CN107220213A - Five-axle number control machine tool on-line measurement analysis method - Google Patents
Five-axle number control machine tool on-line measurement analysis method Download PDFInfo
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- CN107220213A CN107220213A CN201710440814.0A CN201710440814A CN107220213A CN 107220213 A CN107220213 A CN 107220213A CN 201710440814 A CN201710440814 A CN 201710440814A CN 107220213 A CN107220213 A CN 107220213A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
Abstract
The invention discloses a kind of five-axle number control machine tool on-line measurement analysis method, it is related to the measuring method technical field of lathe.Methods described comprises the following steps：Around the basic theory of multi-body system, the basic description method of multi-body system is analyzed, position and the attitude description equation of multi-body system actual motion is built；The error source of five-axle number control machine tool is analyzed, in inside and outside error source, account for main source of error is lathe Geometric error and thermal error, remove error component, derive the concrete model of correlation.Methods described builds model by eliminating error, and is corrected using bearing calibration, improves the degree of accuracy of methods described measurement.
Description
Technical field
Analyzed the present invention relates to the measuring method technical field of lathe, more particularly to a kind of five-axle number control machine tool on-line measurement
Method.
Background technology
The on-line measurement system of Digit Control Machine Tool is broadly divided into hardware components and software section, and hardware components are using lathe as body
External gauge head system, software section is mainly made up of computer system.And five shafts numerical controlled machine bed structure is on the whole by three shiftings
Moving axis and two rotary shaft compositions.It is early abroad, it is this to collect computer control, high performance servo system and Precision Machining, inspection
Survey technology is put into integral metering system and used.Because China is backward in technique, core technology or famine, especially firmly
In terms of part.On five-axis machine tool develop on-line measurement system it is even more difficult, each key position accuracy error to workpiece calibration all
A series of error will be triggered.
The content of the invention
The technical problems to be solved by the invention are how to provide a kind of measurement accuracy high Shaft and NC Machining Test machine tool on-line measurement
Analysis method.
In order to solve the above technical problems, the technical solution used in the present invention is：A kind of five-axle number control machine tool on-line measurement
Analysis method, it is characterised in that comprise the following steps：
Around the basic theory of multi-body system, the basic description method of multi-body system is analyzed, the actual fortune of multi-body system is built
Dynamic position and attitude description equation；
The error source of five-axle number control machine tool is analyzed, in inside and outside error source, account for main source of error is lathe
Geometric error and thermal error, removes error component, derives the concrete model of correlation.
Further technical scheme is：The position of described structure multi-body system actual motion and attitude description equation
Method is as follows：
According to topological structure description, analyzed using lower body array divided ring multi-body system, draw substantially low sequence
Volume array table；
Utilization space description, sets up generalized coordinates system, and homogeneous eigenmatrix is constituted using translation, rotation, transformation operator,
The position and posture of spatial point and vector between coordinate system are described using homogeneous eigenmatrix；
6 elementary errors of relative motion between two typical bodies are analyzed, the zero level fortune of the actual resultant motion of typical body is derived
It is dynamic to learn equation.
Further technical scheme is：The described method analyzed the error source of five-axle number control machine tool is as follows：
Kinematic error modeling to General multiple shaft lathe, derives universal machine tools cutter into the deviations of actual position side of form point
Journey and pose deviation equation；
It is theoretical based on Multibody Kinematics, it is established that the lower body array of L-shaped crane span structure type five-axis machine tool and to derive each
Homogeneous eigenmatrix between adjacent body, by the modeling process of general space error, geometric space error, and is derived specific
Model expression.
Further technical scheme is：The step of methods described also includes verifying the model of foundation.
Further technical scheme is：The method of calibration includes standard gauge block check addition：Lathe gauge head is moved to
Standard gauge block both sides, to parallel side Sample point collection, gauge head actual value and error are calculated by the relative coordinate values of point-to-point transmission.
Further technical scheme is：The method of calibration includes ring standard gauge check addition：Ring gauge check addition is to utilize
Ring standard gauge is fixed on support, gauge head motion, touches inner ring or outer shroud, and simultaneously coordinates computed value is taken a little in a plane.
Further technical scheme is：The method of calibration includes standard gauge ball check addition, and gauge head touches standard ball
Orientation can be whole sphere, can fit an envelope sphere with least square method rating method, be verified using standard gauge ball
Gauge head, can carry out 5 method corrections or 9 methods in standard ball.
It is using the beneficial effect produced by above-mentioned technical proposal：Methods described builds model by eliminating error, and
It is corrected using bearing calibration, improves the degree of accuracy of methods described measurement.
