination method have two kinds, first, lathe manufacturer determines the eccentric throw and knife of rotary shaft during Design of Mechanical Structure
The sharp distance to pivot, this method need to know the position chi between the accurate dimension of machine tool mechanical structure and rotary shaft
It is very little, and particularly import lathe manufacturer of lathe manufacturer often only provides the signal of mechanical structure for technical know-how
Figure, without providing accurate dimension, when lathe RTCP precise decreasings need repairing or lathe needs overhaul, due to that can not provide
Accurate rotating shaft eccentric away from and point of a knife to pivot distance so that RTCP functions and precision are unable to reach machine tooling
Required precision；Second, the five axles demarcation measurement function of being provided using digital control system manufacturer, such as CNC System from Siemens institute
The option CYCLE996 measurement circulatory functions of offer, are changed by measuring the three-dimensional position of spheroid to calculate five axial coordinates
Required geometric vector.Be configured with detailed understanding without the basic machinery for lathe using CYCLE996, perform measurement also without
The dimensional drawing and structure chart of lathe are needed, lathe measures circulatory function by performing CYCLE996, so as to realize that five axles are demarcated automatically
Process.But in this way to equipment requirement height, it is necessary to which lathe possesses on-line measurement function and corresponding option, together
Shi Yaoqiu operators are familiar with digital control system, and its operating method of different digital control systems is also different, so only a minority
It can grasp completely.
The content of the invention
Instant invention overcomes high to equipment requirement in the prior art, it is necessary to which lathe possesses on-line measurement function and corresponding choosing
Function, while require that operator is familiar with digital control system, and different digital control systems its operating method also different deficiency, are carried
Used for one kind and establish solid geometry mathematical modeling, survey calculation rotary shaft corresponds to each reference axis resolute so as to complete five axle marks
Fixed 5-shaft linkage numerical control lathe realizes five axle scaling methods of RTCP functions.
To achieve the above object, the present invention uses following technical scheme：
A kind of 5-shaft linkage numerical control lathe realizes five axle scaling methods of RTCP functions, and it includes：
A, the survey tool before demarcation is prepared, the survey tool includes marble leveling ruler, square chi, dial gauge, magnetic power meter
Mounting, long bulb rod, short ball head rod and square；
B, the geometry of basic coordinates axle is determined by marble leveling ruler, square chi, dial gauge and magnetic power meter mounting
Perpendicularity in precision, and each reference axis between X-axis, Y-axis, Z axis, it is then determined that the first rotation
Rotating shaft and the motion of the second rotary shaft " zero " point；
C, the relational model for the BA Double swing head machine tool structure axis for needing to demarcate is established, draws and realizes 5-shaft linkage numerical control machine
Bed realizes the motion structure of RTCP functions；
D, the solid geometric pattern for the axle of five-axle number control machine tool five demarcation for needing to demarcate is established, draws needs are demarcated first
The eccentric throw of rotary shaft and the second rotary shaft, measurement draw the first rotary shaft radius RAWith the second rotary shaft radius RB；
E, the radius of turn R of the first rotary shaft installation short ball head rod is measuredA1, the long bulb rod of measurement the first rotary shaft installation
Radius of turn RA2；
F, the radius of turn R of the second rotary shaft installation short ball head rod is measuredB1, the long bulb rod of measurement the second rotary shaft installation
Radius of turn RB2；
G, by the motion structure in step c, with reference to the measured value R in step e, fA1、RA2、RB1、RB2, pass through formula
The first vector value Z is calculatedA, the second vector value YA, the 3rd vector value ZBWith four-vector value XB, wherein L1To be short
Bulb rod is to the length of main shaft end face, L2For the length of long bulb rod to main shaft end face.
