CN105571545B - A kind of five-axis linkage machine tools axis of rotation geometric parameter measurement method - Google Patents
A kind of five-axis linkage machine tools axis of rotation geometric parameter measurement method Download PDFInfo
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Abstract
The invention discloses one kind to be based on touch trigger probe five-axis linkage machine tools axis of rotation geometric parameter measurement method, belongs to digital control system, machine tool structure parameter measurement field, including instrument installation, parameter setting, collision collection and RTCP parameter calculation procedures.Pass through digital control system, driving measuring probe is collided with standard ball and latches point of impingement machine coordinates, the corresponding standard ball sphere centre coordinate of each taught point is calculated according to coordinate, use least square data processing method, to each standard ball sphere centre coordinate fitting active rotation axle and driven rotating shaft axis direction and locus, RTCP parameters are obtained.The inventive method can complete five-axis linkage machine tools axis of rotation geometric parameter (i.e. RTCP parameters) automatic Precision Measurement, realize that rotary cutter central point accurately controls.
Description
Technical Field
The invention relates to the technical field of numerical control systems and machine tool structure parameter measurement, and aims to realize a five-axis linkage machine tool rotation axis geometric parameter measurement method.
Background
The RTCP function can directly program the track of the Center point of the cutter, so that the numerical control program is independent of a specific machine Tool structure, the numerical control system can automatically calculate and keep the Center of the cutter always on the programmed track, and nonlinear errors caused by the motion of a rotating shaft can be compensated by the motion of a linear shaft. When the five-axis machine tool does not have the RTCP function, the cutter rotates around the center of the rotating shaft when the rotating shaft moves, and the center point of the cutter changes in a workpiece coordinate system.
The measurement accuracy of the geometrical parameters of the revolution axis of the five-axis machine tool, namely the RTCP parameters, determines the quality of the RTCP function. Conventional manual measurement methods measure RTCP parameters using dipsticks, percentiles, and square gauges. Its drawbacks and limitations are as follows:
1) the axial directions of the driving shaft and the driven shaft are not measured, and the default two axes are parallel to the corresponding coordinate axes and are mutually orthogonal, which is the premise of a manual measurement method. However, in practice, the two axes are not necessarily parallel to the coordinate axes, nor are they necessarily orthogonal to each other, which cannot be guaranteed on the premise of measurement, and thus, measurement errors are caused.
2) The roundness of a general rod checking ball head and the concentricity of the ball head center and the main shaft rotation axis are low in precision, and the general rod checking ball head is not suitable for high-precision measurement occasions, so that errors are generated in measurement.
3) When the double-turntable structure is used for measurement, the driving shaft is required to rotate 90 degrees in the positive direction or the negative direction, and not all machine tools have the angular stroke.
4) The operation steps are complicated, the automation degree is low, and the quality of the measurement result is usually in great relation with the experience of machine tool testers.
In order to solve the defects of manual measurement precision and use limitation, realize the automation of measurement to the maximum extent and realize the accurate control of the center point of the rotary cutter, a better measurement method needs to be found.
Disclosure of Invention
In order to solve the precision defect and the occasion use limitation of manual measurement of the RTCP parameter of the five-axis machine tool, the invention provides a method for measuring the geometric parameter of the rotary axis of the five-axis linkage machine tool, and the automatic measurement of the RTCP parameter is realized.
The method uses the trigger measuring head and the standard ball as measuring instruments, and develops the five-axis machine tool geometric parameter automatic measurement functional interface based on HNC8 secondary. The HNC8 is a high-grade numerical control system developed by numerical control shares of Wuhan Huazhong, and provides a secondary development platform for developing various complex functions and special interfaces. The numerical control system provides powerful macro program functions similar to high-level languages for users who can perform arithmetic operations, logical operations and loops and subroutine operations using macro variables.
