CN108655827B - Method for identifying space error of five-axis numerical control machine tool - Google Patents
Method for identifying space error of five-axis numerical control machine tool Download PDFInfo
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Abstract
The invention belongs to the field of numerical control machine tool measurement technology research, and relates to a five-axis numerical control machine tool space error identification method; the ball arm instrument error measuring device is constructed, wherein one end of the ball arm instrument error measuring device is fixed on a main shaft of a five-axis numerical control machine tool, and the other end of the ball arm instrument error measuring device is fixed at the center of a rotary working table; establishing a spatial error measurement model; and establishing a model experiment, reading the theoretical pole length of the ball rod instrument of the numerical control lathe and the actual pole length displayed by the ball rod instrument through the compensation work of the ball rod instrument at different angles, bringing data into the spatial error measurement model, and identifying the angle error factor and the rotation error factor of the rotating shaft of the five-axis numerical control machine tool, so that the ball rod instrument changes from XOY single-plane motion into spatial multi-plane motion, and the identification range of the ball rod instrument changes from plane rotation into spatial rotation.
Description
Technical Field
The invention belongs to the field of numerical control machine tool measurement technology research, and relates to a five-axis numerical control machine tool space error identification method.
Background
The original error identification method of the numerical control machine tool is to install one end of a ball arm instrument in a tool cup and install the other end of the ball arm instrument on a central seat. By adjusting the length of the ball arm instrument and the height of the center seat, after running the program, obtaining each error element in the XOY plane according to a corresponding algorithm; the method is mainly used for measuring the three-axis machine tool, and has poor applicability to the error measurement of the five-axis machine tool for curved surface machining;
for a five-axis numerical control machine tool, a large amount of coupling phenomena exist in multi-axis interpolation, and a feeding shaft linear error and a rotating shaft rotating error mainly exist in a spatial error; the original identification method mainly adopts a method of changing the installation height of the ball bar instrument and the length of the ball bar instrument, and interference errors are easily added in the adjustment process, so that the solved result is not accurate enough; meanwhile, the traditional method needs to disassemble the ball arm instrument for many times, and the disassembly and assembly processes are difficult to be carried out on the same coordinate reference, so that the obtained data has poor referential performance, the time consumption of the disassembly and re-assembly processes is long, the automatic compensation is not facilitated, and the later machine learning research and macro programming are particularly not facilitated.
Disclosure of Invention
In order to effectively solve the problems in the background art, the invention provides a method for identifying a space error of a five-axis numerical control machine tool, which has the following specific technical scheme:
a method for identifying space errors of a five-axis numerical control machine tool comprises the following steps:
step 1, a ball arm instrument error measuring device is built, wherein one end of the ball arm instrument error measuring device is fixed on a main shaft of a five-axis numerical control machine tool, and the other end of the ball arm instrument error measuring device is fixed at the center of a rotary working table;
step 2, establishing a spatial error measurement model according to the ball arm instrument measurement device;
and 3, establishing a model experiment, reading the theoretical rod length of the ball rod instrument of the numerical control lathe and the actual rod length displayed by the ball rod instrument through the compensation work of the ball rod instrument at different angles, and bringing data into the spatial error measurement model to identify the angle error factor and the rotation error factor of the rotating shaft of the five-axis numerical control machine.
