CN105571545A - Five-axis linkage machine tool rotation axis geometrical parameter measuring method - Google Patents
Five-axis linkage machine tool rotation axis geometrical parameter measuring method Download PDFInfo
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Abstract
The invention discloses a five-axis linkage machine tool rotation axis geometrical parameter measuring method based on a trigger-type measuring head and belongs to the field of numerical control system and machine tool structure parameter measurement. The method comprises the steps of instrument installation, parameter setting, collision acquisition and RTCP parameter calculation. Through a numerical control system, a measuring head probe is driven to collide with a standard ball and impact point machine tool coordinates are latched; ball center coordinate corresponding to each demonstration point is calculated according to the coordinates; and driving rotating shaft and driven rotating shaft axis direction and space positions are fitted for each standard ball center coordinate through a least square data processing method, and thus RTCP parameters are obtained. The method can finish automatic precise measurement of five-axis linkage machine tool rotation axis geometrical parameters (RTCP parameters), and realize rotation cutting tool central point accuracy control.
Description
Technical field
The present invention relates to digital control system, machine tool structure parameter measuring technical field, to realize a kind of five-axis linkage machine tools axis of rotation geometric parameter measurement method.
Background technology
Rotary cutter center control RTCP (RotationalToolCenterPoint) technology, it is the extremely important function of Five Axis CNC System, RTCP function can the track of Direct Programming center cutter point, make numerical control program independent of concrete machine tool structure, digital control system can automatically calculate and keep center cutter always all the time on programming route, by the kinetic nonlinearity erron of turning axle all can compensate by the motion of linear axis.When five-axis machine tool does not possess RTCP function, during turning axle motion, cutter rotates around rotating shaft center, and center cutter point changes in workpiece coordinate system.
The measuring accuracy height of five-axis machine tool axis of rotation geometric parameter and RTCP parameter determines the quality of RTCP function.Traditional-handwork measuring method uses inspection rod, dial gauge and square gauge to measure RTCP parameter.Its defect and limitation as follows:
1) unmeasured main drive shaft and driven shaft axis direction, acquiescence two axial lines is parallel with corresponding coordinate axle, and mutually orthogonal, and this is the prerequisite of manual measurement method.But in practice, two axial lines is not necessarily parallel with coordinate axis, also not necessarily mutually orthogonal, this measures prerequisite and cannot ensure, so just can bring measuring error.
2) general inspection baseball head circularity and the bulb centre of sphere and main shaft gyration axis concentricity precision low, and be not suitable for high-precision measurement occasion, make to measure and produce error.
3) require when two turntable structure is measured that main drive shaft can at forward or negative sense half-twist, and not all lathe possesses this angular travel.
4) complex operation step, automaticity is low, and measurement result quality often has much relations with lathe tester experience.
For solving hand dipping precision defect and using limitation, realize the robotization of measuring to greatest extent, realize rotary cutter central point and accurately control, need to seek a kind of better measuring method.
Summary of the invention
For solving hand dipping five-axis machine tool RTCP parameters precision defect and occasion use limitation, the invention provides a kind of five-axis linkage machine tools axis of rotation geometric parameter measurement method, realizing the automatic measurement of RTCP parameter.
The present invention uses touch trigger probe and standard ball as surveying instrument, based on the automatic measurement function interface of HNC8 secondary development five-axis machine tool geometric parameter.HNC8 is the high-grade digital control system of Wuhan Huazhong Numerical Control Co., Ltd.'s research and development, and provides secondary developing platform, for function and the special interface exploitation of all kinds of complexity.Digital control system is that user is equipped with the strong macroprogram function being similar to higher level lanquage, and user can use macro-variable to carry out arithmetical operation, logical operation and circulation and sub-routine operation.
