CN108732991A - A kind of movement axle bearing calibration and device - Google Patents
A kind of movement axle bearing calibration and device Download PDFInfo
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- CN108732991A CN108732991A CN201710274294.0A CN201710274294A CN108732991A CN 108732991 A CN108732991 A CN 108732991A CN 201710274294 A CN201710274294 A CN 201710274294A CN 108732991 A CN108732991 A CN 108732991A
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- accuracy data
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- sampled point
- movement
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/401—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
- G05B19/4015—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes going to a reference at the beginning of machine cycle, e.g. for calibration
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37392—Motion
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37581—Measuring errors
Abstract
The embodiment of the present invention belongs to Machine-Tool Control technical field, is related to a kind of movement axle bearing calibration and device, the method includes：Kinematic axis accuracy data is acquired, the kinematic axis accuracy data includes the quantity of the sampled point on axis of motion stroke and the exercise data of sampled point；Preserve the kinematic axis accuracy data of acquisition；Send movement position instruction, judge the compensation correction condition that axis of motion meets, corresponding kinematic axis accuracy data is obtained according to the compensation correction condition of satisfaction, the mechanical coordinate of kinematic axis is adjusted according to the corresponding kinematic axis accuracy data, the movement position instruction is corrected, kinematic axis compensation correction is completed；Described device includes acquisition module, memory module and correction module, the movement axle bearing calibration and device provided according to embodiments of the present invention, by integral collecting, preservation and read kinematic axis accuracy data, the automatic compensation of movement position instruction that can complete kinematic axis, realizes the high-precision correction of kinematic axis.
Description
Technical field
The embodiment of the present invention belongs to Machine-Tool Control technical field more particularly to a kind of movement axle bearing calibration and device.
Background technology
The positioning accuracy of kinematic axis refers to institute's mechanical axis attainable positional precision of movement institute under digital control system control, is
Numerically-controlled machine tool is different from an important precision index of machine tool.For open loop or semiclosed loop numerically-controlled machine tool, positioning
Precision depends primarily on the precision of feed screw, and therefore, numerically-controlled machine tool usually uses high-precision ball-screw.But leading screw
It is constantly present fabrication error, is used for a long time in addition and will produce abrasion, therefore, lathe is further increased and positions high-precision common side
One of method is exactly to be compensated to the pitch error of ball-screw using high-precision correction mode.
Common bearing calibration is to calculate the compensation of pitch error table, is manually entered machine tool control system, fixed to eliminate
Position error, since three axis of numerically-controlled machine tool or four axis compensation points may have hundreds of thousands of points, thus manual compensation need to spend it is more
Time, and it is easy error.
Invention content
To solve the above-mentioned problems, the embodiment of the present invention provides a kind of high-precision movement axle bearing calibration, existing to solve
The problem of thering is manual compensation in technology to need to spend more time, and being easy error.
In a first aspect, the embodiment of the present invention provides a kind of movement axle bearing calibration, including：
Kinematic axis accuracy data is acquired, the kinematic axis accuracy data includes the number of the sampled point on axis of motion stroke
The exercise data of amount and sampled point；
Preserve the kinematic axis accuracy data of acquisition；
Movement position instruction is sent, the compensation correction condition that axis of motion meets is judged, according to the compensation correction of satisfaction
Condition obtains corresponding kinematic axis accuracy data, according to the corresponding kinematic axis accuracy data to the mechanical coordinate of kinematic axis into
Row adjustment corrects the movement position instruction, completes kinematic axis compensation correction.
Further, the method further includes：
The kinematic axis accuracy data is read, and precision is carried out to the movement of kinematic axis according to the kinematic axis progress data
Compensation, and whether the movement for verifying kinematic axis after accuracy compensation meets required precision, the movement of kinematic axis is full after accuracy compensation
When sufficient required precision, then kinematic axis accuracy data acquisition is completed, and subsequent step is executed；Otherwise mechanical checkout is being carried out to kinematic axis
After resurvey kinematic axis accuracy data.
Further, the transmission movement position instruction, judges the compensation correction condition that axis of motion meets, according to full
The compensation correction condition of foot obtains corresponding kinematic axis accuracy data, according to the corresponding kinematic axis accuracy data to kinematic axis
Mechanical coordinate be adjusted, correct movement position instruction, completing kinematic axis compensation correction includes：
The accuracy data of sampled point is read one by one；
The measurement mechanical coordinate of position coordinates and each sampled point during the movement position is instructed carries out cycle comparison, sentences
The compensation correction condition that disconnected axis of motion meets；
Corresponding kinematic axis accuracy data is obtained according to judging result, according to the corresponding kinematic axis accuracy data to institute
It states position coordinates to be adjusted, returns to the correction value of the position coordinates in the movement position instruction；
The movement position instruction is corrected, kinematic axis compensation correction is completed.
