CN108214099B - Method and system for measuring position-related geometric errors of numerical control machine turntable - Google Patents
Method and system for measuring position-related geometric errors of numerical control machine turntable Download PDFInfo
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- CN108214099B CN108214099B CN201711483035.5A CN201711483035A CN108214099B CN 108214099 B CN108214099 B CN 108214099B CN 201711483035 A CN201711483035 A CN 201711483035A CN 108214099 B CN108214099 B CN 108214099B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
Abstract
The application discloses a method for measuring position-related geometric errors of a rotary table of a numerical control machine tool, which comprises the steps of selecting three fixed points on the rotary table and a moving shaft respectively, and determining a first type of fixed position according to the six fixed points; rotating the turntable and recording a first reading of the ball rod instrument to calculate a position-dependent displacement geometric error; changing the fixing position of the second ball seat to obtain a second type of fixing position; rotating the turntable and recording a second reading of the cue stick instrument; and calculating the position-dependent angle geometric error according to the second degree and the position-dependent displacement geometric error. The method can shield mutual interference of each displacement and angle error in the position-related geometric error, and improve the measurement precision of the position-related geometric error. The application also discloses a system for measuring the position-related geometric error of the numerical control machine turntable, a computer-readable storage medium and a device for measuring the position-related geometric error of the numerical control machine turntable, and the system has the beneficial effects.
Description
Technical Field
The invention relates to the field of numerical control machines, in particular to a method and a system for measuring position-related geometric errors of a rotary table of a numerical control machine, a computer-readable storage medium and a device for measuring the position-related geometric errors of the rotary table of the numerical control machine.
Background
The position-related geometric errors of the multi-axis numerical control machine tool turntable comprise 3 position-related angle geometric errors and 3 position-related displacement geometric errors, and 6 position-related geometric errors which change along with the rotation of the rotating shaft.
In the prior art, a ball rod instrument is mainly placed at six positions, the comprehensive geometric error of a rotary table is measured, and then the position-related geometric error is identified, namely the 3 position-related angle geometric errors and the 3 position-related displacement geometric errors are identified at the same time, but the method used in the prior art has the phenomenon of inconsistent dimension of an identification matrix, so that the matrix condition number is easily larger, and the identification method is sensitive to the errors of a measuring instrument.
Therefore, how to shield mutual interference of each position-dependent angle geometric error and position-dependent displacement geometric error in the position-dependent geometric errors and improve the measurement accuracy of the position-dependent geometric errors is a technical problem to be solved by those skilled in the art at present.
Disclosure of Invention
The purpose of the application is to provide a method and a system for measuring position-related geometric errors of a numerical control machine turntable, a computer-readable storage medium and a device for measuring position-related geometric errors of the numerical control machine turntable, which can shield mutual interference of position-related angle geometric errors and position-related displacement geometric errors in the position-related geometric errors and improve the measurement precision of the position-related geometric errors.
In order to solve the above technical problem, the present application provides a method for measuring a position-related geometric error of a turntable of a numerical control machine, where the method includes:
three fixed points are respectively selected on the rotary table and the moving shaft, and first-class fixed positions of three fixed ball arm instruments are determined according to the six fixed points; when the ball rod instrument is installed on the rotary table and the movable shaft through the first type of fixed position, an extension line of a connecting rod connected with the ball rod instrument passes through the central point of the rotary table;
rotating the turntable and recording a first reading of the cue stick instrument positioned at the first type of fixed position when the turntable rotates for each angle;
calculating a position dependent displacement geometric error from the first reading;
changing the fixing position of the second ball seat to obtain three second fixing positions for fixing the ball arm instrument; when the ball arm instrument is installed on the rotary table and the moving shaft through the second type fixed position, the connecting rod is parallel to an X axis, a Y axis or a Z axis, the X axis, the Y axis and the Z axis are three axes of a space rectangular coordinate system, and two axes of the space rectangular coordinate system are parallel to or coincident with the rotary table;
rotating the turntable and recording a second reading of the cue stick instrument when the turntable is positioned at the second type of fixed position when rotating by each angle;
and calculating the position-dependent angle geometric error according to the second degree and the position-dependent displacement geometric error.
Optionally, the three fixing points are respectively selected on the rotary table and the moving shaft, and the determining of the first type of fixing positions of the three fixed ball rod instruments according to the six fixing points includes:
fixing the first ball seat at a first position of the rotary table and fixing the second ball seat on the moving shaft; wherein, the extension line of the connecting rod connecting the first ball seat and the second ball seat passes through the central point of the turntable;
fixing the first ball seat at a second position of the rotary table, and adjusting the fixing position of the second ball seat and the moving shaft to ensure that the extension line of the connecting rod passes through the central point of the rotary table;
and fixing the first ball seat at a third position of the rotary table, and adjusting the fixing position of the second ball seat and the moving shaft to ensure that the extension line of the connecting rod passes through the central point of the rotary table.
Optionally, the rotating the turntable and recording a first reading of the cue stick instrument located at the first type of fixed position when the turntable rotates at each angle includes:
rotating the turntable by 360 degrees;
recording a first reading of the ball rod instrument at a first type of fixed position corresponding to the first position when the rotary table rotates for each angle;
recording a first reading of the ball rod instrument at a first type of fixed position corresponding to the second position when the rotary table rotates for each angle;
and recording a first reading of the ball rod instrument at the first type of fixed position corresponding to the third position when the rotary table rotates for each angle.