In order to achieve the aim, the invention provides a method for measuring the geometrical parameters of the rotation axis of a five-axis linkage machine tool, which comprises the following steps:
s1: installing an instrument, namely installing a trigger type measuring head and a standard ball according to the structure type of the machine tool, and performing main shaft concentric calibration on a measuring head probe by using a lever meter;
s2: setting parameters, namely setting measurement parameters on a numerical control system, wherein the measurement parameters comprise 10 basic parameters of a measurement type, a rotation shaft display sequence, a rotation shaft name, a safety height, a positioning speed, a middle speed, a trigger speed, a standard ball radius, a cutter length and a cutter radius, 8 driving shaft teaching points and 8 driven shaft teaching points, and the teaching points are reference points for determining the relative position of a standard ball and a measuring head and performing collision;
s3: collision collection, namely driving a measuring head probe to collide with a standard ball and latch a coordinate X, Y, Z under a machine tool coordinate system during collision through a numerical control system according to the 10 basic parameters determined in the step S2, 8 driving shaft teaching points and 8 driven shaft teaching point coordinates, and colliding each teaching point for 4 times; the collision process is as follows:
the probe of the measuring head collides with the vertex of the standard ball in the negative direction of the Z axis to latch a machine tool coordinate point 1, collides with the equator of the standard ball in the positive direction of the X axis to latch a machine tool coordinate point 2, collides with the equator of the standard ball in the negative direction of the X axis to latch a machine tool coordinate point 3, and collides with the equator of the standard ball in the positive or negative direction of the Y axis to latch a machine tool coordinate point 4;
or the measuring head probe collides with the top point of the standard ball in the Z negative direction to latch a machine tool coordinate point 1, collides with the equator of the standard ball in the Y positive direction to latch a machine tool coordinate point 2, collides with the equator of the standard ball in the Y negative direction to latch a machine tool coordinate point 3, and collides with the equator of the standard ball in the X positive or negative direction to latch a machine tool coordinate point 4;
s4: calculating RTCP parameters, namely calculating standard sphere center coordinates corresponding to each teaching point according to the latched collision point coordinates; and fitting the axial directions and spatial positions of the driving rotating shaft and the driven rotating shaft to each standard spherical center coordinate by using a least square data processing method to obtain RTCP parameters, wherein the RTCP parameters comprise a driving shaft axial direction vector, a driven shaft axial direction vector, a driving shaft axial offset vector and a driven shaft axial offset vector.
Further, in step S1 of the geometric parameter measurement method, a mounting manner in which a spindle clamps a standard ball and a table places a measuring head is adopted for the double-swing and hybrid structure machine tool, and a mounting manner in which a spindle clamps a measuring head and a table places a standard ball is adopted for the double-turntable type machine tool.
Further, in the teaching point selection process of step S2 of the geometric parameter measurement method, the driving rotation axis or the driven rotation axis is kept at any angle, and when the probe of the measuring head in the Z direction just contacts with the vicinity of the highest point of the standard ball, the coordinates of five axes in the machine coordinate system at this time are the coordinates of the teaching point; uniformly acquiring 8 driving shaft teaching points within the stroke range of the driving rotating shaft; and 8 driven shaft teaching points are uniformly acquired within the stroke range of the driven rotating shaft.
Further, according to the geometric parameter measuring method, the standard sphere center coordinates are respectively fitted by adopting a least square method according to 8 driving shaft teaching points and 8 driven shaft teaching points, and the RTCP parameter calculating method comprises the following steps:
according to the driving shaft axis parameters L1(V1, D1) and the driven shaft axis parameters L2(V2, D2), calculating a common vertical line section L3(T1, T2) between a straight line L1 and a straight line L2, wherein a point T1 is a foot of the L3 on L1, and a point T2 is a foot of the L3 on L2;
wherein: l1(V1, D1) is a straight line determined by direction vectors V1 and D1, L2(V2, D2) is a straight line determined by direction vectors V2 and D2; d1 is the center of a circle of a locus fitted by the teaching points of the driving shaft and is positioned on the axis of the driving shaft, and V1 is the normal vector of the plane of the locus circle and is the direction of the axis of the driving shaft; d2 is the center of a track circle fitted by the teaching points of the driven shaft, which is a point on the axis of the driven shaft, and V2 is the normal vector of the plane of the track circle, which is the direction of the axis of the driven shaft;
finally, the obtained RTCP parameters are: a drive shaft axis direction vector V1, a driven shaft axis direction vector V2, a drive shaft axis offset vector (T2-T1), and a driven shaft axis offset vector T1; the vectors are all based on the origin of the machine coordinate.