For achieving the above object, the invention provides a kind of five-axis linkage machine tools axis of rotation geometric parameter measurement method, comprise the following steps:
S1: apparatus installation, according to machine tool structure type, installs touch trigger probe and standard ball, and carries out main shaft concentric alignment with lever meter to measuring probe;
S2: optimum configurations, digital control system arranges measurement parameter, comprise and measure type, turning axle DISPLAY ORDER, turning axle name, safe altitude, locating speed, midrange speed, triggering speed, standard ball radius, tool length and tool radius 10 basic parameters and 8 main drive shaft taught points and 8 driven shaft taught points, described taught point is used to confirmed standard ball and gauge head relative position, and carries out the reference point that collides;
S3: collision gathers, pass through digital control system, 10 basic parameters determined according to step S2 and 8 main drive shaft taught points and 8 driven shaft taught point coordinates, drive measuring probe and standard ball carry out colliding and latch coordinate X, Y, Z when colliding under lathe coordinate system, each taught point collides 4 times; Collision process is as follows:
Measuring probe carries out collision in Z axis negative direction and standard ball summit and latches machine coordinates point 1, collide in X-axis positive dirction and standard ball equator and latch machine coordinates point 2, collide in X-axis negative direction and standard ball equator and latch machine coordinates point 3, collide in Y-axis plus or minus direction and standard ball equator and latch machine coordinates point 4;
Or, measuring probe carries out collision in Z negative direction and standard ball summit and latches machine coordinates point 1, collide in Y-axis positive dirction and standard ball equator and latch machine coordinates point 2, collide in Y-axis negative direction and standard ball equator and latch machine coordinates point 3, collide in X-axis plus or minus direction and standard ball equator and latch machine coordinates point 4;
S4:RTCP parameter calculates, and according to the point of impingement coordinate latched, calculates the standard ball sphere centre coordinate that each taught point is corresponding; Use least square data disposal route, to each standard ball sphere centre coordinate matching active rotation axle and driven rotating shaft axis direction and locus, obtain RTCP parameter, described RTCP parameter comprises main drive shaft axis direction vector, driven shaft axis direction vector, main drive shaft journal offset vector driven shaft journal offset vector.
Further, in the step S1 of described geometric parameter measurement method, Double swing head and hybrid architecture lathe are adopted to the mounting means of main shaft clamping standard ball and worktable placement gauge head, two turn table type lathe is adopted to the mounting means of main shaft clamping gauge head and turntable placement standard ball.
Further, the taught point of the step S2 of described geometric parameter measurement method is chosen in process, active rotation axle or driven turning axle are at maintenance unspecified angle, at Z-direction measuring probe with when just contacting near standard ball peak, five axial coordinates now under lathe coordinate system are taught point coordinate; In active rotation axle stroke range, evenly obtain 8 main drive shaft taught points; In driven rotating shaft stroke scope, evenly obtain 8 driven shaft taught points.
Further, described geometric parameter measurement method, according to 8 main drive shaft taught points and 8 driven shaft taught points, adopts least square method to simulate standard ball sphere centre coordinate respectively, calculates RTCP parametric technique as follows:
According to main drive shaft axis parameter L1 (V1, D1) and driven shaft axis parameter L2 (V2, D2), common vertical line section L3 (T1 between calculated line L1 and straight line L2, T2), some T1 is the intersection point of L3 on L1, and some T2 is the intersection point of L3 on L2;
Wherein: L1 (V1, D1) is the straight line determined by direction vector V1 and D1, L2 (V2, D2) is the straight line determined by direction vector V2 and D2; D1 is by the locus circle center of circle of main drive shaft taught point matching, and it is positioned on main drive shaft axis, and V1 is that described locus circle planar process is vowed, is the direction of main drive shaft axis; D2 is by the locus circle center of circle of driven shaft taught point matching, is a bit on driven shaft axis, and V2 is that described locus circle planar process is vowed, is the direction of driven shaft axis;
Finally, the RTCP parameter obtained is respectively: main drive shaft axis direction vector V 1, driven shaft axis direction vector V 2, main drive shaft journal offset vector (T2-T1), driven shaft journal offset vector T1; Above-mentioned vector all with machine coordinates initial point for benchmark.
Further, in described geometric parameter measurement method, the assignment of measurement parameter, collision latch and calculate, and numerical control system G code can be utilized to realize.Described crash-active is the basis gathering required coordinate data, and these data are finally used for calculating RTCP parameter.Collision principle is, when measuring probe is just touched standard ball and starts to produce miniature deformation, gauge head sends trigger pip, and Machine-Tool Control measuring probe returns immediately, and latches machine coordinates when measuring probe just touches standard ball.