Optionally, changing the fixing position of the second tee to obtain three second fixing positions for fixing the cue instrument comprises:
fixing a first ball seat of the ball arm instrument at a first position of the rotary table, and adjusting the fixing position of the second ball seat and the moving shaft to ensure that the connecting rod is parallel to the X axis;
fixing a first ball seat of the ball arm instrument at a second position of the rotary table, and adjusting the fixing position of the second ball seat and the moving shaft to ensure that the connecting rod is parallel to the Y axis;
and fixing the first ball seat of the ball arm instrument at a third position of the rotary table, and adjusting the fixing position of the second ball seat and the moving shaft to ensure that the connecting rod is parallel to the Z axis.
Optionally, the step of rotating the turntable and recording a second reading of the cue stick instrument when the turntable is located at the second type of fixed position when the turntable rotates by each angle includes:
rotating the turntable by 360 degrees;
recording a second reading of the ball rod instrument at a second type of fixed position corresponding to the first position when the rotary table rotates for each angle;
recording a second reading of the ball rod instrument at a second type of fixed position corresponding to the second position when the rotary table rotates for each angle;
and recording a second reading of the ball rod instrument at a second type of fixed position corresponding to the third position when the rotary table rotates for each angle.
The application also provides a measurement system for the position correlation geometric error of digit control machine tool revolving stage, and this measurement system includes:
the first fixing module is used for selecting three fixing points on the rotary table and the moving shaft respectively and determining first fixing positions of three fixed ball arm instruments according to the six fixing points; when the ball rod instrument is installed on the rotary table and the movable shaft through the first type of fixed position, an extension line of a connecting rod connected with the ball rod instrument passes through the central point of the rotary table;
the first recording module is used for rotating the rotary table and recording first readings of the ball arm instrument located at the first type of fixed position when the rotary table rotates for various angles;
a position dependent displacement geometric error calculation module for calculating a position dependent displacement geometric error based on the first reading;
the second fixing module is used for changing the fixing position of the second ball seat to obtain three second fixing positions for fixing the ball arm instrument; when the ball arm instrument is installed on the rotary table and the moving shaft through the second type fixed position, the connecting rod is parallel to an X axis, a Y axis or a Z axis, the X axis, the Y axis and the Z axis are three axes of a space rectangular coordinate system, and two axes of the space rectangular coordinate system are parallel to or coincident with the rotary table;
the second recording module is used for rotating the rotary table and recording a second reading of the ball arm instrument when the rotary table rotates at each angle and is positioned at the second type of fixed position;
and the position-related angle geometric error calculation module is used for calculating the position-related angle geometric error according to the second degree and the position-related displacement geometric error.
Optionally, the first fixing module includes:
a first position determining unit for fixing the first ball seat at a first position of the turntable and fixing the second ball seat on the moving shaft; wherein, the extension line of the connecting rod connecting the first ball seat and the second ball seat passes through the central point of the turntable;
a second position determining unit for fixing the first ball seat at a second position of the turntable and adjusting a fixing position of the second ball seat with the moving shaft to ensure that an extension line of the link passes through a center point of the turntable;
and the third position determining unit is used for fixing the first ball seat at the third position of the rotary table and adjusting the fixing position of the second ball seat and the moving shaft so as to ensure that the extension line of the connecting rod passes through the central point of the rotary table.
Optionally, the second fixing module includes:
the fourth position determining unit is used for fixing the first ball seat of the ball arm instrument at the first position of the rotary table and adjusting the fixing position of the second ball seat and the moving shaft to ensure that the connecting rod is parallel to the X axis;
a fifth position determining unit, which fixes the first ball seat of the ball arm apparatus at the second position of the turntable, and adjusts the fixed position of the second ball seat and the moving shaft to ensure that the connecting rod is parallel to the Y axis;
and a sixth position determining unit for fixing the first ball seat of the ball arm device at the third position of the rotary table and adjusting the fixing position of the second ball seat and the moving shaft to ensure that the connecting rod is parallel to the Z axis.
The present application also provides a computer-readable storage medium, on which a computer program is stored, which, when executed, implements the steps performed by the method for measuring a position-related geometric error of a numerically controlled machine tool turret described above.
The application also provides a device for measuring the position-related geometric errors of the numerical control machine turntable, which comprises a memory and a processor, wherein a computer program is stored in the memory, and the processor realizes the step executed by the method for measuring the position-related geometric errors of the numerical control machine turntable when calling the computer program in the memory.
The invention provides a method for determining the first type of fixed positions of three fixed ball arm instruments by respectively selecting three fixed points on a rotary table and a moving shaft and determining the first type of fixed positions of the three fixed ball arm instruments according to the six fixed points; when the ball rod instrument is installed on the rotary table and the movable shaft through the first type of fixed position, an extension line of a connecting rod connected with the ball rod instrument passes through the central point of the rotary table; rotating the turntable and recording a first reading of the cue stick instrument positioned at the first type of fixed position when the turntable rotates for each angle; calculating a position dependent displacement geometric error from the first reading; changing the fixing position of the second ball seat to obtain three second fixing positions for fixing the ball arm instrument; when the ball arm instrument is installed on the rotary table and the moving shaft through the second type fixed position, the connecting rod is parallel to an X axis, a Y axis or a Z axis, the X axis, the Y axis and the Z axis are three axes of a space rectangular coordinate system, and two axes of the space rectangular coordinate system are parallel to or coincident with the rotary table; rotating the turntable and recording a second reading of the cue stick instrument when the turntable is positioned at the second type of fixed position when rotating by each angle; and calculating the position-dependent angle geometric error according to the second degree and the position-dependent displacement geometric error.
