CN107066721B - C-axis geometric error measurement system and parameter identification method of multi-axis numerical control machine tool - Google Patents
C-axis geometric error measurement system and parameter identification method of multi-axis numerical control machine tool Download PDFInfo
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Abstract
According to the structure and characteristics of a C axis of the multi-axis numerical control machine tool, a multi-body system theory is utilized according to the working principle of a ball arm instrument, a motion equation with geometric errors in radial, tangential and axial linkage modes and a motion equation in an ideal state are established, the two-end position change quantity of the ball arm instrument is utilized, the two-end coordinates of the ball arm instrument are respectively expressed in the same coordinate system, the actual distance between two points is calculated, and therefore the relation between a theoretical model and an actual measured value is established, and the identification of 8 geometric error parameters of the C axis is realized. The invention identifies all error items of the rotating C axis, solves the coupling phenomenon existing among geometric error parameters, is accurate and quick, has high identification precision, and has great theoretical significance and practical significance for realizing the error identification of the rest rotating shafts of the multi-axis numerical control machine tool.
Description
Technical Field
The invention relates to a geometric error parameter identification measurement system and a geometric error parameter identification measurement method, which are suitable for a C axis of a rotating shaft of a multi-axis numerical control machine tool and realize the identification of geometric error parameters by establishing the relation between a theoretical mathematical model and an actual measured value.
Background
In modern manufacturing, multi-axis numerically controlled machine tools are capable of adjusting both the cutting position and orientation of the tool relative to the workpiece. Therefore, compared with the traditional three-axis numerical control machining, the multi-axis numerical control machine tool has higher cutting efficiency and machining precision, plays an important role in machining complex parts in the fields of aviation, aerospace, energy, national defense and the like, and is a technical break for improving the manufacturing level of China.
However, as the multi-axis numerical control machine tool is added with a rotating shaft, geometric error parameters of the multi-axis numerical control machine tool are obviously increased, and complex coupling relations exist between the multi-axis numerical control machine tool and the rotating shaft. Therefore, the geometric error parameters are difficult to identify, and meanwhile, higher requirements are put forward on the error identification method, at present, the identification method for the rotating shaft is relatively less, error parameters in the model are mostly simplified, and the coupling condition among the error parameters is ignored, so that the identification accuracy is reduced. Therefore, a more accurate error identification method is explored, the coupling relation of error parameters is comprehensively considered, and the accurate identification of geometric error parameters of the multi-axis numerical control machine tool is necessary.
In view of the similarity of the rotating shafts of the multi-axis numerical control machine, the C-axis is a common rotating shaft in the multi-axis numerical control machine, so that the research on the identification method of the geometric error parameters of the C-axis is a certain representative.
Disclosure of Invention
Aiming at the problems existing in the multi-axis numerical control machine tool rotating shaft identification method, the invention provides a multi-axis numerical control machine tool C-axis geometric error parameter identification method based on a multi-body system theory, the invention avoids the geometric error parameter simplification phenomenon and the coupling relation between parameters, on the basis that the error of a translational axis is compensated, the track formed by the motion of the translational axis is considered to be an ideal track, multi-axis linkage is adopted, and the motion equation with geometric errors in different linkage modes is established by utilizing the multi-body system theory, so that the identification of the C-axis geometric error parameter is realized.
A multi-axis numerical control machine tool C-axis geometric error parameter identification method based on a multi-body system theory comprises the following steps:
(1) Establishing a motion relation equation of two adjacent bodies
As shown in FIG. 1, the mutual positions of two moving bodies are shown, let { r } l }＝{r x r y r z 1} T Representing P on L body l Position array of point relative to L-body coordinate system, let { P } lh }＝{x lh y lh z lh 1} T Representing P l The position array of the point relative to the I-body coordinate system is established according to the theory of a multi-body system, and a two-body motion relation equation is obtained by the following steps:
{P lh }＝[SIL] p [SIL] pe [SIL] s [SIL] se {r l } (1)
in the formula [ SIL ]] p Is L relative to IIs [ SIL ]] pe For the relative position error transformation matrix of L body relative to I body, [ SIL ]] s For the relative motion transformation matrix of L body with respect to I body, [ SIL ]] se The relative motion error transformation matrix of the L body and the I body.