Furthermore, in the geometric parameter measuring method, assignment, collision latch and calculation of the measured parameters can be realized by using a G code of a numerical control system. The collision action is the basis for collecting the required coordinate data, which are ultimately used to calculate the RTCP parameters. The collision principle is that when the measuring head probe just touches the standard ball and begins to generate micro deformation, the measuring head sends a trigger signal, the machine tool controls the measuring head probe to return immediately, and the machine tool coordinate when the measuring head probe just touches the standard ball is latched.
The key points of the calculation of RTCP parameters in the geometric parameter measuring method are standard sphere center calculation and sphere center circle fitting, and the principle is as follows:
1) centre of sphere calculation
According to 4 spatial coordinate points of the machine tool coordinate system which are collided and latched at the teaching point of the driving shaft in the step S3Calculating the coordinate Ba of the center of a standard sphere at the teaching point of the driving shafti(X, Y, Z) (i ═ 1,2 … 8), the 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
the same standard sphere center coordinate Bp at the teaching point of the driven shaft can be obtainedi(X,Y,Z)(i＝1,2…8)。
2) Fitting of sphere center circle
The locus of the center of the standard sphere is a circle in the spatial plane. According to Bai(X, Y, Z (i is 1,2 … 8)8 standard sphere center coordinates, fitting a circle center D1(X, Y, Z) of a trajectory circle and a normal vector V1(X, Y, Z) of a trajectory circle by using a least square method, wherein the circle center D1(X, Y, Z) of the trajectory circle is a point on the axis of the driving shaft, the normal vector V1(X, Y, Z) of the trajectory circle is the direction of the axis of the driving shaft, and the coordinates are determined according to Bpi(X, Y, Z) (i ═ 1,2 …)8 standard sphere center coordinates are fitted to a trajectory circle center D2(X, Y, Z) which is a point on the driven shaft axis and a trajectory circle plane normal vector V2(X, Y, Z) which is a direction of the driven shaft axis using the least square method, and a trajectory circle center D2(X, Y, Z) which is a point on the driven shaft axis.
3) RTCP parameter calculation
According to the driving shaft axis parameters L1(V1, D1) and the driven shaft axis parameters L2(V2, D2), a common vertical line section L3(T1, T2) between a straight line L1 and a straight line L2 is calculated, a point T1(X, Y, Z) is a foot drop of the L3 on L1, and a point T2(X, Y, Z) is a foot drop of the L3 on L2. L1(V1, D1) represents a straight line determined by direction vectors V1 and D1, and L2(V2, D2) represents a straight line determined by direction vectors V2 and D2.
The RTCP parameters are respectively: a master axis direction vector V1(X, Y, Z), a slave axis direction vector V2(X, Y, Z), a master axis offset vector (T2-T1) (X, Y, Z), and a slave axis offset vector T1(X, Y, Z). The vectors are all based on the origin of the machine coordinate.
In general, compared with the prior art, the above technical solutions contemplated by the present invention can achieve the following beneficial effects:
1) the standard ball and the trigger measuring head are used as measuring instruments, the equipment is simple, and the installation is convenient. The double-rotation axis orthogonal and non-orthogonal rotation axis intersecting and intersecting structure is suitable for double-swing heads, double-rotation tables and mixed structures, and has wide applicability.
2) The system can be developed for the second time on a numerical control system to form an independent measuring module interface, machine tool measuring personnel can input measuring parameters and perform simple operation to complete the whole measuring process, and the requirements on the machine tool measuring personnel are greatly reduced.
3) The data processing module in the measuring module can accurately calculate the axis direction and the axis offset, the limitation that the direction of the rotary axis cannot be measured manually and the accuracy is insufficient is changed, and the accurate control of the central point of the rotary cutter is realized.
In conclusion, the method of the invention can conveniently and accurately measure the RTCP parameters, and greatly simplifies the operation of machine tool measuring personnel.
Drawings
FIG. 1 is a schematic view of a test machine and a test instrument installed in a method according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating steps in a method according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and examples, which are not intended to limit the present invention.