Described geometric parameter measurement method, calculate RTCP parameter key and be that the standard ball centre of sphere calculates and the matching of centre of sphere circle, principle is as follows:
1) centre of sphere calculates
According to lower 4 the volume coordinate points of lathe coordinate system that main drive shaft taught point place collision in step S3 is latched
Ask for main drive shaft taught point place standard ball sphere centre coordinate Ba
i(X, Y, Z) (i=1,2 ... 8), formula is as follows:
(X-X1)
2+(Y-Y1)
2+(Z-Z1)
2＝(X-X2)
2+(Y-Y2)
2+(Z-Z2)
2
(X-X1)
2+(Y-Y1)
2+(Z-Z1)
2＝(X-X3)
2+(Y-Y3)
2+(Z-Z3)
2
(X-X1)
2+(Y-Y1)
2+(Z-Z1)
2＝(X-X4)
2+(Y-Y4)
2+(Z-Z4)
2
Driven shaft taught point place standard ball sphere centre coordinate Bp can be obtained equally
i(X, Y, Z) (i=1,2 ... 8).
2) centre of sphere circle matching
The track of the standard ball centre of sphere is a circle on space plane.According to Ba
i(X, Y, Z (i=1,2 ... 8) 8 standard ball sphere centre coordinates, use the least square fitting locus circle center of circle D1 (X, Y, Z) V1 (X, Y, Z) is vowed with locus circle planar process, locus circle center of circle D1 (X, Y, Z) be on main drive shaft axis a bit, locus circle planar process vows V1 (X, Y, Z) be the direction of main drive shaft axis; According to Bp
i(X, Y, Z) (i=1,2 ... 8) 8 standard ball sphere centre coordinates use least square fitting locus circle center of circle D2 (X, Y, Z) and locus circle planar process to vow V2 (X, Y, Z), locus circle center of circle D2 (X, Y, Z) be on driven shaft axis a bit, locus circle planar process vows that V2 (X, Y, Z) is the direction of driven shaft axis.
3) RTCP parameter calculates
According to main drive shaft axis parameter L1 (V1, D1) with driven shaft axis parameter L2 (V2, D2), common vertical line section L3 (T1, T2) between calculated line L1 and straight line L2, point T1 (X, Y, Z) be the intersection point of L3 on L1, some T2 (X, Y, Z) be the intersection point of L3 on L2.L1 (V1, D1) represents the straight line determined by direction vector V1 and D1, and L2 (V2, D2) represents the straight line determined by direction vector V2 and D2.
RTCP parameter is respectively: main drive shaft axis direction vector V 1 (X, Y, Z), driven shaft axis direction vector V 2 (X, Y, Z), main drive shaft journal offset vector (T2-T1) (X, Y, Z), driven shaft journal offset vector T1 (X, Y, Z).Above-mentioned vector all with machine coordinates initial point for benchmark.
In general, the above technical scheme conceived by the present invention compared with prior art, can obtain effect useful as follows:
1) use standard ball and touch trigger probe as surveying instrument, equipment is simple, easy for installation.It is for Double swing head, two turntable and mixed structure, two axiss of rotation just giving nonopiate, give and pass through all applicable mutually mutually, there is applicability widely.
2) can carry out secondary development in digital control system, form independently measurement module interface, machine tool measuring personnel input measurement parameter, carries out simple operations and just can complete whole measuring process, greatly reduce the requirement to machine tool measuring personnel.
3) data processing module energy accurate Calculation axis direction and journal offset in measurement module, changes the limitation manually cannot measuring axis of rotation direction and precision deficiency, achieves the accurate control of rotary cutter central point.
Generally speaking, the inventive method can be not only convenient but also accurately measure RTCP parameter, greatly simplify the operation of machine tool measuring personnel.
Accompanying drawing explanation
Fig. 1 tests lathe and testing tool scheme of installation in embodiment of the present invention method;
Fig. 2 is steps flow chart schematic diagram in embodiment of the present invention method.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention being further elaborated, being not intended to limit the present invention.
Fig. 1 is that in the embodiment of the present invention, tested object opens up the two turntable five-axis machine tool pictorial diagram of uncut jade C50AC, and A turntable is main drive shaft, and C turntable is driven shaft, and measuring object RTCP parameter is:
1) A turntable rotating shaft axis direction;
2) C turntable rotating shaft axis direction;
3) A turntable rotating shaft axis skew;
4) C turntable rotating shaft axis skew.