(2) C-axis geometric error parameter identification method analysis
The C-axis geometric error parameters total 8 terms, respectively: jitter error (delta) associated with a location point x (C)，δ y (C)，δ z (C) A pitch and yaw error (ε) x (C)，ε y (C) Roll error (ε) z (C) Error in perpendicularity (epsilon) independent of position point xC ，ε yC )。
As shown in fig. 2, the measuring system for the geometric error of the C-axis of the multi-axis numerically-controlled machine tool comprises a C-axis 1 of the multi-axis numerically-controlled machine tool, a ball arm instrument 2, a tool spindle 3, a spring 4, a movable balancing weight 5, an adjusting supporting rod 6 and a base 7; the multi-axis numerical control machine tool C-axis 1 is a workbench, two ends of the ball arm instrument 2 are respectively connected with the multi-axis numerical control machine tool C-axis 1 and the cutter spindle 3, the first end part of the ball arm instrument 2 is connected to the surface of the workbench, and the first end part is fixed at the eccentric position of the workbench; the second end part of the club instrument 2 is directly connected with the cutter spindle 3, the club instrument 2 is horizontally arranged, and the cutter spindle 3 is vertically arranged; the middle section of the ball arm instrument 2 is a telescopic rod, the telescopic rod is connected with a movable balancing weight 5 through a spring 4, the movable balancing weight 5 is arranged on an adjusting supporting rod 6, the adjusting supporting rod 6 is fixed on a base 7, and the spring 4 and the movable balancing weight 5 form a vibration reduction structure of the ball arm instrument 2; the vertical position of the movable balancing weight 5 is controlled by the telescopic length of the adjusting supporting rod 6.
The multi-axis numerical control machine C-axis 1 utilizes the ball arm instrument 2 to measure, one end of the ball arm instrument 2 is fixed at a position set on the multi-axis numerical control machine C-axis 1 during measurement, one end of the ball arm instrument is fixed on the cutter spindle 3, a linkage track is preset, synchronous linkage of an X axis and a Y axis is realized while the C axis rotates, the X axis and the Y axis are horizontal and vertical directions on a horizontal plane, and synchronous movement of two ends of the ball arm instrument 2 is guaranteed, so that the purpose of measuring geometric errors is achieved.
As shown in fig. 3, P h The point is the club instrument and workBench (C-axis) connection end, A h 、B h 、D h The point is the end connected with the main shaft of the cutter, and if the X-axis and Y-axis errors are compensated during the movement, A is h 、B h 、D h The locus formed by the points in the motion process is an ideal locus, and the geometric error exists in the workbench (C axis) during the motion, so that the point P on the workbench (C axis) h Will deviate from the ideal position P during actual movement h The point reaches the actual position P h ' Point, P h A h 、P h B h 、P h D h Ideal pose of the ball arm instrument for radial, tangential and axial measurement, and theoretical length d r 、d t 、d s Due to the existence of geometric error and error, P in the actual motion process h A h 、P h B h 、P h D h Becomes P h ′A h 、P h ′B h 、P h ′D h 。
Q l -x Ql y Ql z Ql The coordinate system is an L-body actual motion reference coordinate system,is the L-body actual body reference coordinate system, Q l -x Ql y Ql z Ql And->The relation between the two points indicates the motion condition of the L body and the ideal point P h 、A h 、B h 、D h In the coordinate system->The positions of (a) are as follows:
(3) Radial geometry error parameter identification
As shown in fig. 3 (b), the theoretical position point P in the radial mode is obtained according to the formula (1) h Describing a stationary coordinate system at a center of rotation by an error kinematic chainIn (3), the actual position point P can be obtained h ' is:
wherein C is h The rotation angle of the workbench (C axis) is L which is the X-direction coordinate value of the center of the ball at the end of the workbench of the ball arm instrument in the rotation center coordinate system, and H which is the Z-direction coordinate value of the center of the ball at the end of the workbench of the ball arm instrument in the rotation center coordinate system.