The method measures the position-related geometric errors of the turntable by two measurement modes of the ball rod instrument, and the ball rod instrument has the characteristics of sensitivity to axial errors and shielding of tangential errors. When the extension line of the connecting rod passes through the central point of the rotary table, the geometric error of the position-related angle can be effectively shielded, and only the geometric error of the position-related displacement can be measured; when the extension line of the connecting rod does not pass through the central point, the ball rod instrument can measure the position-dependent displacement geometric error and the position-dependent angle geometric error, and the position-dependent angle geometric error can be further obtained because the position-dependent displacement geometric error is obtained. The position-related geometric errors can be divided into position-related angle geometric errors and position-related displacement geometric errors, so that the scheme can shield mutual interference of each displacement and the angle geometric errors in the position-related geometric errors, and improve the measurement precision of the position-related geometric errors. The application also provides a measurement system for the position-related geometric errors of the numerical control machine turntable, a computer-readable storage medium and a measurement device for the position-related geometric errors of the numerical control machine turntable, and the measurement system has the beneficial effects and is not repeated herein.
Drawings
In order to more clearly illustrate the embodiments of the present application, the drawings needed for the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained by those skilled in the art without inventive effort.
Fig. 1 is a flowchart of a method for measuring a position-dependent geometric error of a turntable of a numerical control machine according to an embodiment of the present disclosure;
FIG. 2 is a schematic view of a ball arm apparatus measuring sensitive direction and a shielding direction;
FIG. 3 is a schematic view of the first measurement of the placement position of the ball arm device and the direction of the connecting rod;
FIG. 4 is a schematic view of the second measurement of the position of the ball arm device and the direction of the connecting rod;
FIG. 5 is a schematic view of the third measurement of the placement position of the ball arm device and the direction of the connecting rod;
FIG. 6 is a schematic view of the position of the ball arm device and the direction of the connecting rod when the connecting rod is parallel to the X-axis;
FIG. 7 is a schematic view of the position of the ball arm device and the direction of the connecting rod when the connecting rod is parallel to the Y-axis;
FIG. 8 is a schematic view of the position of the ball arm device and the orientation of the connecting rod when the connecting rod is parallel to the Z-axis;
fig. 9 is a schematic structural diagram of a system for measuring a position-dependent geometric error of a turntable of a numerical control machine tool according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, fig. 1 is a flowchart of a method for measuring a position-dependent geometric error of a turntable of a numerical control machine according to an embodiment of the present disclosure.
The specific steps may include:
s101: three fixed points are respectively selected on the rotary table and the moving shaft, and first-class fixed positions of three fixed ball arm instruments are determined according to the six fixed points; when the ball rod instrument is installed on the rotary table and the movable shaft through the first type of fixed position, an extension line of a connecting rod connected with the ball rod instrument passes through the central point of the rotary table;
the ball rod instrument in the embodiment comprises a first ball seat, a second ball seat and a connecting rod for connecting the first ball seat and the second ball seat, wherein the first ball seat is fixed on a rotary table of the numerical control machine, and the second ball seat is fixed on a moving shaft of the numerical control machine. In the step, all the default fixed points are not coincident, three fixed points selected on the turntable are the fixed positions of the first ball seat when the ball rod instrument is used for measuring the error of the turntable, and the three fixed points selected on the moving shaft are the fixed positions of the second ball seat when the ball rod instrument is used for measuring the error of the turntable. It can be known from mathematical analysis that there are 9 ways of fixing the cue stick apparatus for these six points, but since the link connecting the first tee and the second tee must satisfy the condition that the extension line passes through the center point of the turntable, it is equivalent that any fixed point on the turntable has a fixed point on the moving axis uniquely corresponding thereto. By way of example, the above process is illustrated by selecting three fixed points a1, B1, C1 on the turntable, and three fixed points a2, B2, C3 on the moving axis, and only three cases of a1 and a2, B1 and B2, C1 and C2 are satisfied that the extension line of the link passes through the center point of the turntable, that is, the link can have three fixed positions selected in this step. And the fixing position of the extension line of the connecting rod passing through the center point of the rotary table is defined as a first type fixing position
It is understood that the purpose of this step is to fix the ball bar instrument, and the rotating turret measures the error of the ball bar instrument, this embodiment may be to perform the rotating and recording operations described in S102 when three ball bar instruments are fixed at the first type of fixing positions, or may be to sequentially fix one ball bar instrument at the above three first type of fixing positions and perform the steps described in S102 once every fixing, and those skilled in the art may select the cyclic relationship between S101 and S102 according to the practical application, and this is not limited specifically here.
S102: rotating the turntable and recording a first reading of the cue stick instrument positioned at the first type of fixed position when the turntable rotates for each angle;
the method comprises the following steps that S101, the club instrument is fixed through a first type of fixed position, and the rotating table is rotated to record the reading of the club instrument. When the rotary table is rotated, the moving shaft can synchronously rotate along with the rotary table. The recording of the first reading of the club instrument when the turntable rotates by each angle described in this step may be to record the degree of the club instrument every time the turntable rotates by a preset angle, and of course, the size of the preset angle is not specifically limited here, and those skilled in the art may specifically limit according to the precision requirement of the scheme. It is noted that as a preferred embodiment, the first readings recorded in this step are evenly distributed according to angle, i.e. the difference between the corresponding rotational angles of the turntable between two adjacent first readings is equal.