Fig. 2 is steps flow chart schematic diagram in embodiment of the present invention method, is further elaborated to the present invention in conjunction with this figure.
1, apparatus installation.Fig. 1 is testing tool scheme of installation, and gauge head installed by main shaft, with magnet base absorption diameter 25mm standard ball on C turntable.Carry out main shaft concentric alignment with lever meter to measuring probe, the probe end ball centre of sphere is overlapped with main-shaft axis height, during calibration, lever indicator is beated within 2um.
2, optimum configurations.
1) type is measured: two turn table type;
2) turning axle DISPLAY ORDER: taught point coordinate order is consistent with default;
3) turning axle name: main drive shaft name front, driven shaft name rear, AC;
4, safe altitude: during measuring probe fast approaching standard ball, at the safe distance that Z-direction should keep with standard ball summit, unit is mm, numerical value 20;
5) locating speed: measuring probe fast approaching standard ball to safe altitude, for the quick position between measuring probe and standard ball, unit mm/min, numerical value 1500;
6) midrange speed: produce with standard ball after measuring probe exceedes safe altitude and collide and the speed of rollback, less than locating speed, unit mm/min, numerical value 400;
7) trigger speed: after measuring probe midrange speed rollback, continue to collide the speed of accurately adopting a little with standard ball, less than midrange speed, unit mm/min, numerical value 200;
8) standard ball radius: unit mm, numerical value 12.5;
9) tool length: the standard ball centre of sphere to main shaft end face distance, unit mm, numerical value 273.15;
10) tool radius: probe radius of a ball value.Unit mm, numerical value 3;
11) taught point: the present embodiment 8 main drive shaft taught points are uniformly distributed between-90 °, A axle ~ 15 °, and 8 driven shaft taught points are uniformly distributed between 0 ° ~ 360 °, C axle, and parameter list is as table 1, table 2:
Table 1
| Initiatively | X | Y | Z | A | C |
| 1 | -281.5750 | -272.9020 | -75.2274 | -80.0003 | 169.2999 |
| 2 | -281.5750 | -251.3027 | -79.8707 | -67.5006 | 169.2999 |
| 3 | -281.5750 | -229.2021 | -89.4043 | -55.0003 | 169.2999 |
| 4 | -281.5750 | -211.2004 | -103.4041 | -42.5004 | 169.2999 |
| 5 | -281.5750 | -194.6009 | -121.0047 | -30.0003 | 169.2999 |
| 6 | -281.5750 | -183.6004 | -141.6043 | -17.5004 | 169.2999 |
| 7 | -281.5750 | -176.6009 | -164.2049 | -5.0003 | 169.2999 |
| 8 | -281.5750 | -174.5004 | -187.8040 | 7.4994 | 169.2999 |
Table 2
| Driven | X | Y | Z | A | C |
| 1 | -254.7888 | -393.8996 | -174.6999 | 0.0000 | 0.0000 |
| 2 | -333.8890 | -363.6998 | -174.5994 | 0.0000 | 44.9998 |
| 3 | -368.1888 | -286.6990 | -174.1997 | 0.0000 | 89.9998 |
| 4 | -338.2415 | -208.2367 | -173.7368 | 0.0000 | 134.9997 |
| 5 | -261.3366 | -173.6701 | -173.4783 | 0.0000 | 179.9996 |
| 6 | -182.5136 | -203.6070 | -173.5775 | 0.0000 | 224.9995 |
| 7 | -147.9459 | -280.5108 | -173.9765 | 0.0000 | 269.9994 |
| 8 | -177.8826 | -359.3324 | -174.4414 | 0.0000 | 314.9993 |
3, collision is latched.Programmed by G code, 10 basic parameters and 8 main drive shaft taught points and 8 driven shaft taught point coordinates, drive measuring probe and standard ball to carry out colliding and coordinate X, Y, Z under latching point of impingement lathe coordinate system.
1) the present embodiment adopts " program is jumped severed finger and made " G31 in HNC8 digital control system to be used for realizing above-mentioned collision process, and G31 instruction code is:
G31L1G01Xx0Yy0Zz0
Wherein (x0, y0, z0) is input impact point, and before being fed to impact point, measuring probe and standard ball produce and collide, and system exports coordinate X, Y, Z under point of impingement lathe coordinate system.