Because the motion trail of the end connected with the cutter spindle is an ideal trail, according to the formula (1), the motion error parameters in the matrix are all set to be zero, and the theoretical position point A can be obtained h In a coordinate systemThe position points without motion error are as follows:
wherein d r Is the theoretical length of the radial cue stick.
Then atIn the coordinate system, P h ' and A h The difference is:
obtained according to (4)P h ' and A h The distance expression between them is:
the following equation is established according to equation (5):
wherein Δd r The radial pole length change amount from the initial position to the h position of the club instrument is shown.
The simultaneous squaring and simplification of two sides of the equation of the formula (6) can be obtained:
-δ x (C h )-H(ε y (C h )+ε xC cosC h -ε yC sin C h )＝Δd r (7)
in the formula (7), let:
W h ＝ε y (C h )+ε xC cosC h -ε yC sin C h (8)
taking two groups of different H can obtain:
-δ x (C h )-H 1 W h ＝Δd r1 (9)
-δ x (C h )-H 2 W h ＝Δd r2 (10)
subtracting the formula (9) from the formula (10) yields:
substitution of formula (11) into formula (9) yields:
δ x (C h )＝-H 1 W h -Δd r1 (12)
when C h =0, i.e. the shaft has not moved, the movement angle error epsilon y (C h ) 0, thereby obtaining:
ε xC ＝W 0 (13)
(4) Tangential geometry error parameter identification
As shown in FIG. 3 (a), the same applies toIn the coordinate system, P h ' and B h The difference is:
obtaining P according to (14) h ' and B h The distance expression between them is:
establishing an equation according to equation (15):
wherein Δd t The tangential pole length change amount from the initial position to the h position of the club instrument is shown.
The square reduction of two sides of the (16) is achieved:
δ y (C h )+Lε z (C h )-H(ε x (C h )+ε xC sin C h +ε yC cosC h )＝Δd t (17)
in formula (17), let:
V h ＝ε x (C h )+ε xC sin C h +ε yC cosC h (18)
taking two different sets of H yields the following formula:
δ y (C h )+L 1 ε z (C h )-H 1 V h ＝Δd t1 (19)
δ y (C h )+L 1 ε z (C h )-H 2 V h ＝Δd t2 (20)
subtracting formula (19) from formula (20) yields:
changing the length of L can yield the following equation:
δ y (C h )+L 2 ε z (C h )-H 1 V h ＝Δd t3 (22)
subtracting equation (19) from equation (22) yields:
will V h 、ε z (C h ) Substitution formula (19) can be obtained:
when C h =0, i.e. the shaft has not moved, the movement angle error epsilon x (C h ) 0, thereby obtaining:
V 0 ＝ε yC (25)
bringing formulae (13) and (25) into formula (8) yields:
ε y (C h )＝W h -ε xC cosC h +ε yC sin C h (26)
bringing formulae (13) and (25) into formula (18) yields:
ε x (C h )＝V h -ε xC sin C h -ε yC cosC h (27)
(5) Axial geometry error parameter identification
As shown in FIG. 3 (c), the same applies toIn the coordinate system, P h ' and D h The difference is:
obtaining P according to (28) h ' and D h The distance expression between them is:
obtainable according to formula (29):
wherein Δd s The length of the shaft is changed from the initial position to the h position of the club instrument.
The simultaneous squaring and simplification of two sides of the formula (30) can be obtained:
δ z (C h )-L(ε y (C h )-ε yC sin C h +ε xC cosC h )＝Δd s (31)
from equation (8), equation (31) is changed to:
δ z (C h )-LW h ＝Δd s (32)
assuming that the current length L is L s Thus, it is obtained:
δ z (C h )＝Δd s +L s W h (32)
wherein Δd s For the axial length change of the club instrument from the initial position to the h position, L s Takes the value of L.