Further, it is described the movement position is instructed in position coordinates and each sampled point measurement mechanical coordinate into
Row cycle compares, and the compensation correction condition for judging whether to meet in compensation correction condition includes MX> M [n-1]s &&MX< M [n] or
MX=M [n]；
Wherein MXFor the position coordinates, M [n] is the mechanical measurement coordinate of n-th of sampled point, and M [n-1] is (n-1)th
The mechanical measurement coordinate of sampled point；
It is described that corresponding kinematic axis accuracy data is obtained according to judging result, according to the corresponding kinematic axis accuracy data
The position coordinates are adjusted and are specifically included：
If MXMeet condition MX=M [n] then corrects M according to the corresponding theory mechanical coordinate R [n] of n-th of sampled pointX's
Value；
If MXMeet condition MX> M [n-1]s &&MX< M [n], then according to the essence of n-th of sampled point and (n-1)th sampled point
Degrees of data passes through formulaTo MXIt is modified, R [n-1] is (n-1)th sampled point
Theoretical mechanical coordinate, RXFor MXCorrection value.
Further, further include resetting operation before the acquisition kinematic axis accuracy data, axis of motion is made to return
To mechanical origin.
Second aspect, the embodiment of the present invention provide a kind of kinematic axis means for correcting, including：
Acquisition module, for acquiring kinematic axis accuracy data, the kinematic axis accuracy data includes axis of motion stroke
On sampled point quantity and sampled point exercise data；
Memory module, the kinematic axis accuracy data for preserving acquisition；
Correction module judges the compensation correction condition that axis of motion meets, according to full for sending movement position instruction
The compensation correction condition of foot obtains corresponding kinematic axis accuracy data, according to the corresponding kinematic axis accuracy data to kinematic axis
Mechanical coordinate be adjusted, correct movement position instruction, complete kinematic axis compensation correction.
Further, described device further includes authentication module, for reading the kinematic axis accuracy data, and according to described
Kinematic axis progress data carries out accuracy compensation to the movement of kinematic axis, and whether the movement for verifying kinematic axis after accuracy compensation meets
Required precision.
Further, the correction module includes：
Reading unit, the accuracy data for reading sampled point one by one；
Comparison judgment unit, the measurement machinery for position coordinates and each sampled point in instructing the movement position are sat
Mark carries out cycle comparison, judges the compensation correction condition that axis of motion meets；
Feedback unit is adjusted, for obtaining corresponding kinematic axis accuracy data according to judging result, according to described corresponding
Kinematic axis accuracy data is adjusted the position coordinates, returns to the amendment of the position coordinates in the movement position instruction
Value；
Unit is corrected, for correcting the movement position instruction, completes kinematic axis compensation correction.
Further, the compensation correction condition that the comparison judgment unit is judged includes MX=M [n] or MX> M [n-
1]&&MX< M [n]；
Wherein MXFor the position coordinates, M [n] is the mechanical measurement coordinate of n-th of sampled point, and M [n-1] is (n-1)th
The mechanical measurement coordinate of sampled point；
The adjustment feedback unit is specifically used for working as MXMeet condition MXAccording to the corresponding reason of n-th of sampled point when=M [n]
M is corrected by mechanical coordinate R [n]XValue, and for working as MXMeet condition MX> M [n-1]s &&MXIt is adopted according to n-th when < M [n]
The accuracy data of sampling point and (n-1)th sampled point, passes through formulaTo MXIt is modified, R
[n-1] is the theoretical mechanical coordinate of (n-1)th sampled point, RXFor MXCorrection value.
Further, described device further includes reseting module, for being executed before the acquisition kinematic axis accuracy data
Operation is resetted, axis of motion is made to be back to mechanical origin.
The movement axle bearing calibration and device provided according to embodiments of the present invention, passes through integral collecting, preservation and reading
Kinematic axis accuracy data can complete the automatic compensation of movement position instruction of kinematic axis, realize the high-precision correction of kinematic axis.