Further technical scheme is that the step e is specifically included：
H, it is using dial gauge that two surfaces of square are parallel with X-axis and the debugging of Y-axis axis of movement respectively；
Short ball head rod is installed in the first rotary shaft, short ball head rod is gone respectively along three X-axis, Y-axis, Z axis directions i,
Recline three surfaces of square, and X values, Y value, the Z values that record is shown close to rear digital control system every time respectively, then using X values,
Y value, Z values draw the first coordinate value P respectively plus after short ball head rod radius and the half square length of side1(x1,y1,z1)；
J, after the first rotary shaft is rotated to an angle, the angle step Δ │ θ │ of the first rotary shaft are recorded, repeat above-mentioned step
Rapid h-i, draw the second coordinate value P2(x2,y2,z2)；
K, with reference to the first coordinate value P1(x1,y1,z1), the second coordinate value P2(x2,y2,z2) and angle step Δ │ θ │ pass through public affairs
Formula
Draw the radius of turn R of the first rotary shaft installation short ball head rodA1；
L, by after the first rotary shaft different rotation angle, repetition is detected, recorded, calculating above-mentioned RA1More than three times, with each time
RA1Average value as RA1Final result；
Long bulb rod is installed in the first rotary shaft, repeat the above steps h-l, and the first rotary shaft installation length is calculated m,
The radius of turn R of batA2。
Further technical scheme is that the step f is specifically included：
N, it is using dial gauge that two surfaces of square are parallel with X-axis and the debugging of Y-axis axis of movement respectively；
Short ball head rod is installed in the second rotary shaft, short ball head rod is gone respectively along three X-axis, Y-axis, Z axis directions o,
Recline three surfaces of square, and X values, Y value, the Z values that record is shown close to rear digital control system every time respectively, then using X values,
Y value, Z values draw the 3rd coordinate value P respectively plus after short ball head rod radius and the half square length of side3(x3,y3,z3)；
P, after the second rotary shaft is rotated to an angle, the angle step Δ │ Φ │ of the second rotary shaft are recorded, are repeated above-mentioned
Step n-o, draw 4-coordinate value P4(x4,y4,z4)；
Q, with reference to the 3rd coordinate value P3(x3,y3,z3), 4-coordinate value P4(x4,y4,z4) and angle step Δ │ Φ │ pass through
Formula
Draw the radius of turn R of the second rotary shaft installation short ball head rodB1；
R, by after the second rotary shaft different rotation angle, repetition is detected, recorded, calculating above-mentioned RB1More than three times, with each time
RB1Average value as RB1Final result；
Long bulb rod is installed in the second rotary shaft, repeat the above steps n-r, and the second rotary shaft installation length is calculated s,
The radius of turn R of batB2。
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention is directed to Five Axis CNC System, using establishing solid geometry mathematical modeling, survey calculation rotary shaft pair
Each reference axis resolute is answered so as to complete the demarcation of five axles.By the application attestation in actual production, the method has operation letter
Single, the axle stated accuracy of lathe five meets five-shaft numerical control equipment RTCP function requirement on machining accuracy, to personnel and hardware, environmental requirement
It is low, demarcate efficiency high the characteristics of, suitable for all kinds of motion structure forms, other digital control systems can also be generalized to, have it is wide
Application prospect.
Brief description of the drawings
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 the axle of five-axle number control machine tool five is demarcated in the present invention
Fig. 3 rotates resolute for the first rotary shaft in the present invention and calculates schematic diagram.
Fig. 4 rotates resolute for the second rotary shaft in the present invention and calculates schematic diagram.
In figure：1 first rotating shaft axis, 2 second rotating shaft axis, the Z-direction arrow of 3 main shaft end faces to the first rotating shaft axis
Amount, the Y-direction vector of 4 main shaft end faces to the first rotating shaft axis, 5 main shaft end faces to the X of the second rotating shaft axis are to vector, and 6 the
The Z-direction vector of one rotating shaft axis to the second rotating shaft axis, 7 main shafts, main axis length L, short ball head rod to main shaft end face length
L1, long bulb rod to main shaft end face length L2, the first vector value ZA, the second vector value YA, the 3rd vector value ZBWith four-vector value
XB, the radius of turn R of the first rotary shaft installation short ball head rodA1, the radius of turn R of the long bulb rod of the first rotary shaft installationA2, second
Rotary shaft installs the radius of turn R of short ball head rodB1, the radius of turn R of the long bulb rod of the second rotary shaft installationB2。
Embodiment
Below for BA double pendulum header structure 5-shaft linkage numerical control lathes, with reference to 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 functions, and it includes following step
Suddenly：
A, the survey tool before demarcation is prepared, the survey tool includes marble leveling ruler, square chi, dial gauge, magnetic power meter
Mounting, long bulb rod, short ball head rod and square；