To this end, eight error parameters relating to the C-axis are all identified, the jitter error (delta) relating to the position point x (C)，δ y (C)，δ z (C) Respectively identified by the formulas (12), (24) and (32); pitch and yaw errors (ε) x (C)，ε y (C) Identified by the formulas (27) and (26), respectively; roll error (ε) z (C) Identified by formula (23); perpendicularity error (ε) independent of position point xC ，ε yC ) Is identified by the equation (13) and the equation (25), respectively.
Compared with the prior art, the invention has the following advantages:
aiming at the structure and the characteristics of a C axis of a multi-axis numerical control machine tool, the invention establishes a motion equation with geometric errors in three linkage modes of radial, tangential and axial and a motion equation in an ideal state by utilizing a multi-body system theory according to the working principle of a club instrument, and obtains the actual distance between two points by expressing the position change quantity of two ends of the club instrument into the same coordinate system respectively, thereby establishing the relation between a theoretical model and an actual measured value, and realizing the identification of 8 geometric error parameters of the C axis. The invention identifies all error items of the rotating C axis, solves the coupling phenomenon existing among geometric error parameters, is accurate and quick, has high identification precision, and has great theoretical significance and practical significance for realizing the error identification of the rest rotating shafts of the multi-axis numerical control machine tool.
Drawings
FIG. 1 is a schematic diagram of the motion relationship between two adjacent bodies.
Fig. 2 is a schematic measurement diagram of a C-axis cue machine.
FIG. 3 is a schematic view of the movement position of the C-axis in three measurement modes; wherein a) is a tangential movement position schematic diagram, b) is a radial movement position schematic diagram, and c) is an axial movement position schematic diagram.
Detailed Description
The method is realized by measuring by a ball arm instrument. The ball rod instrument is provided with a high-precision displacement sensor in a telescopic fiber rod, and can be used for detecting the change of the length of the fiber rod, so that various geometric error parameters of a C axis are analyzed through collected data.
The method specifically comprises the following steps:
step 1, establishing an adjacent two-body motion relation equation according to a multi-body system theory;
and 2, obtaining a geometric error item of the C-axis through analysis of a machine tool rotating shaft, and obtaining three measuring mode movement directions of radial, tangential and axial of the identification of the geometric error parameter of the C-axis according to the working principle of the club instrument. A is that h 、B h 、D h The point is the end connected with the main shaft of the cutter, and the geometric error exists in the workbench (C axis) during the movement, so the workbench (C axis) has a point P h Will deviate from the ideal position P during actual movement h The point reaches the actual position P h ' Point, P h A h 、P h B h 、P h D h Ideal pose of the ball arm instrument for radial, tangential and axial measurement, and theoretical length d r 、d t 、d s P in the actual exercise process h A h 、P h B h 、P h D h Becomes P h ′A h 、P h ′B h 、P h ′D h . Establishing a reference coordinate system and a motion reference coordinate system on a workbench (C axis) to obtain P h 、A h 、B h 、D h Is used for the position coordinates of the object.