2) Xa
i, Ya
i, Za
i, Aa
i, Ca
i(i=1,2 ... 8) i-th main drive shaft taught point X-axis, Y-axis, Z axis, A axle, C axial coordinate component is respectively.Machine tool feed is to (Xa
i, Ya
i, Za
i+ H, Aa
i, Ca
i) (i=1,2 ... 8), wherein H represents the measurement parameter " safe altitude " in step S2, now measuring probe criterion distance ball peak safe altitude distance.Measuring probe Z negative direction and standard ball summit are carried out collision and are latched machine coordinates point 1 and be designated as (X1, Y1, Z1), then collide in X positive dirction and standard ball equator and latch machine coordinates point 2 and be designated as (X2, Y2, Z2), then collide in X negative direction and standard ball equator and latch machine coordinates point 3 and be designated as (X3, Y3, Z3), finally collide in Y positive dirction and standard ball equator and latch machine coordinates point 4 and be designated as (X4, Y4, Z4).4 points close and are denoted as matrix:
3) for driven shaft taught point Xp
i, Yp
i, Zp
i, Ap
i, Cp
i(i=1,2 ... 8) i-th driven shaft taught point X-axis, Y-axis, Z axis, A axle, C axial coordinate component is respectively.Machine coordinates is fed to (Xp
i, Yp
i, Zp
i+ H, Ap
i, Cp
i) (i=1,2 ... 8), wherein H represents the measurement parameter " safe altitude " in step S2, now measuring probe criterion distance ball peak safe altitude distance.Measuring probe Z negative direction and standard ball summit are carried out collision and are latched machine coordinates point 1 and be designated as (X1, Y1, Z1), then collide in X positive dirction and standard ball equator and latch machine coordinates point 2 and be designated as (X2, Y2, Z2), then collide in X negative direction and standard ball equator and latch machine coordinates point 3 and be designated as (X3, Y3, Z3), finally collide in Y positive dirction and standard ball equator and latch machine coordinates point 4 and be designated as (X4, Y4, Z4).4 points close and are denoted as matrix:
4, RTCP parameter calculates.
1) centre of sphere calculates
According to lower 4 the volume coordinate points of lathe coordinate system that the collision of main drive shaft taught point place is latched
Ask for main drive shaft taught point place standard ball sphere centre coordinate Ba
i(X, Y, Z) (i=1,2 ... 8), formula is as follows:
(X-X1)
2+(Y-Y1)
2+(Z-Z1)
2＝(X-X2)
2+(Y-Y2)
2+(Z-Z2)
2
(X-X1)
2+(Y-Y1)
2+(Z-Z1)
2＝(X-X3)
2+(Y-Y3)
2+(Z-Z3)
2
(X-X1)
2+(Y-Y1)
2+(Z-Z1)
2＝(X-X4)
2+(Y-Y4)
2+(Z-Z4)
2
Driven shaft taught point place standard ball sphere centre coordinate Bp can be obtained equally
i(X, Y, Z) (i=1,2 ... 8).
2) centre of sphere circle matching
The track of the standard ball centre of sphere is a circle on space plane.According to Ba
i(X, Y, Z (i=1,2 ... 8) 8 standard ball sphere centre coordinates use least square fitting locus circle center of circle D1 (X, Y, Z) and locus circle planar process to vow V1 (X, Y, Z), locus circle center of circle D1 (X, Y, Z) be on A axle axis a bit, locus circle planar process vows that V1 (X, Y, Z) is the direction of A axle axis; According to Bp
i(X, Y, Z) (i=1,2 ... 8) 8 standard ball sphere centre coordinates use least square fitting locus circle center of circle D2 (X, Y, Z) and locus circle planar process to vow V2 (X, Y, Z), locus circle center of circle D2 (X, Y, Z) be on C axle axis a bit, locus circle planar process vows that V2 (X, Y, Z) is the direction of C axle axis.
3) RTCP parameter calculates
According to A axis parameter L1 (V1, D1) with C axis parameter L2 (V2, D2), common vertical line section L3 (T1, T2) between calculated line L1 and straight line L2, point T1 (X, Y, Z) be the intersection point of L3 on L1, some T2 (X, Y, Z) be the intersection point of L3 on L2.