B, the geometric accuracy of basic coordinates axle is determined by marble leveling ruler, square chi, dial gauge and magnetic power meter mounting, with
And the perpendicularity in each reference axis between X-axis, Y-axis, Z axis, it is then determined that the motion of the first rotary shaft and the second rotary shaft
" zero " point；
C, the relational model for the BA Double swing head machine tool structure axis for needing to demarcate is established, draws and realizes 5-shaft linkage numerical control machine
Bed realizes the motion structure of RTCP functions；
D, the solid geometric pattern for the axle of five-axle number control machine tool five demarcation for needing to demarcate is established, draws needs are demarcated first
The eccentric throw of rotary shaft and the second rotary shaft, survey calculation draw the first rotary shaft radius RAWith the second rotary shaft radius RB；
E, the radius of turn R of the rotary shaft of survey calculation first installation short ball head rodA1, then the installation of the rotary shaft of survey calculation first
The radius of turn R of long bulb rodA2；
The step e is specifically included：
H, it is using dial gauge that two surfaces of square are parallel with X-axis and the debugging of Y-axis axis of movement respectively；
Short ball head rod is installed in the first rotary shaft, short ball head rod is gone respectively along three X-axis, Y-axis, Z axis directions i,
Recline three surfaces of square, and X values, Y value, the Z values that record is shown close to rear digital control system every time respectively, then using X values,
Y value, Z values draw the first coordinate value P respectively plus after short ball head rod radius and the half square length of side1(x1,y1,z1)；
J, after the first rotary shaft is rotated to an angle, the angle step Δ │ θ │ of the first rotary shaft are recorded, repeat above-mentioned step
Rapid h-i, draw the second coordinate value P2(x2,y2,z2)；
K, with reference to the first coordinate value P1(x1,y1,z1), the second coordinate value P2(x2,y2,z2) and angle step Δ │ θ │ pass through public affairs
Formula
Draw the radius of turn R of the first rotary shaft installation short ball head rodA1；
L, by after the first rotary shaft different rotation angle, repetition is detected, recorded, calculating above-mentioned RA1More than three times, with each time
RA1Average value as RA1Final result；
Long bulb rod is installed in the first rotary shaft, repeat the above steps h-l, and the first rotary shaft installation length is calculated m,
The radius of turn R of batA2；
F, the radius of turn R of the rotary shaft of survey calculation second installation short ball head rodB1, then the installation of the rotary shaft of survey calculation second
The radius of turn R of long bulb rodB2；
The step f is specifically included：
N, it is using dial gauge that two surfaces of square are parallel with X-axis and the debugging of Y-axis axis of movement respectively；
Short ball head rod is installed in the second rotary shaft, short ball head rod is gone respectively along three X-axis, Y-axis, Z axis directions o,
Recline three surfaces of square, and X values, Y value, the Z values that record is shown close to rear digital control system every time respectively, then using X values,
Y value, Z values draw the 3rd coordinate value P respectively plus after short ball head rod radius and the half square length of side3(x3,y3,z3)；
P, after the second rotary shaft is rotated to an angle, the angle step Δ │ Φ │ of the second rotary shaft are recorded, are repeated above-mentioned
Step n-o, draw 4-coordinate value P4(x4,y4,z4)；
Q, with reference to the 3rd coordinate value P3(x3,y3,z3), 4-coordinate value P4(x4,y4,z4) and angle step Δ │ Φ │ pass through
Formula
Draw the radius of turn R of the second rotary shaft installation short ball head rodB1；
R, by after the second rotary shaft different rotation angle, repetition is detected, recorded, calculating above-mentioned RB1More than three times, with each time
RB1Average value as RB1Final result；
Long bulb rod is installed in the second rotary shaft, repeat the above steps n-r, and the second rotary shaft installation length is calculated s,
The radius of turn R of batB2。
G, by the motion structure in step c, with reference to the measured value R in step e, fA1、RA2、RB1、RB2, with reference to formula
The first vector value Z is calculatedA, the second vector value YA, the 3rd vector value ZBWith four-vector value XB,Wherein L1To be short
Bulb rod is to the length of main shaft end face, L2For the length of long bulb rod to main shaft end face.
BA Double swing head kinematic structures refer to：First rotary shaft, the second rotary shaft are relative to main shaft orientation end face rotation half
Demarcation of the footpath along each reference axis resolute, each reference axis point arrow is corresponded to according to the first rotary shaft, the second rotary shaft axle radius of turn
The mutual superposition relation of amount, its resolute path along reference axis are as shown in Figure 2：3 → 4 → 5 → 6, while according to cube pair
Arris line principle, with reference to Fig. 3, Fig. 4, rotary shaft can be released and divided relative to main shaft orientation end face radius of turn along each reference axis
Vector data, with reference to the principal axis transformation parameter of Siemens 840 D in NC five, there is following corresponding relation, ± number depend on resolute with
Whether the positive direction of reference axis is consistent, is unanimously "+".