Step 3, according to the analysis of step 2, radial geometry error parameter identification is performed by establishing inActual point P in coordinate system h ' get position equation and theory Point A h The relation between the difference and the variation of the radial rod length is obtained by the position equation of (2), and the relation between the difference and the variation of the radial rod length is identifiedPoint-dependent jitter error delta x (C) Perpendicularity error epsilon independent of position point xC ；
Step 4, according to the analysis of step 2, tangential geometric error parameter identification is performed by establishing inActual point P in coordinate system h ' get position equation and theory Point B h The relation between the difference and the change of the tangential rod length is obtained by the position equation of (2), and the jump error delta related to the position point is identified y (C) And epsilon z (C) Perpendicularity error epsilon independent of position point yC Identifying a jitter error epsilon related to the location point by combining the equation established in step 3 y (C) And epsilon x (C)；
Step 5, according to the analysis of step 2, axial geometric error parameter identification is carried out by establishing inActual point P in coordinate system h ' get position equation and theoretical point D h The relation between the difference and the change of the tangential rod length is obtained by the position equation of (2), and the jump error delta related to the position point is identified z (C) A. The invention relates to a method for producing a fibre-reinforced plastic composite So far, 8 errors of the C axis are all identified. />
Claims (3)
1. A multi-axis numerical control machine tool C-axis geometric error parameter identification method based on a multi-body system theory is characterized by comprising the following steps of: the method comprises the following steps:
(1) Establishing an adjacent two-body motion relation equation;
the mutual position of the two moving bodies is given by { r } l }＝{r x r y r z 1} T Representing P on L body l Position array of point relative to L-body coordinate system, let { P } lh }＝{x lh y lh z lh 1} T Representing P l The position array of the point relative to the I-body coordinate system is established according to the theory of a multi-body system, and a two-body motion relation equation is obtained by the following steps:
{P lh }＝[SIL] p [SIL] pe [SIL] s [SIL] se {r l } (1)
in the formula [ SIL ]] p For the relative position transformation matrix of L body with respect to I body, [ SIL ]] pe For the relative position error transformation matrix of L body relative to I body, [ SIL ]] s For the relative motion transformation matrix of L body with respect to I body, [ SIL ]] se A relative motion error transformation matrix for the L body relative to the I body;
(2) C, analyzing geometric error parameters of the shaft by a recognition method;
the C-axis geometric error parameters total 8 terms, respectively: jitter error (delta) associated with a location point x (C)，δ y (C)，δ z (C) A pitch and yaw error (ε) x (C)，ε y (C) Roll error (ε) z (C) Error in perpendicularity (epsilon) independent of position point xC ，ε yC )；
P h The point is the connection end of the ball arm instrument and the workbench, A h 、B h 、D h The point is the end connected with the main shaft of the cutter, and if the X-axis and Y-axis errors are compensated during the movement, A is h 、B h 、D h The locus formed by the points in the motion process is an ideal locus, and the geometric error exists in the workbench during the motion, so that a point P on the workbench h Will deviate from the ideal position P during actual movement h The point reaches the actual position P' h Point, P h A h 、P h B h 、P h D h Ideal pose of the ball arm instrument for radial, tangential and axial measurement, and theoretical length d r 、d t 、d s Due to geometrical errors, P in the actual motion process h A h 、P h B h 、P h D h Become P' h A h 、P′ h B h 、P′ h D h ；
Q l -x Ql y Ql z Ql The coordinate system is an L-body actual motion reference coordinate system,is the L-body actual body reference coordinate system, Q l -x Ql y Ql z Ql And->The relation between the two points indicates the motion condition of the L body and the ideal point P h 、A h 、B h 、D h In the coordinate system Q l -x Ql y Ql z Ql The positions of (a) are as follows:
(3) Identifying radial geometric error parameters;