Preferably, the spatial error measurement model is established by the following steps:
step 1, modeling a machine tool coordinate system according to a multi-body theory;
the coordinate system includes: a machine tool coordinate system MCS fixed with the ground, a cutter coordinate system TCS, a workpiece coordinate system WCS, three feeding coordinate systems XCS, YCS and ZCS of a main shaft, a rotating shaft coordinate system ACS driving the cutter coordinate to rotate and a rotating shaft coordinate system CCS driving the workpiece coordinate system to rotate, the ball rod instrument is fixed in the TCS and the WCS, and the fixed end of the ball rod instrument and the TCS is a floating end O2And the fixed end with the WCS is a fixed end O1；
Step 2, obtaining the relation between the length of the ball arm instrument and the theoretical position of the coordinate according to the space pythagorean theorem:
(L+ΔR)2＝(x’1-x’2)2+(y’1-y’2)2+(z’1-Z’2)2(2)
the relation between the change of the radius of the ball arm instrument and the error component of each feed shaft is obtained by combining the above formulas (1) and (2);
the delta R is a random variable of the club length of the club instrument, and the delta X, the delta Y and the delta Z are error variables which can be decomposed in X, Y, Z directions by the club instrument;
step 3, adding O1Establishing a coordinate system for the origin, and setting the floating end center O of the ball arm apparatus2Under WCS, the homogeneous coordinate is P, the included angle between the club instrument and the X axis along the club direction is theta, the club length is a fixed value L, and the homogeneous coordinate of the point P is obtained
Pi＝[cosαcosθL，sinαL，sinθL+h，1]T，
And XCS and YCS linkage error transfer matrix of
Actual coordinate P of calculated P point coordinate under condition of considering error influencea：
In the formulaxx′、yx′、xy′、yy′、xz′、yzIs carried on X-axis and Y-axisThe angle errors generated by the X, Y, Z three feed shafts respectively are removed;xx′、xy′、xzα is a rotating angle arranged in an X-Y plane when the X, Y shaft performs circular interpolation work;
and 4, extracting X, Y, Z components in three directions from the homogeneous coordinate matrix, namely delta X, delta Y and delta Z, and substituting the components into a formula to obtain an equation of the delta R about each error component:
ΔR’＝{[cosαcosθL+sinαL(-xz’+yz’)+(xy’-yy’)(sinθL+h)](x2-x1)+[cosαcosθL(yz’+xz’)+sinαL+(sinθL+h)(-xx’+yx’)](y2-y1)+[cosαcosθL(xy’-yy’)+sinαL(-yx’+xx’)+sinθL+h](z2-z1)}/L
the equation expresses the change in cue stick length caused by 6 rotation error components of the TCS coordinate system relative to the WCS coordinate system in spherical coordinates.
Preferably, before the ball bar instrument is installed, a laser interferometer is used for identifying and compensating the straightness errors, and the influence of the straightness errors in the three directions X, Y, Z on the machine tool coordinate system is eliminated.
Preferably, the model experiment is not limited to the compensation work of the specific angle of the cue stick instrument.
The invention has the beneficial effects that: 1. the influence of frequently adjusting the installation size of the ball arm instrument on the final detection result can be avoided, and a five-axis machine tool space error model is established. On the basis of the model, a ball rod instrument and a laser interferometer are combined to carry out identification research aiming at linkage interpolation between a workpiece coordinate system and a cutter coordinate system; 2. changing the movement of the cue instrument from XOY single plane to space multi-plane movement, and changing the identification range of the cue instrument from plane rotation to space rotation; 3. in the past, the ball rod instrument is frequently disassembled, so that the deviation of the positioning reference is uncontrollable. Under the condition of not disassembling the ball rod instrument, the measurement requirement can be met only by adjusting the space angle, and a research foundation is laid for the research of the machine learning field in the error compensation of the machine tool.
Drawings
FIG. 1 is a five-axis machine tool topology diagram of the present invention;
FIG. 2 is a mechanical structure and various axis definitions of a five-axis machine tool according to the present invention;
FIG. 3 is a view showing the working state of the ball arm apparatus of the present invention:
table 1 shows the XOY plane clockwise rotation circular interpolation data:
table 2 shows the XOY plane counterclockwise rotation circular interpolation data;
table 3 shows the XOY plane clockwise rotation angle error;
table 4 shows the XOY plane counterclockwise rotation angle error.
Detailed Description
The technical scheme of the patent is further explained in detail by combining the specific embodiment;
a method for identifying space errors of a five-axis numerical control machine tool comprises the following steps:
step 1, a ball arm instrument error measuring device is built, wherein one end of the ball arm instrument error measuring device is fixed on a main shaft of a five-axis numerical control machine tool, and the other end of the ball arm instrument error measuring device is fixed at the center of a rotary working table; the ball rod instrument center ball 2 is connected with the main shaft through the tool cup 1, the ball rod instrument sensor ball 5 is connected with a center seat 7 in the center of the rotary table through a center cup 6, and the sensor ball 5 can measure the real-time length of the ball rod instrument in real time.