Brief description of the drawings
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
Fig. 1 is the schematic diagram of methods described Plays of embodiment of the present invention gauge block verification；
Fig. 2 is the schematic diagram of methods described Plays of embodiment of the present invention ring gauge verification；
Fig. 3 is the schematic diagram of methods described Plays of embodiment of the present invention gauge ball verification；
Fig. 4 is a kind of schematic diagram of the error amount of methods described Plays ball of the embodiment of the present invention；
Fig. 5 is second of schematic diagram of the error amount of methods described Plays ball of the embodiment of the present invention；
Fig. 6 is the different application condition figure of conventional 5 method standard bulb diameters in methods described of the embodiment of the present invention；
Fig. 7 is point different comparison figure of 5 method standard bulb diameters of middle centering in methods described of the embodiment of the present invention；
Fig. 8 is the main flow chart of methods described of the embodiment of the present invention.
Embodiment
With reference to the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground is described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still the present invention can be with
It is different from other manner described here using other to implement, those skilled in the art can be without prejudice to intension of the present invention
In the case of do similar popularization, therefore the present invention is not limited by following public specific embodiment.
Overall, as shown in figure 8, the embodiment of the invention discloses a kind of five-axle number control machine tool on-line measurement analysis method,
Comprise the following steps：
S101：Around the basic theory of multi-body system, the basic description method of multi-body system is analyzed, multi-body system is built real
The position of border motion and attitude description equation；
S102：The error source of five-axle number control machine tool is analyzed, in inside and outside error source, account for main source of error is
Lathe Geometric error and thermal error, removes error component, derives the concrete model of correlation.
Around the basic theory of multi-body system, the basic description method of multi-body system is analyzed, the actual fortune of multi-body system is proposed
Dynamic position and attitude description equation：
1) according to topological structure description, analyzed and studied using lower body array divided ring multi-body system, drawn
Basic lower body array table.
2) spatial description method is studied, generalized coordinates system is set up, homogeneous feature is constituted using operators such as translation, rotation, conversion
Matrix.The position and posture of spatial point and vector between coordinate system are described using homogeneous eigenmatrix.
3) analysis two typical bodies between relative motion 6 elementary error problems, derive the actual resultant motion of typical body
Zero level kinematical equation, is five-axis machine tool motion and error precision research, modeling based theoretical
Then the error source of five-axle number control machine tool is analyzed, in inside and outside error source, account for main source of error is
Lathe Geometric error and thermal error：
1) kinematic error to General multiple shaft lathe is modeled, and derives universal machine tools cutter into the deviations of actual position of form point
Equation and pose deviation equation.
2) it is theoretical based on Multibody Kinematics, it is established that the lower body array of L-shaped crane span structure type five-axis machine tool and to derive
Homogeneous eigenmatrix between each adjacent body, is the core of machine tool precision analytical and modeling.Elaborate general space error, geometry
The modeling process of space error, and specific model expression is derived, it is further research five-axis machine tool processing, online survey
Accuracy of measurement lays the foundation.
Understand the structure of on-line measurement system by network, contrast three coordinate measuring machine and the principle of machine tool measuring, purposes,
Feature and use occasion understand the structure of on-line measurement system, three kinds of methods of calibration of selective analysis gauge head：
1) standard gauge block is verified
Standard gauge block verification is a kind of simplest mode, and standard gauge block has the circle or rectangle shape in standard parallel face
Shape, simple in construction, stability is preferably, easy to operate, can also be superimposed to piece together and uses, convenient, flexible.
Gauge block verification is a kind of mode of simple correction gauge head radius, as shown in Figure 1.Lathe gauge head is moved into standard
Gauge block both sides, to parallel side Sample point collection, can calculate gauge head actual value and error by the relative coordinate values of point-to-point transmission.It is this
Verification mode is simple, without complicated movement locus, saves the time.But precision is not high, gauge head can only be checked in X or Y-direction
Radius/diameter.This verification mode can be used in the occasion of not high to required precision or some specific measurement directions.Compared to it
Under, can be more accurate using the check results of ring standard gauge.
2) ring standard gauge is verified
It is a kind of special measurer to measure workpiece size to proofread smooth ring gauge, can be as size datum, for measurer
Compare measurement, it can also be used to the verification and amendment of measurer.
Ring gauge verification is to be fixed on using ring standard gauge on support, gauge head motion, touches inner ring or outer shroud, flat at one
Taken in face a little and coordinates computed value.As shown in Fig. 2 ring gauge verifies deviation that can be with precise calibration bulb in O-X-Y planes, can
So that measurement result obtains radius compensation in a plane.And in practical work piece measurement, usually verified using standard gauge ball
Mode.
3) standard gauge ball is verified
The diameter of standard gauge ball is usually used in gauge head verification and the zero-bit centering of coordinate system of three coordinate measuring machine between.
The orientation that gauge head touches standard ball can be whole sphere (rotary measuring head), and one can be fitted with least square method rating method
Envelope sphere, gauge head is verified using standard gauge ball, and 5 method corrections or 9 methods can be carried out in standard ball.Wherein, commonly use
9 methods be on the basis of 5 methods, for ensure trueness error and on sphere 4 points taken on a cutting plane more, utilize plan
Least square ball optimized algorithm is closed, the standard ball centre of sphere and the true radius/diameter of gauge head is drawn.