The essence of the present invention is described in detail above embodiment, but can not be to protection scope of the present invention
Limited, it should be apparent that, under the enlightenment of the present invention, those of ordinary skill in the art can also carry out many improvement
And modification, it should be noted that these are improved and modification all falls within the claims of the present invention.
Claims (3)
1. a kind of 5-shaft linkage numerical control lathe realizes five axle scaling methods of RTCP functions, it is characterised in that：It includes following step
Suddenly：
A, prepare demarcation before survey tool, the survey tool include marble leveling ruler, square chi, dial gauge, magnetic power meter mounting,
Long bulb rod, short ball head rod and square；
B, the geometric accuracy of basic coordinates axle is determined by marble leveling ruler, square chi, dial gauge and magnetic power meter mounting, and respectively
Perpendicularity in individual reference axis between X-axis, Y-axis, Z axis, it is then determined that motion " zero " point of the first rotary shaft and the second rotary shaft；
C, the relational model for the BA Double swing head machine tool structure axis for needing to demarcate is established, draws and realizes 5-shaft linkage numerical control lathe reality
The motion structure of existing RTCP functions；
D, the solid geometric pattern for the axle of five-axle number control machine tool five demarcation for needing to demarcate is established, draws the first rotation that needs are demarcated
The eccentric throw of axle and the second rotary shaft, measurement draw the first rotary shaft radius RAWith the second rotary shaft radius RB；
E, the radius of turn R of the first rotary shaft installation short ball head rod is measuredA1, the rotation of the long bulb rod of measurement the first rotary shaft installation
Radius RA2；
F, the radius of turn R of the second rotary shaft installation short ball head rod is measuredB1, the rotation of the long bulb rod of measurement the second rotary shaft installation
Radius RB2；
G, by the motion structure in step c, with reference to the measured value R in step e, fA1、RA2、RB1、RB2, pass through formula
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The first vector value Z is calculatedA, the second vector value YA, the 3rd vector value ZBWith four-vector value XB, wherein L1For short ball head
Rod is to the length of main shaft end face, L2For the length of long bulb rod to main shaft end face.
2. 5-shaft linkage numerical control lathe according to claim 1 realizes five axle scaling methods of RTCP functions, its feature exists
In the step e is specifically included：
H, it is using dial gauge that two surfaces of square are parallel with X-axis and the debugging of Y-axis axis of movement respectively；
Short ball head rod is installed in the first rotary shaft, short ball head rod is gone to recline respectively along three X-axis, Y-axis, Z axis directions i,
Three surfaces of square, and X values, Y value, the Z values that record is shown close to rear digital control system every time respectively, then using X values, Y value,
Z values draw the first coordinate value P respectively plus after short ball head rod radius and the half square length of side1(x1,y1,z1)；
J, after the first rotary shaft is rotated to an angle, the angle step Δ │ θ │ of the first rotary shaft are recorded, repeat the above steps h-
I, draw the second coordinate value P2(x2,y2,z2)；
K, with reference to the first coordinate value P1(x1,y1,z1), the second coordinate value P2(x2,y2,z2) and angle step Δ │ θ │ pass through formula
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<mi>y</mi>
<mn>2</mn>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>z</mi>
<mn>1</mn>
</msub>
<mo>-</mo>
<msub>
<mi>z</mi>
<mn>2</mn>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
<mrow>
<mn>2</mn>
<mo>&CenterDot;</mo>
<mi>S</mi>
<mi>i</mi>
<mi>n</mi>
<mfrac>
<mrow>
<mo>|</mo>
<mi>&theta;</mi>
<mo>|</mo>
</mrow>
<mn>2</mn>
</mfrac>
</mrow>
</mfrac>
</mrow>
Draw the radius of turn R of the first rotary shaft installation short ball head rodA1；
L, by after the first rotary shaft different rotation angle, repetition is detected, recorded, calculating above-mentioned RA1More than three times, with each secondary RA1's
Average value is as RA1Final result；