Step 2, establishing a spatial error measurement model according to the ball arm instrument measurement device;
and 3, establishing a model experiment, reading the theoretical rod length of the ball rod instrument of the numerical control lathe and the actual rod length displayed by the ball rod instrument through the compensation work of the ball rod instrument at different angles, and bringing data into the spatial error measurement model to identify the angle error factor and the rotation error factor of the rotating shaft of the five-axis numerical control machine.
The spatial error measurement model is established by the following steps:
step 1, modeling a machine tool coordinate system according to a multi-body theory;
the coordinate system includes: is fixed with the groundA fixed machine tool coordinate system MCS, a cutter coordinate system TCS, a workpiece coordinate system WCS, three feeding coordinate systems XCS, YCS and ZCS of the main shaft, a rotating shaft coordinate system ACS driving the cutter coordinate to rotate and a rotating shaft coordinate system CCS driving the workpiece coordinate system to rotate, the ball rod instrument is fixed in the TCS and the WCS, and the fixed end of the ball rod instrument and the TCS is a floating end O2And the fixed end with the WCS is a fixed end O1；
Wherein, the ball rod instrument is marked as DDB in figure 1, directly works between two coordinate systems of the swing head of the machine tool and the rotary worktable, and reflects the comprehensive error formed by two moving branch chains of MCS- > YCS- > ZCS- > ACS- > TCS and MCS- > XCS- > CCS- > WCS;
step 2, obtaining the relation between the length of the ball arm instrument and the theoretical position of the coordinate according to the space pythagorean theorem:
(L+ΔR)2＝(x’1-x’2)2+(y’1-y’2)2+(z’1-z’2)2(2) the relation between the change of the radius of the ball arm instrument and the error component of each feed shaft is obtained by combining the above formulas (1) and (2);
the delta R is a random variable of the club length of the club instrument, and the delta X, the delta Y and the delta Z are error variables which can be decomposed in X, Y, Z directions by the club instrument;
the actual position of the circle center in the space can be obtained only by obtaining the theoretical point of the circle center of the floating end sphere in the space and the change value of the rod length.
Step 3, adding O1Establishing a coordinate system for the origin, and setting the floating end center O of the ball arm apparatus2Under WCS, the homogeneous coordinate is P, the included angle between the club instrument and X-axis along the club direction is theta, the club length is a fixed value L, and the arc interpolation work is carried out by X-axis and Y-axis, at this time, the two rotating shafts and vertical displacement shaft are in static state, ACS,Degrading error transfer matrixes of the CCS and ZCS matrixes into unit matrixes to obtain homogeneous coordinates of the P points;
Pi＝[cosαcosθL，sinαL，sinθL+h，1]T，
and XCS and YCS linkage error transfer matrix of
Actual coordinate P of calculated P point coordinate under condition of considering error influencea：
In the formulaxx′、yx′、xy′、yy′、xz′、yz' is the angle error generated by the X-axis and Y-axis motion to X, Y, Z three feed axes respectively;xx′、xy′、xzα is a rotating angle arranged in an X-Y plane when the X, Y shaft performs circular interpolation work;
and 4, extracting X, Y, Z components in three directions from the homogeneous coordinate matrix, namely delta X, delta Y and delta Z, and substituting the components into a formula to obtain an equation of the delta R about each error component:
ΔR’{[cosαcosθL+sinαL(-xz’+yz’)+(xy’-yy’)(sinθL+h)](x2-x1)+[cosαcosθL(yz’+xz’)+sinαL+(sinθL+h)(-xx’+yx’)](y2-y1)+[cosαcosθL(xy’-yy’)+sinαL(-yx’+xx’)+sinθL+h](z2-z1)}/L
the equation expresses the change in cue stick length caused by 6 rotation error components of the TCS coordinate system relative to the WCS coordinate system in spherical coordinates.