from equation (1), the theoretical position point P in radial mode h Describing a stationary coordinate system at a center of rotation by an error kinematic chainIn (3), the actual position point P 'can be obtained' h The method comprises the following steps:
wherein C is h The rotating angle of the workbench, namely the C axis, is the X-direction coordinate value of the center of the ball at the end of the workbench of the ball arm instrument in the rotating center coordinate system, and the Z-direction coordinate value of the center of the ball at the end of the workbench of the ball arm instrument in the rotating center coordinate system;
because the motion trail of the end connected with the cutter spindle is an ideal trail, according to the formula (1), the motion error parameters in the matrix are all set to be zero, and the theoretical position point A can be obtained h In a coordinate systemThe position points without motion error are as follows:
wherein d r Is the theoretical length of the radial cue stick;
then atIn the coordinate system, P h ' and A h The difference is:
obtaining P according to (4) h ' and A h The distance expression between them is:
the following equation is established according to equation (5):
wherein Δd r The radial pole length change quantity from the initial position to the h position of the club instrument is shown;
the simultaneous squaring and simplification of two sides of the equation of the formula (6) can be obtained:
-δ x (C h )-H(ε y (C h )+ε xC cosC h -ε yC sinC h )＝Δd r (7)
in the formula (7), let:
W h ＝ε y (C h )+ε xC cosC h -ε yC sinC h (8)
taking two groups of different H can obtain:
-δ x (C h )-H 1 W h ＝Δd r1 (9)
-δ x (C h )-H 2 W h ＝Δd r2 (10)
subtracting the formula (9) from the formula (10) yields:
substitution of formula (11) into formula (9) yields:
δ x (C h )＝-H 1 W h -Δd r1 (12)
when C h =0, i.e. the shaft has not moved, the movement angle error epsilon y (C h ) 0, thereby obtaining:
ε xC ＝W 0 (13)
(4) Tangential geometric error parameter identification;
similarly, can be obtained inIn the coordinate system, P' h And B is connected with h The difference is:
p 'is obtained according to formula (14)' h And B is connected with h The distance expression between them is:
establishing an equation according to equation (15):
wherein Δd t A tangential pole length change amount from an initial position to a h position of the club instrument;
the square reduction of two sides of the (16) is achieved:
δ y (C h )+Lε z (C h )-H(ε x (C h )+ε xC sinC h +ε yC cosC h )＝Δd t (17)
in formula (17), let:
V h ＝ε x (C h )+ε xC sinC h +ε yC cosC h (18)
taking two different sets of H yields the following formula:
δ y (C h )+L 1 ε z (C h )-H 1 V h ＝Δd t1 (19)
δ y (C h )+L 1 ε z (C h )-H 2 V h ＝Δd t2 (20)
subtracting formula (19) from formula (20) yields:
changing the length of L can yield the following equation:
δ y (C h )+L 2 ε z (C h )-H 1 V h ＝Δd t3 (22)
subtracting equation (19) from equation (22) yields:
will V h 、ε z (C h ) Substitution formula (19) can be obtained:
when C h =0, i.e. the shaft has not moved, the movement angle error epsilon x (C h ) 0, thereby obtaining:
V 0 ＝ε yC (25)
bringing the formula (13) and the formula (25) into the formula (8) can give:
ε y (C h )＝W h -ε xC cosC h +ε yC sinC h (26)
bringing formulae (13) and (25) into formula (18) yields:
ε x (C h )＝V h -ε xC sinC h -ε yC cosC h (27)
(5) Identifying axial geometric error parameters;
similarly, can be obtained inIn the coordinate system, P' h And D h The difference is:
obtaining P according to (28) h ' and D h The distance expression between them is:
obtainable according to formula (29):
wherein Δd s A change amount of the club length from the initial position to the h position is given to the club instrument;
the simultaneous squaring and simplification of two sides of the formula (30) can be obtained:
δ z (C h )-L(ε y (C h )-ε yC sinC h +ε xC cosC h )＝Δd s (31)
from equation (8), equation (31) is changed to:
δ z (C h )-LW h ＝Δd s (32)
assuming that the current length L is L s Thus, it is obtained:
δ z (C h )＝Δd s +L s W h (32)
wherein Δd s For the axial length change of the club instrument from the initial position to the h position, L s Take the value of L;
to this end, eight error parameters relating to the C-axis are all identified, the jitter error (delta) relating to the position point x (C)，δ y (C)，δ z (C) Respectively identified by the formulas (12), (24) and (32); pitch and yaw errors (ε) x (C)，ε y (C) Identified by the formulas (27) and (26), respectively; roll error (ε) z (C) Identified by formula (23); perpendicularity error (ε) independent of position point xC ，ε yC ) Is identified by the equation (13) and the equation (25), respectively.