It will be appreciated that the specific angle of rotation of the turntable is not limited in this step, but in order to make the measurement more accurate and comprehensive, the turntable may be rotated at least one revolution (i.e. 360 °) as a preferred embodiment. Because the angle of the rotating rotary table has a certain relation with the geometric error of the calculated position-independent displacement, in practical operation, the rotating rotary table can rotate according to a fixed angle each time the rotary table is rotated, so that the calculation process of the geometric error of the position-independent displacement is simplified.
According to the explanation in S101, it is known that there may be a plurality of cycles of S101 and S102, and therefore the judgment criterion in the present step proceeding to S103 may be "whether all the three first readings of the club meters mounted by the first type fixed position have been recorded" (it is also understood that three different first readings have been recorded).
S103: calculating a position dependent displacement geometric error from the first reading;
the position-dependent displacement geometric error is an axial error relative to the ball rod instrument, so that the first reading is only related to the position-dependent displacement geometric error on the premise of shielding the tangential position-dependent angle geometric error. There are many methods for calculating the position-dependent displacement geometric error through the first reading, for example, the first cue stick reading is divided into two different reading manners, and the method for calculating the position-dependent displacement geometric error through the first cue stick reading is not limited herein, and those skilled in the art can select the position-dependent displacement geometric error according to the total rotation angle of the turntable.
S104: changing the fixing position of the second ball seat to obtain three second fixing positions for fixing the ball arm instrument; when the ball arm instrument is installed on the rotary table and the moving shaft through the second type fixed position, the connecting rod is parallel to an X axis, a Y axis or a Z axis, the X axis, the Y axis and the Z axis are three axes of a space rectangular coordinate system, and two axes of the space rectangular coordinate system are parallel to or coincident with the rotary table;
this step defaults to whether the first tee is fixed at a fixed location on the turntable or at a fixed location selected at S101, only the location of the second tee needs to be changed. In the step, a space rectangular coordinate system is established by taking the center of the rotary table as an origin by default, two shafts of the space rectangular coordinate system are parallel to or coincident with the rotary table (namely one shaft is perpendicular to the rotary table), and three second type fixed positions obtained after the position of the second ball seat is changed are three different positions by default. That is, the three second type of attachment locations may be a link parallel to the X-axis, a link parallel to the Y-axis, and a link parallel to the Z-axis, respectively.
It has been described in the background art that the position-dependent geometric errors may include position-dependent displacement geometric errors and position-dependent angular geometric errors, and the position-dependent angular geometric errors need to be measured for the purpose of the present embodiment on the premise of obtaining the position-dependent displacement geometric errors. When the connecting rod and the rotary table are in the second type of fixed positions, the second reading recorded by the ball rod instrument is related to the position-related displacement geometric error and the position-related angle geometric error.
Similar to the logic of S101, the present solution may be to perform the rotation and recording operations described in S105 when three club instruments are fixed at the second type of fixing positions, may be to sequentially fix one club instrument at the above three second type of fixing positions once per step described in S105, and a person skilled in the art may select the cyclic relationship between S104 and S105 according to the practical application, and is not limited specifically here.
S105: rotating the turntable and recording a second reading of the cue stick instrument when the turntable is positioned at the second type of fixed position when rotating by each angle;
in step S104, the club instrument is fixed by the second type of fixing position, and the turntable is rotated to record the reading of the club instrument. When the rotary table is rotated, the moving shaft can synchronously rotate along with the rotary table. The recording of the second reading of the cue stick instrument when the turntable rotates by each angle described in this step may be recording the degree of the cue stick instrument when the turntable rotates by a preset angle, and of course, the size of the preset angle is not specifically limited here, and those skilled in the art may specifically limit according to the precision requirement of the scheme. It is noted that, as a preferred embodiment, the second readings recorded in this step are evenly distributed according to angle, i.e. the difference between the corresponding rotational angles of the turntable between two adjacent second readings is equal.
It will be appreciated that the specific angle of rotation of the turntable is not limited in this step, but in order to make the measurement more accurate and comprehensive, the turntable may be rotated at least one revolution (i.e. 360 °) as a preferred embodiment. Since the angle of the rotating table has a certain relation with the calculation of the position-dependent displacement geometric error, in practical operation, the rotating table can rotate according to a fixed angle each time the rotating table is rotated, so that the calculation process of the position-dependent displacement geometric error is simplified.
From the explanation in S104, it is understood that there may be a plurality of cycles of S104 and S105, and therefore the judgment criterion in the present step proceeding to S105 may be "whether all the second readings of the three club meters mounted by the second type fixed positions have been recorded" (it may also be understood as whether three different second readings have been recorded).
S106: and calculating the position-dependent angle geometric error according to the second degree and the position-dependent displacement geometric error.
Similarly to the method described in S103, the second cue stick reading may be divided into two different reading manners to calculate a total position-related geometric error that is formed by the position-related displacement geometric error and the position-related angle geometric error, and this step may calculate the position-related angle geometric error from the total position-related geometric error on the premise that the position-related displacement geometric error has been obtained in S103. Since the position-dependent geometric error includes only the position-dependent displacement geometric error and the position-dependent angular geometric error, the measurement of the position-dependent geometric error is completed after the position-dependent displacement geometric error and the position-dependent angular geometric error are obtained.