Long bulb rod is installed in the first rotary shaft, repeat the above steps h-l, and the first rotary shaft is calculated and installs long bulb m,
The radius of turn R of rodA2。
3. 5-shaft linkage numerical control lathe according to claim 1 realizes five axle scaling methods of RTCP functions, its feature exists
In the step f is specifically included：
N, it is using dial gauge that two surfaces of square are parallel with X-axis and the debugging of Y-axis axis of movement respectively；
Short ball head rod is installed in the second rotary shaft, short ball head rod is gone to recline respectively along three X-axis, Y-axis, Z axis directions o,
Three surfaces of square, and X values, Y value, the Z values that record is shown close to rear digital control system every time respectively, then using X values, Y value,
Z values draw the 3rd coordinate value P respectively plus after short ball head rod radius and the half square length of side3(x3,y3,z3)；
P, after the second rotary shaft is rotated to an angle, the angle step Δ │ Φ │ of the second rotary shaft is recorded, are repeated the above steps
N-o, draw 4-coordinate value P4(x4,y4,z4)；
Q, with reference to the 3rd coordinate value P3(x3,y3,z3), 4-coordinate value P4(x4,y4,z4) and angle step Δ │ Φ │ pass through formula
<mrow>
<msub>
<mi>R</mi>
<mrow>
<mi>B</mi>
<mn>1</mn>
</mrow>
</msub>
<mo>=</mo>
<mfrac>
<msqrt>
<mrow>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>x</mi>
<mn>3</mn>
</msub>
<mo>-</mo>
<msub>
<mi>x</mi>
<mn>4</mn>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>y</mi>
<mn>3</mn>
</msub>
<mo>-</mo>
<msub>
<mi>y</mi>
<mn>4</mn>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<msub>
<mi>z</mi>
<mn>3</mn>
</msub>
<mo>-</mo>
<msub>
<mi>z</mi>
<mn>4</mn>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
<mrow>
<mn>2</mn>
<mo>&CenterDot;</mo>
<mi>S</mi>
<mi>i</mi>
<mi>n</mi>
<mfrac>
<mrow>
<mo>|</mo>
<mi>&Phi;</mi>
<mo>|</mo>
</mrow>
<mn>2</mn>
</mfrac>
</mrow>
</mfrac>
</mrow>
Draw the radius of turn R of the second rotary shaft installation short ball head rodB1；
R, by after the second rotary shaft different rotation angle, repetition is detected, recorded, calculating above-mentioned RB1More than three times, with each secondary RB1's
Average value is as RB1Final result；
Long bulb rod is installed in the second rotary shaft, repeat the above steps n-r, and the second rotary shaft is calculated and installs long bulb s,
The radius of turn R of rodB2。
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| TWI599438B (en) * | 2016-01-21 | 2017-09-21 | Hurco Automation Ltd | Handwheel test method and device for five axis CNC machine tool RTCP activation |
| CN107748539B (en) * | 2017-09-25 | 2020-09-15 | 电子科技大学 | Five-axis machine tool multi-axis linkage error tracing method based on RTCP error feature recognition |
| CN108334030B (en) * | 2017-12-19 | 2020-11-10 | 成都飞机工业（集团）有限责任公司 | RTCP calibration and compensation method for five-axis numerical control machine tool with double-swing-head structure |
| EP3582043B1 (en) * | 2018-06-12 | 2022-07-20 | Siemens Aktiengesellschaft | Method, numerical control device and machine tool for machining a workpiece |
| CN109773585B (en) * | 2019-01-11 | 2019-11-12 | 电子科技大学 | A kind of five-axle number control machine tool space error detection method based on RTCP |
| CN109839892B (en) * | 2019-01-29 | 2020-12-18 | 西南交通大学 | Post-processing corner selection optimization method for five-axis numerical control machine tool |
| WO2021189298A1 (en) * | 2020-03-25 | 2021-09-30 | 成都飞机工业（集团）有限责任公司 | Swing head position error detection and identification method for ca double-swing-head five-axis numerically controlled machine tool |
| CN111451880B (en) * | 2020-04-21 | 2021-03-26 | 中国工程物理研究院机械制造工艺研究所 | AB double-tool pendulum five-axis magnetorheological polishing machine tool structure parameter calibration method |
| CN111673292B (en) * | 2020-06-04 | 2022-05-27 | 西安中科微精光子科技股份有限公司 | RTCP error calibration compensation method for five-axis laser processing equipment |
| CN113523901A (en) * | 2021-06-22 | 2021-10-22 | 上海诺倬力机电科技有限公司 | Precision detection method for five-axis machine tool |
| CN116047997B (en) * | 2023-03-31 | 2023-06-20 | 中科航迈数控软件(深圳)有限公司 | RTCP compensation method and device for numerical control machine tool |
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