RTCP parameter is respectively:
A axle axis direction vector: V1 (-1.000000 ,-0.000059 ,-0.000441)
C axle axis direction vector: V2 (0.000243,0.004974 ,-0.999988)
A axle journal offset vector: (T2-T1) (0.0000,0.0738,0.0004)
C axle journal offset vector: T1 (-257.7030 ,-283.3569 ,-421.7816)
Those skilled in the art will readily understand; the foregoing is only preferred embodiments of the present invention; not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., be all included within protection scope of the present invention.
Claims (6)
1. a five-axis linkage machine tools axis of rotation geometric parameter measurement method, is characterized in that, comprises the following steps:
S1: apparatus installation, according to machine tool structure type, installs touch trigger probe and standard ball, and carries out main shaft concentric alignment with lever meter to measuring probe;
S2: optimum configurations, digital control system arranges measurement parameter, comprise and measure type, turning axle DISPLAY ORDER, turning axle name, safe altitude, locating speed, midrange speed, triggering speed, standard ball radius, tool length and tool radius 10 basic parameters and 8 main drive shaft taught points and 8 driven shaft taught points, described taught point is used to confirmed standard ball and gauge head relative position, and carries out the reference point that collides;
S3: collision gathers, pass through digital control system, 10 basic parameters determined according to step S2 and 8 main drive shaft taught points and 8 driven shaft taught point coordinates, drive measuring probe and standard ball carry out colliding and latch coordinate X, Y, Z when colliding under lathe coordinate system, each taught point collides 4 times; Collision process is as follows:
Measuring probe carries out collision in Z axis negative direction and standard ball summit and latches machine coordinates point 1, collide in X-axis positive dirction and standard ball equator and latch machine coordinates point 2, collide in X-axis negative direction and standard ball equator and latch machine coordinates point 3, collide in Y-axis plus or minus direction and standard ball equator and latch machine coordinates point 4;
Or,
Measuring probe carries out collision in Z negative direction and standard ball summit and latches machine coordinates point 1, collide in Y-axis positive dirction and standard ball equator and latch machine coordinates point 2, collide in Y-axis negative direction and standard ball equator and latch machine coordinates point 3, collide in X-axis plus or minus direction and standard ball equator and latch machine coordinates point 4;
S4:RTCP parameter calculates, and according to the point of impingement coordinate latched, calculates the standard ball sphere centre coordinate that each taught point is corresponding; Use least square data disposal route, to each standard ball sphere centre coordinate matching active rotation axle and driven rotating shaft axis direction and locus, obtain RTCP parameter, described RTCP parameter comprises main drive shaft axis direction vector, driven shaft axis direction vector, main drive shaft journal offset vector driven shaft journal offset vector.
2. geometric parameter measurement method as claimed in claim 1, it is characterized in that, the taught point of step S2 is chosen in process, active rotation axle or driven turning axle are at maintenance unspecified angle, at Z-direction measuring probe with when just contacting near standard ball peak, five axial coordinates now under lathe coordinate system are taught point coordinate; In active rotation axle stroke range, evenly obtain 8 main drive shaft taught points; In driven rotating shaft stroke scope, evenly obtain 8 driven shaft taught points.
3. geometric parameter measurement method as claimed in claim 1 or 2, it is characterized in that, in step S1, Double swing head and hybrid architecture lathe are adopted to the mounting means of main shaft clamping standard ball and worktable placement gauge head, two turn table type lathe is adopted to the mounting means of main shaft clamping gauge head and turntable placement standard ball.
4. geometric parameter measurement method as claimed in claim 1 or 2, it is characterized in that, in step S4, each taught point place standard ball sphere centre coordinate computing formula is:
(X-X1)
2+(Y-Y1)
2+(Z-Z1)
2＝(X-X2)
2+(Y-Y2)
2+(Z-Z2)
2
(X-X1)
2+(Y-Y1)
2+(Z-Z1)
2＝(X-X3)
2+(Y-Y3)
2+(Z-Z3)
2
(X-X1)
2+(Y-Y1)
2+(Z-Z1)
2＝(X-X4)
2+(Y-Y4)
2+(Z-Z4)
2
Wherein, (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3), (X4, Y4, Z4) for colliding lower 4 the volume coordinate points of lathe coordinate system latched, (X in taught point place in step S3, Y, Z) be standard ball sphere centre coordinate to be asked.