Fig. 1 is a real diagram of a test object Tuoph C50AC double-turntable five-axis machine tool in the embodiment of the invention, wherein the turntable A is a driving shaft, the turntable C is a driven shaft, and the RTCP parameter of the test object is as follows:
1) a, rotating shaft axis direction of the turntable;
2) c, rotating the axis direction of the rotating shaft of the turntable;
3) the axis of a rotating shaft of the turntable is deviated;
4) and C, the axis of the rotating shaft of the turntable is offset.
Fig. 2 is a schematic flow chart of steps in the method according to the embodiment of the present invention, and the present invention is further described in detail with reference to the schematic flow chart.
1. And (6) installing the instrument. FIG. 1 is a schematic diagram of the installation of a test instrument, wherein a measuring head is installed on a main shaft, and a standard ball with the diameter of 25mm is adsorbed on a C rotary table by a magnetic base. The lever meter is used for conducting main shaft concentric calibration on the measuring head probe, so that the spherical center of a sphere at the tail end of the probe is overlapped with the axis height of a main shaft, and the needle of the lever meter is within 2um during calibration.
2. And setting parameters.
1) Measurement type: a dual turntable type;
2) rotation axis display sequence: the coordinate sequence of the teaching points is consistent with the system setting;
3) name of rotation axis: the driving shaft is named before, the driven shaft is named after, and AC;
4. safe height: when the probe of the measuring head quickly approaches the standard ball, the safe distance between the probe of the measuring head and the top point of the standard ball in the Z direction is kept, the unit is mm, and the numerical value is 20;
5) positioning speed: the measuring head probe is quickly close to the standard ball to a safe height and is used for quickly positioning the measuring head probe and the standard ball, the unit is mm/min, and the numerical value is 1500;
6) intermediate speed: the speed of the probe which collides with the standard ball and retreats after exceeding the safe height is lower than the positioning speed, the unit mm/min is 400;
7) triggering speed: after the middle speed of the probe of the measuring head retreats, the probe of the measuring head continuously collides with the standard ball to accurately pick the point, and the speed is lower than the middle speed, unit mm/min and numerical value 200;
8) standard sphere radius: unit mm, value 12.5;
9) length of the cutter: the distance from the center of the standard ball to the end face of the main shaft is 273.15 in unit mm;
10) radius of the cutter: probe ball radius values. Unit mm, value 3;
11) teaching points: in the embodiment, 8 driving shaft teaching points are uniformly distributed between the A axis and 90-15 degrees, 8 driven shaft teaching points are uniformly distributed between the C axis and 0-360 degrees, and the parameter list is as shown in the following table 1 and table 2:
TABLE 1
| Active | 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 member | 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. And (6) collision latching. Through G code programming, 10 basic parameters, 8 driving shaft teaching points and 8 driven shaft teaching point coordinates, the driving measuring head probe collides with the standard ball and latches coordinates X, Y, Z under a machine coordinate system of the collision point.
1) In this embodiment, a "program tripping command" G31 in the HNC8 numerical control system is used to implement the collision process, and the G31 command code is:
G31L1G01Xx0Yy0Zz0
where (x0, y0, z0) is the input target point, the stylus probe collides with the standard sphere before feeding to the target point, and the system outputs coordinates X, Y, Z in the machine coordinate system of the collision point.