In three dimensions, using carat not rule, 4 points of a centre of sphere not in a plane can be obtained and sat
Mark.It is known from literature that in the gauge head timing of coordinate measuring machine, being measured when 4 points of composition positive tetrahedrons on tested ball profile
As a result error is minimum.And in gauge head actual motion, it is difficult to ensure that contact point is exactly positive tetrahedron, in conventional 5 methods or 9
Point method, be all 1 point on summit, remaining point is evenly distributed in the plane of a certain height, can be by these in order to reduce measurement error
Point packet carries out multiple least square method, and such amount of calculation can be than larger.Therefore, with reference to 4 method features of sphere, set forth herein one
The accurate 4 points of fittings automatic Verification method of fast aligning is planted, as shown in Figure 3.
New algorithm is verified according to gauge ball on five-axis robot lathe, motion control program and macroprogram, motion control is write
The motion controller GUC of device selection Gu Gao companies.The experimental result drawn is：
5 methods of centering in 1 point of table
Without point 5 methods of middle centering, data result is as shown in table 2.
Conventional 5 methods of table 2
It can be seen from Fig. 4 and Fig. 5, when method for centering measures the standard ball of different sphere diameters in point, as a result precision all compares conventional method
It is high.But from Fig. 6 and Fig. 7, standard bulb diameter is bigger, and error is smaller.Spatially correction radius is compensated for gauge ball verification.It is this
Method calculates simple, and speed is fast, and programming is easily realized, greatly improves operating efficiency.
Claims (7)
1. a kind of five-axle number control machine tool on-line measurement analysis method, it is characterised in that comprise the following steps：
Around the basic theory of multi-body system, the basic description method of multi-body system is analyzed, multi-body system actual motion is built
Position and attitude description equation；
The error source of five-axle number control machine tool is analyzed, in inside and outside error source, account for main source of error is lathe geometry
Error and Thermal Error, remove error component, derive the concrete model of correlation.
2. five-axle number control machine tool on-line measurement analysis method as claimed in claim 1, it is characterised in that many bodies of described structure
The position of system actual motion and the method for attitude description equation are as follows：
According to topological structure description, analyzed using lower body array divided ring multi-body system, draw substantially low sequence body battle array
List；
Utilization space description, sets up generalized coordinates system, constitutes homogeneous eigenmatrix using translation, rotation, transformation operator, utilizes
Homogeneous eigenmatrix describes the position and posture of spatial point and vector between coordinate system；
6 elementary errors of relative motion between two typical bodies are analyzed, the zero level kinematics of the actual resultant motion of typical body is derived
Equation.
3. five-axle number control machine tool on-line measurement analysis method as claimed in claim 1, it is characterised in that described to five number of axle
The method that the error source of control lathe is analyzed is as follows：
To the modeling of the kinematic error of General multiple shaft lathe, derive universal machine tools cutter into the deviations of actual position equation of form point and
Pose deviation equation；
It is theoretical based on Multibody Kinematics, it is established that the lower body array of L-shaped crane span structure type five-axis machine tool and to derive each adjacent
Homogeneous eigenmatrix between body, by the modeling process of general space error, geometric space error, and derives specific mould
Type expression formula.
4. five-axle number control machine tool on-line measurement analysis method as claimed in claim 1, it is characterised in that methods described also includes
The step of being verified to the model of foundation.
5. five-axle number control machine tool on-line measurement analysis method as claimed in claim 4, it is characterised in that the method for calibration bag
Include standard gauge block check addition：Lathe gauge head is moved into standard gauge block both sides, to parallel side Sample point collection, by the phase of point-to-point transmission
Gauge head actual value and error are calculated to coordinate value.
6. five-axle number control machine tool on-line measurement analysis method as claimed in claim 4, it is characterised in that the method for calibration bag
Include ring standard gauge check addition：Ring gauge check addition is to be fixed on using ring standard gauge on support, gauge head motion, touches inner ring or outer
Ring, takes a little simultaneously coordinates computed value in a plane.
7. five-axle number control machine tool on-line measurement analysis method as claimed in claim 4, it is characterised in that the method for calibration bag
Standard gauge ball check addition is included, the orientation that gauge head touches standard ball can be whole sphere, can be intended with least square method rating method
An envelope sphere is closed out, gauge head is verified using standard gauge ball, 5 method corrections or 9 methods can be carried out in standard ball.
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Cited By (2)
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| CN112355712A (en) * | 2020-11-23 | 2021-02-12 | 苏州千机智能技术有限公司 | Trigger type on-machine measurement precision calibration method and system |
| CN113932707A (en) * | 2021-08-29 | 2022-01-14 | 北京工业大学 | Method for compensating geometric error of three-coordinate measuring machine based on elastic network algorithm |
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Application publication date: 20170929 |