5. the geometric parameter measurement method as described in claim 1,2,3 or 4, is characterized in that, in step S4, RTCP calculation method of parameters is as follows:
According to main drive shaft axis parameter L1 (V1, D1) and driven shaft axis parameter L2 (V2, D2), common vertical line section L3 (T1 between calculated line L1 and straight line L2, T2), some T1 is the intersection point of L3 on L1, and some T2 is the intersection point of L3 on L2;
Wherein: L1 (V1, D1) is the straight line determined by direction vector V1 and D1, L2 (V2, D2) is the straight line determined by direction vector V2 and D2; D1 is by the locus circle center of circle of main drive shaft taught point least square fitting, and it is positioned on main drive shaft axis, and V1 is that described locus circle planar process is vowed, is the direction of main drive shaft axis; D2 is by the locus circle center of circle of driven shaft taught point least square fitting, is a bit on driven shaft axis, and V2 is that described locus circle planar process is vowed, is the direction of driven shaft axis;
Finally, the RTCP parameter obtained is respectively: main drive shaft axis direction vector V 1, driven shaft axis direction vector V 2, main drive shaft journal offset vector (T2-T1), driven shaft journal offset vector T1; Above-mentioned vector all with machine coordinates initial point for benchmark.
6. the geometric parameter measurement method as described in claim 1,2 or 5, is characterized in that, in described geometric parameter measurement method, the assignment of measurement parameter, collision latch and calculate, and utilize numerical control system G code to realize.
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| CN115157004A (en) * | 2022-09-06 | 2022-10-11 | 深圳市世宗自动化设备有限公司 | Five-axis equipment calibration method and system |
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| CN106181576A (en) * | 2016-08-08 | 2016-12-07 | 中国空空导弹研究院 | The center positioning method of a kind of machining center rotary table and device |
| CN106181576B (en) * | 2016-08-08 | 2019-04-19 | 中国空空导弹研究院 | A kind of center positioning method and device of machining center rotary table |
| CN106529045B (en) * | 2016-11-15 | 2019-03-29 | 西北工业大学 | Multi-axis milling process tool axis modeling method based on spinor |
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| CN111906594B (en) * | 2020-06-08 | 2022-07-08 | 深圳众为兴技术股份有限公司 | RTCP parameter calibration method for five-axis linkage machine tool |
| CN111678472B (en) * | 2020-06-09 | 2022-02-15 | 无锡身为度信息技术有限公司 | Error identification method for rotary table of four-axis coordinate measuring machine |
| CN111678472A (en) * | 2020-06-09 | 2020-09-18 | 无锡身为度信息技术有限公司 | Error identification method for rotary table of four-axis coordinate measuring machine |
| CN112526924A (en) * | 2020-12-10 | 2021-03-19 | 中国航空工业集团公司北京航空精密机械研究所 | Calibration method of 3D measuring head for five-axis double-cradle structure machine tool |
| CN112526926A (en) * | 2021-02-10 | 2021-03-19 | 成都飞机工业（集团）有限责任公司 | Method for compensating structural parameter errors of rotating shaft of five-axis numerical control machine tool |
| CN114253217A (en) * | 2021-11-18 | 2022-03-29 | 武汉华中数控股份有限公司 | Five-axis machine tool RTCP automatic calibration method with self-correction function |
| CN114253217B (en) * | 2021-11-18 | 2023-12-22 | 武汉华中数控股份有限公司 | Automatic calibration method for RTCP (real-time control protocol) of five-axis machine tool with self-correcting function |
| CN114322765A (en) * | 2021-12-27 | 2022-04-12 | 科德数控股份有限公司 | Cutter measuring method through coordinate system rotation mode |
| CN114322765B (en) * | 2021-12-27 | 2023-09-26 | 科德数控股份有限公司 | Cutter measuring method by coordinate system rotation mode |
| CN115157004A (en) * | 2022-09-06 | 2022-10-11 | 深圳市世宗自动化设备有限公司 | Five-axis equipment calibration method and system |
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