2. The multi-body system theory-based multi-axis numerical control machine tool C-axis geometric error parameter identification method is characterized by comprising the following steps of:
the method specifically comprises the following steps:
step 1, establishing an adjacent two-body motion relation equation according to a multi-body system theory;
step (a)2, obtaining a geometric error item of a C axis through analysis of a machine tool rotating shaft, and obtaining radial, tangential and axial three measurement mode movement directions of C axis geometric error parameter identification according to the working principle of a club instrument; a is that h 、B h 、D h The point is the end connected with the main shaft of the cutter, and the geometric error exists in the workbench during the movement, so the workbench is provided with a point P h Will deviate from the ideal position P during actual movement h The point reaches the actual position P h ' Point, P h A h 、P h B h 、P h D h Ideal pose of the ball arm instrument for radial, tangential and axial measurement, and theoretical length d r 、d t 、d s P in the actual exercise process h A h 、P h B h 、P h D h Becomes P h ′A h 、P h ′B h 、P h ′D h The method comprises the steps of carrying out a first treatment on the surface of the Establishing a reference coordinate system and a motion reference coordinate system on a workbench to obtain P h 、A h 、B h 、D h Position coordinates of (c);
step 3, according to the analysis of step 2, radial geometry error parameter identification is performed by establishing inActual point P in coordinate system h ' get position equation and theory Point A h The relation between the difference and the variation of the radial rod length is obtained by the position equation of (2), and the jump error delta related to the position point is identified x (C) Perpendicularity error epsilon independent of position point xC ；
Step 4, according to the analysis of step 2, tangential geometric error parameter identification is performed by establishing inActual point P in coordinate system h ' get position equation and theory Point B h The relation between the difference and the change of the tangential rod length is obtained by the position equation of (2), and the jump error delta related to the position point is identified y (C) And epsilon z (C) Perpendicularity error epsilon independent of position point yC Identifying a jitter error epsilon related to the location point by combining the equation established in step 3 y (C) And epsilon x (C)；
Step 5, according to the analysis of step 2, axial geometric error parameter identification is carried out by establishing inActual point P in coordinate system h ' get position equation and theoretical point D h The relation between the difference and the change of the tangential rod length is obtained by the position equation of (2), and the jump error delta related to the position point is identified z (C) The method comprises the steps of carrying out a first treatment on the surface of the So far, 8 errors of the C axis are all identified.
3. A system for measuring geometric errors of a C-axis of a multi-axis numerically-controlled machine tool designed by the method of claim 1, characterized in that:
the measuring system comprises a C-axis (1) of a multi-axis numerical control machine tool, a ball arm instrument (2), a tool spindle (3), a spring (4), a movable balancing weight (5), an adjusting support rod (6) and a base (7); the multi-axis numerical control machine tool C shaft (1) is a workbench, two ends of the ball arm instrument (2) are respectively connected with the multi-axis numerical control machine tool C shaft (1) and the cutter spindle (3), one end part of the ball arm instrument (2) is connected to the surface of the workbench, and the other end part of the ball arm instrument is fixed at the eccentric position of the workbench; the second end part of the club instrument (2) is directly connected with the cutter main shaft (3), the club instrument (2) is horizontally arranged, and the cutter main shaft (3) is vertically arranged; the middle section of the ball arm instrument (2) is a telescopic rod, the telescopic rod is connected with the movable balancing weight (5) through a spring (4), the movable balancing weight (5) is arranged on an adjusting supporting rod (6), the adjusting supporting rod (6) is fixed on a base (7), and the spring (4) and the movable balancing weight (5) form a vibration reduction structure of the ball arm instrument (2); the vertical direction position of the movable balancing weight (5) is controlled by the telescopic length of the adjusting supporting rod (6).
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| CN107695791B (en) * | 2017-09-26 | 2019-02-26 | 西北工业大学 | The general rotation axis geometric error discrimination method unrelated with position |
| CN109709467A (en) * | 2017-10-26 | 2019-05-03 | 北京信息科技大学 | A kind of automatic prober platform kinematic error compensation method |
| CN110109418B (en) * | 2019-05-19 | 2021-04-13 | 重庆理工大学 | Method for quickly identifying geometric errors of large gantry five-surface machining center |
| 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 |
| CN113733155B (en) * | 2021-08-12 | 2022-10-11 | 广州数控设备有限公司 | Six-axis industrial robot calibration device and calibration method |
| CN113977352A (en) * | 2021-11-27 | 2022-01-28 | 北京工业大学 | Method for identifying C-axis error parameters of double-swing-head gantry machine tool |
| CN115046513B (en) * | 2022-07-07 | 2023-06-20 | 广东钶锐锶数控技术股份有限公司东莞分公司 | Tool and method for detecting precision of machine tool |
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