Before the ball arm instrument is installed, a laser interferometer is used for identifying and compensating straightness errors, and the influence of the straightness errors in three directions on a machine tool coordinate system is eliminated X, Y, Z.
The model experiment is not limited to the compensation work of the specific angle of the cue stick instrument.
The invention discloses a method experiment:
the method comprises the steps of using a laser interferometer to identify and compensate straightness errors, mounting a Renilsha QC20-W ball bar instrument on a five-axis machine tool after the influence of the straightness errors in three directions on a machine tool coordinate system is eliminated through a pitch compensation method, and identifying 12 angular error factors in total on two coordinate systems XCS and YCS of the machine tool participating in XOY plane interpolation. In the experiment, the ball arm apparatus was selected to measure the conditions: the interpolation is performed at six angles of 0 °,15 °,30 °,45 °,60 °, and 75 °. Because the acquired information quantity of the interpolation experiment is large and is not beneficial to later-stage analysis, the working mode of selecting the characteristic points is simplified, and the value of each working circular surface is taken at an interval of 60 degrees. Because the thermal error exists in the working process and is coupled with the geometric error of the machine tool, in order to enable the measurement result to be a steady-state error result, the machine tool is subjected to a heat engine for 6 hours before being tested, the external environment temperature condition is strictly guaranteed to be 20 ℃ during testing, the testing is divided into clockwise and anticlockwise two times, and the specific characteristic point data is shown in tables 1 and 2.
The data represent the difference Δ R between the actual and theoretical shaft lengths of the cue stick apparatus between the theoretical fixed end and the actual floating end, where each characteristic value is in mm.
When data in table 1 is substituted into equation (9), for example, data in table 1 in which θ is 15 is substituted, the matrix full rank can be found, and there is a specific solution in this case. The calculation results of the six directional components can be calculated by using a Gaussian elimination method, and are respectively as follows:
xx’＝0.0006、yx’＝0.0007xy’＝0.0009、yy’－0.0009、xz’＝0·0003、yz’-0.0006。
and (4) sorting the data corresponding to the partial spatial angle to obtain a rotation error element in the specified angle plane. As can be seen from the data in table 3, the error elements in the spatial plane composed of different θ are changed and the change is linear, and the change of the value is in a continuous change state in the spatial circular plane, which is caused by the fact that the track of the cue stick instrument during measurement follows the spatial circular plane. According to the method, a space circular arc track test with a counterclockwise rotation direction is performed on the XOY plane, and the sizes of partial rotation error elements are shown in Table 4, and the values of the partial rotation error elements at the same characteristic point position are basically the same. Namely, on the basis of static compensation, the numerical control machine tool moves clockwise and anticlockwise, and the size of the rotation error of the numerical control machine tool is basically the same.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the invention.