Description of the drawings
It, below will be to embodiment or description of the prior art in order to illustrate more clearly of the present invention or scheme in the prior art
Needed in attached drawing make one and simple introduce, it should be apparent that, the accompanying drawings in the following description is some realities of the present invention
Example is applied, it for those of ordinary skill in the art, without creative efforts, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of flow chart for movement axle bearing calibration that the embodiment of the present invention one provides；
Fig. 2 is the flow chart for another movement axle bearing calibration that the embodiment of the present invention one provides；
Fig. 3 is the kinematic error curve before the compensation that the embodiment of the present invention one provides；
Fig. 4 is the kinematic error curve after the compensation that the embodiment of the present invention one provides；
Fig. 5 is a kind of structure diagram of kinematic axis means for correcting provided by Embodiment 2 of the present invention；
Fig. 6 is the structure diagram of another kinematic axis means for correcting provided by Embodiment 2 of the present invention；
Fig. 7 is the structure diagram of correction module provided by Embodiment 2 of the present invention.
Specific implementation mode
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.Unless otherwise defined, used herein
All technical and scientific terms have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.Herein
Used term, which is only for the purpose of describing specific embodiments, in the description of the invention is not intended to limit this
Invention.Term " first ", " second " in description and claims of this specification and above-mentioned attached drawing etc. are for distinguishing not
Same object, rather than for describing particular order.In addition, term " comprising " and " having " and their any deformations, it is intended that
Non-exclusive include in covering.Such as process, method, system, product or the equipment for containing series of steps or unit do not have
It is defined in the step of having listed or unit, but further includes the steps that optionally not listing or unit, or further include optionally
For other intrinsic steps of these processes, method, product or equipment or unit.
Referenced herein " embodiment " is it is meant that a particular feature, structure, or characteristic described can wrap in conjunction with the embodiments
Containing at least one embodiment of the present invention.Each position in the description occur the phrase might not each mean it is identical
Embodiment, nor the independent or alternative embodiment with other embodiments mutual exclusion.Those skilled in the art explicitly and
Implicitly understand, embodiment described herein can be combined with other embodiments.
Embodiment one
Refering to fig. 1, the embodiment of the present invention provides a kind of movement axle bearing calibration, includes the following steps：
S101：Kinematic axis accuracy data is acquired, the kinematic axis accuracy data includes the sampling on axis of motion stroke
The quantity of point and the exercise data of sampled point；
In this step, the acquisition of kinematic axis accuracy data is completed by controlling optical measuring apparatus, the optics is surveyed
It measures equipment to be mounted in the direction of motion of kinematic axis, first by adjusting the laser point of optical measuring apparatus, optical measurement is made to set
Standby measurement axis is conllinear or parallel with the axis of movement of kinematic axis, then by adjusting good optical measuring apparatus according to default
Kinematic axis stroke and fixed amount of exercise acquire kinematic axis accuracy data, for example set the stroke of kinematic axis as X, kinematic axis
Fixed amount of exercise is m, then the quantity that can obtain sampled point isSymbolFor downward rounding, i.e.,It represents less thanMaximum integer, if the quantity of sampled point be N, then the value range of N beFor side
Just it acquires, in general setting X and m can divide exactly, and when the stroke X of kinematic axis is fixed, the fixation amount of exercise m of kinematic axis is got over
Small, corresponding sampled point is more, although the sampling time increases, corresponding sampling precision is also higher；
Specifically, when carrying out the acquisition of kinematic axis accuracy data, kinematic axis is under the control of motion controller from movement
(being herein the initial position of kinematic axis) setting in motion, moves fixed fortune in the time interval of setting at the mechanical origin of axis
Momentum m, moves to next sampled point from a sampled point successively, and optical measuring apparatus acquires the movement number of each sampled point point by point
According to specifically, for n-th of sampled point, the exercise data includes the measurement mechanical coordinate of n-th of sampled point, described
When measurement mechanical coordinate refers to axis of motion to n-th of sampled point, the practical fortune of the kinematic axis measured by optical measuring apparatus
Dynamic distance, in the present embodiment, the measurement mechanical coordinate of n-th of sampled point of note is M [n], remembers the theory machinery of n-th of sampled point
Coordinate is R [n], and the machine error of n-th of sampled point of note is O [n], then has for n-th of sampled point：
M [n]=R [n]+O [n] formula (1)
Wherein, theoretical mechanical coordinate R [n] is the product of the sequence number value and fixed amount of exercise m of n-th of sampled point, i.e. R [n]
=m × n can acquire the machine error of n-th of sampled point by formula (1)；
For example, the fixed amount of exercise of setting is 3, stroke 300 is provided with rear kinematic axis and moves for the first time, theoretically moves
Axis will move to mechanical coordinate 3 from mechanical coordinate 0, then the theoretical mechanical coordinate R [n] of current sampling point is 3, since kinematic axis is deposited
In machine error, if the value that practical optical measuring apparatus measurement obtains is 3.1, current sampling point machine error O [n] is i.e.