Referring to fig. 2, fig. 2 is a schematic view of a measurement sensitive direction and a shielding direction of the ball bar apparatus, in the method, the position-related geometric errors of the turntable are measured by two measurement modes of the ball bar apparatus, and the ball bar apparatus has the characteristics of sensitivity to the axial errors and shielding of the tangential errors. When the extension line of the connecting rod passes through the central point of the rotary table, the geometric error of the position-related angle can be effectively shielded, and only the geometric error of the position-related displacement can be measured; when the extension line of the connecting rod does not pass through the central point, the ball rod instrument can measure the position-dependent displacement geometric error and the position-dependent angle geometric error, and the position-dependent angle geometric error can be further obtained because the position-dependent displacement geometric error is obtained. The position-related geometric errors can be divided into position-related angle geometric errors and position-related displacement geometric errors, so that the scheme can shield mutual interference of all displacement and angle errors in the position-related geometric errors and improve the measurement accuracy of the position-related geometric errors.
As a preferred embodiment, the step of determining the first type fixing position in S101 may include:
a1: fixing the first ball seat at a first position of the rotary table and fixing the second ball seat on the moving shaft; wherein, the extension line of the connecting rod connecting the first ball seat and the second ball seat passes through the central point of the turntable;
a2: fixing the first ball seat at a second position of the rotary table, and adjusting the fixing position of the second ball seat and the moving shaft to ensure that the extension line of the connecting rod passes through the central point of the rotary table;
a3: the first ball seat is fixed at the third position of the rotary table, and the fixing position of the second ball seat and the moving shaft is adjusted to ensure that the extension line of the connecting rod passes through the central point of the rotary table.
As a preferred embodiment the step of recording the first reading in S102 may comprise:
b1: rotating the turntable by 360 degrees;
b2: recording a first reading of the ball rod instrument at a first type of fixed position corresponding to the first position when the rotary table rotates for each angle;
b3: recording a first reading of the ball rod instrument at a first type of fixed position corresponding to the second position when the rotary table rotates for each angle;
b4: and recording a first reading of the ball rod instrument at the first type of fixed position corresponding to the third position when the rotary table rotates for each angle.
As a preferred embodiment, the step of determining the second type of fixed position in S104 may further include:
d1: fixing a first ball seat of the ball arm instrument at a first position of the rotary table, and adjusting the fixing position of the second ball seat and the moving shaft to ensure that the connecting rod is parallel to the X axis;
d2: fixing a first ball seat of the ball arm instrument at a second position of the rotary table, and adjusting the fixing position of the second ball seat and the moving shaft to ensure that the connecting rod is parallel to the Y axis;
d3: and fixing the first ball seat of the ball arm instrument at a third position of the rotary table, and adjusting the fixing position of the second ball seat and the moving shaft to ensure that the connecting rod is parallel to the Z axis.
As a preferred embodiment, the step of recording the second reading in S105 may include:
e1: rotating the turntable by 360 degrees;
e2: recording a second reading of the ball rod instrument at a second type of fixed position corresponding to the first position when the rotary table rotates for each angle;
e3: recording a second reading of the ball rod instrument at a second type of fixed position corresponding to the second position when the rotary table rotates for each angle;
e4: and recording a second reading of the ball rod instrument at a second type of fixed position corresponding to the third position when the rotary table rotates for each angle.
The flow described in the above embodiment is explained below by an embodiment in practical use.
Step 1: placing a first ball seat C1 of the ball arm apparatus at a first position of the rotary table, mounting a second ball seat C2 of the ball arm apparatus on a moving shaft of the multi-shaft machine tool, and adjusting the second ball seat C2 to enable the extension line of the connecting rod direction of the ball arm apparatus to pass through the coordinate origin of the rotary table; referring to fig. 3, fig. 3 is a schematic diagram of the first measurement of the club instrument placement position and the direction of the connecting rod, where the direction of the connecting rod R1 is C2P1-C1P1, and the positional relationship satisfies
R1×C1P1＝0。
Step 2: rotating the turntable while driving the moving shaft to move, so that the ball seat C2 connected with the moving shaft rotates synchronously around the turntable, and recording different angles theta of rotation of the turntableiTime ball rod instrument reading delta R1(θi)，i＝1，2，…，N。
And step 3: mounting a ball seat C1 at one end of the ball arm at a turntable plane position C1P 2; mounting a ball seat C2 at the other end of the cue apparatus on the movable shaft; adjusting the moving axis to make the extension line connecting the position C2P2 of the ball seat C2 and the position C1P2 of the ball seat C1 pass through the origin of coordinates of the turntable, please refer to fig. 4, fig. 4 is a schematic diagram of the placing position and the direction of the connecting rod of the second measurement ball rod device; at this time, the link direction R2 is C2P2-C1P2, and the positional relationship satisfies R2 × C1P2 is 0.
And 4, step 4: rotating the turntable while driving the moving shaft to move, so that the ball seat C2 connected with the moving shaft rotates synchronously around the turntable, and recording different angles theta of rotation of the turntableiTime ball rod instrument reading delta R2(θi)，i＝1，2，…， N。
And 5: mounting a ball seat C1 at one end of the ball arm at a turntable plane position C1P 3; mounting a ball seat C2 at the other end of the cue apparatus on the movable shaft; and adjusting the moving axis to enable an extension line connecting the position C2P3 of the ball seat C2 with the position C1P3 of the first ball seat C1 to pass through the origin of coordinates of the turntable, please refer to fig. 5, and fig. 5 is a schematic diagram of the placing position and the link direction of the third measurement ball arm, at this time, the link direction R3 is C2P3-C1P3, and the positional relationship satisfies R3 × C1P3 is 0.