Claims (3)
1. The method for identifying the space error of the five-axis numerical control machine tool is characterized by comprising the following steps of:
step 1, a ball arm instrument error measuring device is built, wherein one end of the ball arm instrument error measuring device is fixed on a main shaft of a five-axis numerical control machine tool, and the other end of the ball arm instrument error measuring device is fixed at the center of a rotary working table;
step 2, establishing a spatial error measurement model according to the ball arm instrument error measurement device;
step 3, establishing a model experiment, reading the theoretical rod length of the ball rod instrument of the numerical control lathe and the actual rod length displayed by the ball rod instrument through the compensation work of the ball rod instrument at different angles, substituting data into the spatial error measurement model, and identifying the angle error factor and the rotation error factor of the rotating shaft of the five-axis numerical control machine;
the spatial error measurement model is established by the following steps:
step a, modeling a machine tool coordinate system according to a multi-body theory;
the coordinate system includes: the ball bar instrument is fixed in the TCS and the WCS, and is a floating end 02 fixed with the TCS and a fixed end 01 fixed with the WCS;
b, obtaining the relation between the length of the ball arm instrument and the theoretical position of the coordinate according to the space pythagorean theorem:
(L+ΔR)2＝(x′1-x′2)2+(y′1-y′2)2+(z′1-z′2)2(2)
the relation between the change of the radius of the ball arm instrument and the error component of each feed shaft is obtained by combining the above formulas (1) and (2):
the delta R is a random variable of the club length of the club instrument, and the delta X, the delta Y and the delta Z are error variables which can be decomposed in X, Y, Z directions by the club instrument;
step c, with O1Establishing a coordinate system for the origin, and setting the floating end center O of the ball arm apparatus2Under WCS, the homogeneous coordinate is P, the included angle between the club instrument and the X axis along the club direction is theta, the club length is a fixed value L, and the homogeneous coordinate of the point P is obtained
Pi＝[cosαcosθL，sinαL，sinθL+h，1]T，
And XCS and YCS linkage error transfer matrix of
The obtained P point coordinate is considered under the condition of considering the influence of errorsActual coordinates P ofa：
In the formulaxx′、yx′、xy′、yy′、xz′、yz′Angular errors for the X-axis and Y-axis motion respectively for the X, Y, Z three feed axes;xx′、xy′、xz′α is a rotating angle arranged in an X-Y plane when X, Y shafts carry out circular interpolation work;
d, extracting X, Y, Z components in three directions from the homogeneous coordinate matrix, namely delta X, delta Y and delta Z, and substituting the components into a formula to obtain an equation of delta R about each error component:
ΔR’＝{[cosαcosθL+sinαL(-xz′+yz′)+(xy′-yy′)(sinθL+h)](x2-x1)+[cosαcosθL(yz′+xz′)+sinαL+(sinθL+h)(-xx′+yx′)](y2-y1)+[cosαcosθL(xy′-yy′)+sinαL(-yx′+xx′)+sinθL+h](z2-Z1)}/L
the equation expresses the change in cue stick length caused by 6 rotation error components of the TCS coordinate system relative to the WCS coordinate system in spherical coordinates.
2. The method for identifying the spatial error of the five-axis numerical control machine tool as claimed in claim 1, wherein before the installation of the ball bar instrument, a laser interferometer is used for identifying and compensating the straightness error, and the influence of the straightness error in three directions of X, Y, Z on the coordinate system of the machine tool is eliminated.
3. The method as claimed in claim 1, wherein the model experiment is not limited to the compensation of a specific angle of a ball bar.
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| CN109732401B (en) * | 2019-01-02 | 2020-09-01 | 天津工业大学 | Detection method for position-independent errors of double rotating shafts of five-axis numerical control machine tool |
| 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 |
| CN110806721B (en) * | 2019-10-11 | 2022-04-01 | 襄阳华中科技大学先进制造工程研究院 | Three-axis numerical control machine tool space error prediction method based on error field characteristic points |
| CN111580459B (en) * | 2020-06-01 | 2021-04-13 | 山东大学 | Five-axis machining center assembly error analysis control method |
| CN111638681A (en) * | 2020-06-17 | 2020-09-08 | 深圳市中图仪器股份有限公司 | Inductive wireless ball arm instrument |
| CN112059722B (en) * | 2020-08-12 | 2022-09-23 | 上海理工大学 | Detection device and detection method for rotational angle positioning error of rotating shaft of numerical control machine tool |
| CN112518422B (en) * | 2020-11-19 | 2021-12-28 | 西安交通大学 | Five-axis AC swing head gantry machine tool geometric error modeling and separating method |
| CN112355712B (en) * | 2020-11-23 | 2022-05-03 | 苏州千机智能技术有限公司 | Trigger type on-machine measurement precision calibration method and system |
| CN113093653A (en) * | 2021-03-09 | 2021-07-09 | 湖北文理学院 | Machine tool precision evaluation method |
| CN115555918A (en) * | 2022-11-02 | 2023-01-03 | 重庆大学 | Method for identifying comprehensive errors of rotating shaft based on single-shaft driving of ball arm instrument |
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