It is 0.1, after the accuracy data acquisition for completing current sampling point, into next sampled point, the theoretical machinery of second of post exercise is sat
It is 6 to mark R [n], if the value that practical optical test equipment measurement obtains is 6.12, obtains the machine error O of the sampled point
[n] is 0.12, and so on.
In the present embodiment, acquisition parameter can be adjusted according to actual conditions, acquisition parameter includes that axis of motion is primary
Time interval, the movement travel of kinematic axis, the single motion amount (above-mentioned fixation amount of exercise) of kinematic axis, the movement of kinematic axis
Form etc.；The forms of motion of kinematic axis includes unidirectional operation or way traffic, and wherein unidirectional operation refers to kinematic axis from machinery
Origin moves to range (positive direction), and way traffic refers to that kinematic axis moves to range (positive direction) from mechanical origin
Afterwards, then from maximum stroke mechanical origin (negative direction) is moved back into.
S102：Preserve the kinematic axis accuracy data of acquisition；
Specifically, the measurement mechanical coordinate for all sampled points that S101 steps are obtained, theoretical mechanical coordinate, and by surveying
Amount mechanical coordinate, the theoretical obtained machine error of mechanical coordinate are preserved, and in the present embodiment, it is rtl to save as suffix
Accuracy data file.
S103：Movement position instruction is sent, the compensation correction condition that axis of motion meets is judged, according to the compensation of satisfaction
Correcting condition obtains corresponding kinematic axis accuracy data, is sat to the machinery of kinematic axis according to the corresponding kinematic axis accuracy data
Mark is adjusted, and is corrected the movement position instruction, is completed kinematic axis compensation correction.
Specifically, movement position instruction includes the position coordinates of the movement of kinematic axis, if the position coordinates of the movement are
MX, MXIt is the theoretical distance of axis of motion in the case of no compensation correction, when the stroke of kinematic axis is X, then MXModel
It encloses for 0≤MX≤ X is read when being adjusted to the mechanical coordinate of kinematic axis according to the accuracy data according to the incremental modes of N
Accuracy data is taken, i.e., since mechanical origin, the accuracy data of sampled point is read one by one, by MXWith the measurement machinery of each sampled point
Coordinate carries out cycle comparison, to confirm MXThe compensation correction condition met, the compensation correction condition includes MX> M [n-1]s &&
MX< M [n] or MX=M [n]；
Wherein, if there is single sampled point n so that MXMeet condition MX=M [n] then returns to n pairs of the single sampled point
The theoretical mechanical coordinate answered is R [n], by the M in instructing movement positionXIt is modified to RX, to obtain revised movement position
Instruction, wherein RX=R [n]；
If there is adjacent two sampled points n-1 and n so that MXMeet condition MX> M [n-1]s &&MX< M [n], wherein
Fu Hao && indicates MXCondition M need to be met simultaneouslyX> M [n-1] and MX< M [n], at this time according to the accuracy data of sampled point n-1 and n
To MXValue linearly corrected, i.e., according to " linear " Slope relationship of two neighboring sampled point, find out MXCorrection value RX, tool
Body, using following formula：
The R that will be obtained in formula (2)XIt returns to correct MX, obtain revised movement position instruction.
By above-mentioned MXIt is modified to RXMovement position instruction later is sent to the motion controller of kinematic axis, motion controller
Controlled motion axis is instructed to move to mechanical coordinate R according to revised movement positionXPlace, it is thus achieved that the compensation school of kinematic axis
Just.
The movement axle bearing calibration provided according to embodiments of the present invention by integral collecting, preservation and reads kinematic axis
Accuracy data can complete the automatic compensation of movement position instruction of kinematic axis, realize the high-precision correction of kinematic axis.
Referring to Fig.2, the embodiment of the present invention provides another movement axle bearing calibration, specifically include：
S201：Kinematic axis accuracy data is acquired, the kinematic axis accuracy data includes the sampling on axis of motion stroke
The quantity of point and the exercise data of sampled point；
S202：Preserve the kinematic axis accuracy data of acquisition；
S203：Read the kinematic axis accuracy data, and according to the kinematic axis progress data to the movement of kinematic axis into
Row accuracy compensation, and whether the movement for verifying kinematic axis after accuracy compensation meets required precision, kinematic axis after accuracy compensation
When meeting required precision, then kinematic axis accuracy data acquisition is completed for movement, executes step S204, no to then follow the steps S205；
S204：Movement position instruction is sent, the compensation correction condition that axis of motion meets is judged, according to the compensation of satisfaction
Correcting condition obtains corresponding kinematic axis accuracy data, is sat to the machinery of kinematic axis according to the corresponding kinematic axis accuracy data
Mark is adjusted, and is corrected the movement position instruction, is completed kinematic axis compensation correction；
S205：Mechanical checkout is carried out to kinematic axis, step S201~S203 is re-executed after mechanical checkout.