Step 6: rotating the turntable while driving the movable shaft to move, so that the second ball seat C2 connected with the movable shaft rotates synchronously around the turntable, and recording the different rotation angles theta of the turntableiTime ball rod instrument reading delta R3(θi)，i＝1，2，…，N。
And 7: identifying the geometrical error of the position-related displacement of the turntable according to the ball arm instrument measurement data obtained in the steps 2, 4 and 6;
wherein the step is specifically to identify the geometric error of the relative displacement of the rotary table position
Wherein
The displacement geometric error in the relative geometric errors of the turntable position to be identified,
the projected coordinates of the connecting rods R1, R2 and R3 on the coordinate system of the rotary table, and PDGEs is the comprehensive error of the measured data of the ball arm apparatus and the independent error of the position of the rotary table
Wherein
Is the position of the first tee C1 of the cue stick instrument on the turret coordinate system.
And 8: placing the first ball seat C1 of the cue instrument at the first position of the turntable, driving the moving shaft to adjust the second ball seat C2, and changing the direction of the connecting rod of the cue instrument to be consistent with the X axis;
referring to fig. 6, fig. 6 is a schematic view showing the arrangement position of the ball arm device and the direction of the connecting rod when the connecting rod is parallel to the X-axis, in which the arrangement position of the first ball seat C1 at the rotating table end of the ball arm device is C1P1, and the ball is adjustedThe direction of the connecting rod of the bar instrument is
Wherein R is the length of the connecting rod of the cue instrument, A (theta)i) For the angle of rotation theta of the turntableiThe cosine matrix moves the position C2P4 ═ C1P1+ R4 of the second ball seat C2 at the shaft end, and the rotary table rotates by [0,2 pi ]]Angle, corresponding club instrument reading number is Delta R4(θi)，i＝1，2，…，N。
And step 9: rotating the turntable, and simultaneously driving the moving shaft to link, so that a second ball seat C2 connected with the moving shaft synchronously rotates around the turntable, and recording the readings of the ball arm instrument when the turntable rotates at different angles;
step 10: the first ball seat C1 of the cue instrument is placed at the second position of the turntable, the moving shaft is driven to adjust the second ball seat C2, and the direction of the connecting rod of the cue instrument is changed to be consistent with the Y axis;
referring to fig. 7, fig. 7 is a schematic view showing the arrangement position of the ball bar device and the direction of the connecting rod when the connecting rod is parallel to the Y axis, in which the arrangement position of the first ball seat C1 at the rotating table end of the ball bar device is C1P2, and the direction of the connecting rod of the ball bar device is adjusted to C1P2
The placing position of the second ball seat C2 at the movable shaft end is C2P5 ═ C1P2+ R5, and the rotary table rotates by [0,2 pi ]]Angle, corresponding club instrument reading number is Delta R5(θi)，i＝1，2，…，N。
Step 11: rotating the turntable, and simultaneously driving the moving shaft to link, so that a second ball seat C2 connected with the moving shaft synchronously rotates around the turntable, and recording the readings of the ball arm instrument when the turntable rotates at different angles;
step 12: placing the first ball seat C1 of the cue instrument at a third position of the turntable, driving the moving shaft to adjust the second ball seat C2, and changing the direction of the connecting rod of the cue instrument to be consistent with the Z axis;
referring to fig. 8, fig. 8 is a schematic view showing the placement position and the direction of the connecting rod of the ball seat C1 at the rotating table end of the ball seat C1P3 when the connecting rod is parallel to the Z axis, and the direction of the connecting rod of the ball seat C1P3
Moving the placing position C2P6 of the shaft end ball seat C2 to C1P3+ R6, and rotating the rotary table to [0,2 pi ]]Angle, corresponding club instrument reading number is Delta R6(θi)，i＝1，2，…，N。
Step 13: rotating the turntable, and simultaneously driving the moving shaft to link, so that a second ball seat C2 connected with the moving shaft synchronously rotates around the turntable, and recording the readings of the ball arm instrument when the turntable rotates at different angles;
step 14: and identifying the geometrical error of the angle related to the position of the rotary table according to the measurement data of the ball arm instrument obtained in the steps 9, 11 and 13.
The above formula for calculating the position-dependent angle geometric error may be:
Referring to fig. 9, fig. 9 is a schematic structural diagram of a system for measuring a position-related geometric error of a turntable of a numerical control machine according to an embodiment of the present disclosure;
the system may include:
the first fixing module 100 is used for selecting three fixing points on the rotary table and the moving shaft respectively and determining first fixing positions of three fixed ball arm instruments according to the six fixing points; when the ball rod instrument is installed on the rotary table and the movable shaft through the first type of fixed position, an extension line of a connecting rod connected with the ball rod instrument passes through the central point of the rotary table;
the first recording module 200 is used for rotating the turntable and recording a first reading of the cue stick instrument positioned at the first type of fixed position when the turntable rotates for each angle;
a position dependent displacement geometry error calculation module 300 for calculating a position dependent displacement geometry error from the first reading;
the second fixing module 400 is used for changing the fixing position of the second ball seat to obtain three second fixing positions for fixing the cue instrument; when the ball arm instrument is installed on the rotary table and the moving shaft through the second type fixed position, the connecting rod is parallel to an X axis, a Y axis or a Z axis, the X axis, the Y axis and the Z axis are three axes of a space rectangular coordinate system, and two axes of the space rectangular coordinate system are parallel to or coincident with the rotary table;
the second recording module 500 is used for rotating the turntable and recording a second reading of the ball arm instrument when the turntable rotates at each angle and is located at the second type of fixed position;
and a position-dependent angle geometric error calculation module 600, configured to calculate a position-dependent angle geometric error according to the second degree and the position-dependent displacement geometric error.