2)Xai,Yai,Zai,Aai,Cai(i is 1,2 … 8) is the coordinate components of the ith driving shaft teaching point in X, Y, Z, A and C axes. The machine tool feeds to (Xa)i,Yai,Zai+H,Aai,Cai) (i ═ 1,2 … 8), where H denotes the measurement parameter "safe height" in step S2, at which time the stylus probe is at a safe height distance from the highest point of the standard sphere. The machine coordinate point 1 is latched as (X1, Y1, Z1) by the stylus probe Z-negative direction colliding with the standard sphere vertex, then the machine coordinate point 2 is latched as (X2, Y2, Z2) by the X-positive direction colliding with the standard sphere equator, then the machine coordinate point 3 is latched as (X3, Y3, Z3) by the X-negative direction colliding with the standard sphere equator, and finally the machine coordinate point 4 is latched as (X4, Y4, Z4) by the Y-positive direction colliding with the standard sphere equator. The 4 point combinations are recorded as a matrix:
3) for the slave axis teach point Xpi,Ypi,Zpi,Api,CpiAnd (i is 1 and 2 … 8) are coordinate components of an ith driven shaft teaching point X axis, an ith driven shaft teaching point Y axis, an ith driven shaft teaching point Z axis, an ith driven shaft teaching point A axis and an ith driven shaft teaching point C axis respectively. Machine coordinate feed to (Xp)i,Ypi,Zpi+H,Api,Cpi) (i ═ 1,2 … 8), where H denotes the measurement parameter "safe height" in step S2, at which time the stylus probe is at a safe height distance from the highest point of the standard sphere. The machine coordinate point 1 is latched as (X1, Y1, Z1) by the stylus probe Z-negative direction colliding with the standard sphere vertex, then the machine coordinate point 2 is latched as (X2, Y2, Z2) by the X-positive direction colliding with the standard sphere equator, then the machine coordinate point 3 is latched as (X3, Y3, Z3) by the X-negative direction colliding with the standard sphere equator, and finally the machine coordinate point 4 is latched as (X4, Y4, Z4) by the Y-positive direction colliding with the standard sphere equator. The 4 point combinations are recorded as a matrix:
4. and calculating the RTCP parameters.
1) Centre of sphere calculation
4 spatial coordinate points under machine tool coordinate system latched according to collision of teaching points of driving shaft
Calculating the coordinate Ba of the center of a standard sphere at the teaching point of the driving shafti(X, Y, Z) (i ═ 1,2 … 8), the 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
the same standard sphere center coordinate Bp at the teaching point of the driven shaft can be obtainedi(X,Y,Z)(i＝1,2…8)。
2) Fitting of sphere center circle
The locus of the center of the standard sphere is a circle in the spatial plane. According to Bai(X, Y, Z (i is 1,2 … 8)8 standard sphere center coordinates are fitted by using a least square method to a circle center D1(X, Y, Z) of a circle and a plane normal vector V1(X, Y, Z) of the circle, wherein the circle center D1(X, Y, Z) of the circle is a point on the axis of the A axis, the plane normal vector V1(X, Y, Z) of the circle is the direction of the axis of the A axis, and the C-axis coordinate is fitted by Bpi(X, Y, Z) (i ═ 1,2 … 8)8 standard sphere center coordinates are fitted using least squares to a circle center D2(X, Y, Z) of the circle and a circle plane normal vector V2(X, Y, Z), where the circle center D2(X, Y, Z) is a point on the C axis and the circle plane normal vector V2(X, Y, Z) is the direction of the C axis.
3) RTCP parameter calculation
According to the A-axis parameters L1(V1, D1) and the C-axis parameters L2(V2, D2), a common vertical line section L3(T1, T2) between a straight line L1 and a straight line L2 is calculated, a point T1(X, Y, Z) is a vertical foot of the L3 on L1, and a point T2(X, Y, Z) is a vertical foot of the L3 on L2.
The RTCP parameters are respectively:
axis direction vector of axis a: v1(-1.000000, -0.000059, -0.000441)
C-axis axial vector: v2(0.000243, 0.004974, -0.999988)
Axis offset vector of axis a: (T2-T1) (0.0000, 0.0738, 0.0004)
C-axis offset vector: t1(-257.7030, -283.3569, -421.7816)
It will be understood by those skilled in the art that the foregoing is merely a preferred embodiment of the invention, and is not intended to limit the invention, which includes all such modifications, equivalents and improvements as may come within the spirit and scope of the invention.
Claims (5)
1. A method for measuring geometrical parameters of a rotation axis of a five-axis linkage machine tool is characterized by comprising the following steps:
s1: installing an instrument, namely installing a trigger type measuring head and a standard ball according to the structure type of the machine tool, and performing main shaft concentric calibration on a measuring head probe by using a lever meter;
s2: setting parameters, namely setting measurement parameters on a numerical control system, wherein the measurement parameters comprise 10 basic parameters of a measurement type, a rotation shaft display sequence, a rotation shaft name, a safety height, a positioning speed, a middle speed, a trigger speed, a standard ball radius, a cutter length and a cutter radius, 8 driving shaft teaching points and 8 driven shaft teaching points, and the teaching points are reference points for determining the relative position of a standard ball and a measuring head and performing collision;
s3: collision collection, namely driving a measuring head probe to collide with a standard ball and latch a coordinate X, Y, Z under a machine tool coordinate system during collision through a numerical control system according to the 10 basic parameters determined in the step S2, 8 driving shaft teaching points and 8 driven shaft teaching point coordinates, and colliding each teaching point for 4 times; the collision process is as follows:
the probe of the measuring head collides with the vertex of the standard ball in the negative direction of the Z axis to latch a machine tool coordinate point 1, collides with the equator of the standard ball in the positive direction of the X axis to latch a machine tool coordinate point 2, collides with the equator of the standard ball in the negative direction of the X axis to latch a machine tool coordinate point 3, and collides with the equator of the standard ball in the positive or negative direction of the Y axis to latch a machine tool coordinate point 4;
or,
the probe of the measuring head collides with the vertex of the standard ball in the Z negative direction to latch a machine tool coordinate point 1, collides with the equator of the standard ball in the Y positive direction to latch a machine tool coordinate point 2, collides with the equator of the standard ball in the Y negative direction to latch a machine tool coordinate point 3, and collides with the equator of the standard ball in the X positive or negative direction to latch a machine tool coordinate point 4;
s4: calculating RTCP parameters, namely calculating standard sphere center coordinates corresponding to each teaching point according to the latched collision point coordinates; fitting the axial directions and spatial positions of the driving rotating shaft and the driven rotating shaft to each standard spherical center coordinate by using a least square data processing method to obtain RTCP parameters, wherein the RTCP parameters comprise a driving shaft axial direction vector, a driven shaft axial direction vector, a driving shaft axial offset vector and a driven shaft axial offset vector;
the RTCP parameter calculation method is as follows:
according to the driving shaft axis parameters L1(V1, D1) and the driven shaft axis parameters L2(V2, D2), calculating a common vertical line section L3(T1, T2) between a straight line L1 and a straight line L2, wherein a point T1 is a foot of the L3 on L1, and a point T2 is a foot of the L3 on L2;
wherein: l1(V1, D1) is a straight line determined by direction vectors V1 and D1, L2(V2, D2) is a straight line determined by direction vectors V2 and D2; d1 is the circle center of the track circle fitted by the driving shaft teaching point by the least square method, which is located on the driving shaft axis, and V1 is the normal vector of the plane of the track circle, which is the direction of the driving shaft axis; d2 is the circle center of a track circle fitted by a driven shaft teaching point by using a least square method, and is a point on the axis of the driven shaft, and V2 is the normal vector of the plane of the track circle and is the direction of the axis of the driven shaft;
finally, the obtained RTCP parameters are: a drive shaft axis direction vector V1, a driven shaft axis direction vector V2, a drive shaft axis offset vector (T2-T1), and a driven shaft axis offset vector T1; the vectors are all based on the origin of the machine coordinate.
2. The geometric parameter measurement method according to claim 1, wherein in the teach point selection process of step S2, the driving rotation axis or the driven rotation axis is kept at any angle, and when the probe of the measuring head in the Z direction just contacts with the vicinity of the highest point of the standard ball, the five axis coordinates in the machine coordinate system at this time are the teach point coordinates; uniformly acquiring 8 driving shaft teaching points within the stroke range of the driving rotating shaft; and 8 driven shaft teaching points are uniformly acquired within the stroke range of the driven rotating shaft.
3. The geometric parameter measurement method according to claim 1 or 2, wherein in step S1, a mounting manner in which a spindle grips a standard ball and a table holds a measuring head is adopted for a double-swing and hybrid type structure machine tool, and a mounting manner in which a spindle grips a measuring head and a table holds a standard ball is adopted for a double-table type machine tool.
4. The geometric parameter measurement method according to claim 1 or 2, wherein in step S4, the standard sphere center coordinates at each teach point are calculated as:
(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) are 4 spatial coordinate points in the machine coordinate system that the teach point collides and latches in step S3, and (X, Y, Z) are standard sphere center coordinates to be found.
5. A method for measuring geometrical parameters according to claim 1 or 2, wherein the assigning, collision latching and calculating of the measurement parameters are implemented by using the G code of the numerical control system.
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