Further, the first fixing module 100 may include:
a first position determining unit for fixing the first ball seat at a first position of the turntable and fixing the second ball seat on the moving shaft; wherein, the extension line of the connecting rod connecting the first ball seat and the second ball seat passes through the central point of the turntable;
a second position determining unit for fixing the first ball seat at a second position of the turntable and adjusting a fixing position of the second ball seat with the moving shaft to ensure that an extension line of the link passes through a center point of the turntable;
and the third position determining unit is used for fixing the first ball seat at the third position of the rotary table and adjusting the fixing position of the second ball seat and the moving shaft so as to ensure that the extension line of the connecting rod passes through the central point of the rotary table.
Further, the second fixing module 400 may include:
the fourth position determining unit is used for fixing the first ball seat of the ball arm instrument at the first position of the rotary table and adjusting the fixing position of the second ball seat and the moving shaft to ensure that the connecting rod is parallel to the X axis;
a fifth position determining unit, which fixes the first ball seat of the ball arm apparatus at the second position of the turntable, and adjusts the fixed position of the second ball seat and the moving shaft to ensure that the connecting rod is parallel to the Y axis;
and a sixth position determining unit for fixing the first ball seat of the ball arm device at the third position of the rotary table and adjusting the fixing position of the second ball seat and the moving shaft to ensure that the connecting rod is parallel to the Z axis.
Since the embodiment of the system part corresponds to the embodiment of the method part, the embodiment of the system part is described with reference to the embodiment of the method part, and is not repeated here.
The present application also provides a computer readable storage medium having stored thereon a computer program which, when executed, may implement the steps provided by the above-described embodiments. The storage medium may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The application also provides a device for measuring the position-related geometric error of the turntable of the numerical control machine tool, which can comprise a memory and a processor, wherein a computer program is stored in the memory, and the steps provided by the embodiment can be realized when the processor calls the computer program in the memory. Of course, the device for measuring the geometric error related to the position of the numerical control machine turntable can also comprise various network interfaces, power supplies and other components.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A method for measuring position-related geometric errors of a turntable of a numerical control machine tool is characterized by comprising the following steps:
three fixed points are respectively selected on the rotary table and the moving shaft, and first-class fixed positions of three fixed ball arm instruments are determined according to the six fixed points; when the ball rod instrument is installed on the rotary table and the movable shaft through the first type of fixed position, an extension line of a connecting rod connected with the ball rod instrument passes through the central point of the rotary table;
rotating the turntable and recording a first reading of the cue stick instrument positioned at the first type of fixed position when the turntable rotates for each angle;
calculating a position dependent displacement geometric error from the first reading;
changing the fixing position of the second ball seat to obtain three second fixing positions for fixing the ball arm instrument; when the ball arm instrument is installed on the rotary table and the moving shaft through the second type fixed position, the connecting rod is parallel to an X axis, a Y axis or a Z axis, the X axis, the Y axis and the Z axis are three axes of a space rectangular coordinate system, and two axes of the space rectangular coordinate system are parallel to or coincident with the rotary table;
rotating the turntable and recording a second reading of the cue instrument positioned at the second type of fixed position when the turntable rotates by each angle;
calculating a position dependent angular geometric error from the second reading and the position dependent displacement geometric error;
wherein prior to calculating a position dependent displacement geometric error from the first reading, further comprising:
determining whether three different first readings were recorded; if yes, the operation step of calculating the position-dependent displacement geometric error according to the first reading is carried out.
2. The measurement method according to claim 1, wherein three fixed points are selected on each of the turntable and the movable shaft, and the determining of the first type of fixed positions of the three fixed cue meters from the six fixed points comprises:
fixing the first ball seat at a first position of the rotary table and fixing the second ball seat on the moving shaft; wherein, the extension line of the connecting rod connecting the first ball seat and the second ball seat passes through the central point of the turntable;
fixing the first ball seat at a second position of the rotary table, and adjusting the fixing position of the second ball seat and the moving shaft to ensure that the extension line of the connecting rod passes through the central point of the rotary table;
and fixing the first ball seat at a third position of the rotary table, and adjusting the fixing position of the second ball seat and the moving shaft to ensure that the extension line of the connecting rod passes through the central point of the rotary table.
3. The method of claim 2, wherein rotating the turret and recording a first reading of a cue stick instrument positioned in the first type of fixed position at each angle of rotation of the turret comprises:
rotating the turntable by 360 degrees;
recording a first reading of the ball rod instrument at a first type of fixed position corresponding to the first position when the rotary table rotates for each angle;
recording a first reading of the ball rod instrument at a first type of fixed position corresponding to the second position when the rotary table rotates for each angle;
and recording a first reading of the ball rod instrument at the first type of fixed position corresponding to the third position when the rotary table rotates for each angle.
4. The method of claim 2, wherein changing the second tee attachment location to obtain three second types of attachment locations for securing the cue stick instrument comprises:
fixing a first ball seat of the ball arm instrument at a first position of the rotary table, and adjusting the fixing position of the second ball seat and the moving shaft to ensure that the connecting rod is parallel to the X axis;
fixing a first ball seat of the ball arm instrument at a second position of the rotary table, and adjusting the fixing position of the second ball seat and the moving shaft to ensure that the connecting rod is parallel to the Y axis;
and fixing the first ball seat of the ball arm instrument at a third position of the rotary table, and adjusting the fixing position of the second ball seat and the moving shaft to ensure that the connecting rod is parallel to the Z axis.
5. The method of claim 4, wherein rotating the turret and recording a second reading of the cue stick apparatus positioned in the second type of fixed position at each angle of rotation of the turret comprises:
rotating the turntable by 360 degrees;
recording a second reading of the ball rod instrument at a second type of fixed position corresponding to the first position when the rotary table rotates for each angle;
recording a second reading of the ball rod instrument at a second type of fixed position corresponding to the second position when the rotary table rotates for each angle;
and recording a second reading of the ball rod instrument at a second type of fixed position corresponding to the third position when the rotary table rotates for each angle.
6. A measurement system for position-dependent geometric errors of a turntable of a numerical control machine tool is characterized by comprising:
the first fixing module is used for selecting three fixing points on the rotary table and the moving shaft respectively and determining first fixing positions of three fixed ball arm instruments according to the six fixing points; when the ball rod instrument is installed on the rotary table and the movable shaft through the first type of fixed position, an extension line of a connecting rod connected with the ball rod instrument passes through the central point of the rotary table;
the first recording module is used for rotating the rotary table and recording first readings of the ball arm instrument located at the first type of fixed position when the rotary table rotates for various angles;
a position dependent displacement geometric error calculation module for calculating a position dependent displacement geometric error based on the first reading;
the second fixing module is used for changing the fixing position of the second ball seat to obtain three second fixing positions for fixing the ball arm instrument; when the ball arm instrument is installed on the rotary table and the moving shaft through the second type fixed position, the connecting rod is parallel to an X axis, a Y axis or a Z axis, the X axis, the Y axis and the Z axis are three axes of a space rectangular coordinate system, and two axes of the space rectangular coordinate system are parallel to or coincident with the rotary table;
the second recording module is used for rotating the rotary table and recording second readings of the ball arm instrument located at the second type of fixed position when the rotary table rotates for various angles;
a position dependent angular geometric error calculation module for calculating a position dependent angular geometric error based on the second reading and the position dependent displacement geometric error;
before starting the workflow corresponding to the position-dependent displacement geometric error calculation module, the method further includes:
determining whether three different first readings were recorded; and if so, starting a working process corresponding to the position-related displacement geometric error calculation module.
7. The measurement system of claim 6, wherein the first stationary module comprises:
a first position determining unit for fixing the first ball seat at a first position of the turntable and fixing the second ball seat on the moving shaft; wherein, the extension line of the connecting rod connecting the first ball seat and the second ball seat passes through the central point of the turntable;
a second position determining unit for fixing the first ball seat at a second position of the turntable and adjusting a fixing position of the second ball seat with the moving shaft to ensure that an extension line of the link passes through a center point of the turntable;
and the third position determining unit is used for fixing the first ball seat at the third position of the rotary table and adjusting the fixing position of the second ball seat and the moving shaft so as to ensure that the extension line of the connecting rod passes through the central point of the rotary table.
8. The measurement system of claim 7, wherein the second stationary module comprises:
a fourth position determining unit, which fixes the first ball seat of the ball rod instrument at the first position of the rotary table and adjusts the fixed position of the second ball seat and the moving shaft to ensure that the connecting rod is parallel to the X axis;
a fifth position determining unit for fixing the first ball seat of the ball arm device at the second position of the rotary table and adjusting the fixing position of the second ball seat and the moving shaft to ensure that the connecting rod is parallel to the Y axis;
and a sixth position determining unit for fixing the first ball seat of the ball arm device at the third position of the rotary table and adjusting the fixing position of the second ball seat with the moving shaft to ensure that the connecting rod is parallel to the Z axis.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed, carries out a method for measuring a position-dependent geometric error as claimed in any one of claims 1 to 5.
10. A device for measuring position-related geometric errors of a turntable of a numerically-controlled machine tool, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the method for measuring position-related geometric errors according to any one of claims 1 to 5 when calling the computer program in the memory.
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| CN103878641A (en) * | 2014-03-14 | 2014-06-25 | 浙江大学 | Rotating shaft geometric error identification method commonly used for five-axis numerical control machine tool |
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|---|---|---|---|---|
| CN103878641A (en) * | 2014-03-14 | 2014-06-25 | 浙江大学 | Rotating shaft geometric error identification method commonly used for five-axis numerical control machine tool |
| CN105269406A (en) * | 2014-07-23 | 2016-01-27 | 沈阳机床(集团)设计研究院有限公司上海分公司 | Error compensation method for rotary shafts of double-rotary-table five-shaft linkage machine tool |
| CN104308657A (en) * | 2014-10-14 | 2015-01-28 | 浙江大学 | Machine tool rotating shaft geometry error six-circle identifying method based on measuring of ball bar instrument |
| CN104786098A (en) * | 2015-04-10 | 2015-07-22 | 浙江大学 | Geometric error six-position recognition method of multi-axis numerical control machine tool rotary table |
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