Specifically, in the step S203, since the initial precision of kinematic axis is mainly ensured by ball screw accuracy, so meeting
Kinematic axis accuracy data acquisition is carried out first, the accuracy data of first group of sampling is obtained after the completion of acquisition, by first group of sampling
Accuracy data reads in motion controller, and accuracy compensation is carried out to the movement of kinematic axis, then kinematic axis after verification accuracy compensation
Whether whether movement meets required precision, tested less than predetermined threshold value especially by the maximal accuracy error amount judged after compensating
Card, refering to Fig. 3 and Fig. 4, by taking kinematic axis way traffic as an example, Fig. 3 is the kinematic error curve before compensation, and Fig. 4 is after compensating
Kinematic error curve as can be seen from the figure includes the positive direction kinematic error curve and negative direction kinematic error song of kinematic axis
Line, maximal accuracy error amount refer to the difference of maximum error amount and minimum error amount in entire motion process；
If the maximal accuracy error amount after compensation is less than predetermined threshold value, illustrate that the movement of kinematic axis after compensating meets precision
It is required that the kinematic axis accuracy data of acquisition then can be directly used for the correction of kinematic axis；
If the maximal accuracy error amount after compensation exceeds predetermined threshold value, illustrate that the movement of kinematic axis after compensating is unsatisfactory for essence
Degree requires, then judges the kinematic axis there are mechanical problem, needs to carry out mechanical checkout, and kinematic axis essence is resurveyed after mechanical checkout
Degrees of data, and precision test is carried out again, maximal accuracy error amount until meeting required precision, such as before compensation is less than
The kinematic axis of 0.1mm, the maximal accuracy error amount after compensation correction just meet required precision when being less than 0.05mm；Or before compensation
Maximal accuracy error amount be less than the kinematic axis of 0.08mm, the maximal accuracy error amount after compensation correction reaches when being less than 0.02mm
Sufficient required precision.
In the present embodiment, previous embodiment further includes resetting operation before acquiring kinematic axis accuracy data, makes movement
Axis movement is back to mechanical origin.
The movement axle bearing calibration provided according to embodiments of the present invention by integral collecting, preservation and reads kinematic axis
Accuracy data, can complete the automatic compensation of movement position instruction of kinematic axis, and by precision test repeatedly, realize kinematic axis
High-precision correction.
Embodiment two
Refering to Fig. 5, the embodiment of the present invention provides a kind of kinematic axis means for correcting, and described device includes acquisition module 510, deposits
Module 520 and correction module 530 are stored up, wherein：
For acquisition module 510 for acquiring kinematic axis accuracy data, the kinematic axis accuracy data includes axis of motion row
The quantity of sampled point in journey and the exercise data of sampled point；Acquisition module 510 is completed to transport by controlling optical measuring apparatus
The acquisition of moving axis accuracy data, the optical measuring apparatus are mounted in the direction of motion of kinematic axis, and acquisition module 510 is logical first
The laser point for crossing adjustment optical measuring apparatus, keeps the measurement axis of optical measuring apparatus conllinear or flat with the axis of movement of kinematic axis
Then row acquires kinematic axis essence by adjusting good optical measuring apparatus according to preset kinematic axis stroke and fixed amount of exercise
Degrees of data, for example the stroke of kinematic axis is set as X, the fixation amount of exercise of kinematic axis is m, then the quantity that can obtain sampled point isSymbolFor downward rounding, i.e.,It represents less thanMaximum integer, if the quantity of sampled point is N, then N takes
Value is ranging fromIn order to facilitate acquisition, in general setting X and m can divide exactly, and work as fortune
When the stroke X of moving axis is fixed, the fixation amount of exercise m of kinematic axis is smaller, and corresponding sampled point is more, although the sampling time increases,
But corresponding sampling precision is also higher；
Specifically, acquisition module 510 carry out kinematic axis accuracy data acquisition when, control of the kinematic axis in motion controller
Under system from the mechanical origin of kinematic axis (being herein the initial position of kinematic axis) setting in motion, transported in the time interval of setting
Fixed amount of exercise m is moved, moves to next sampled point from a sampled point successively, acquisition module 510 controls optical measurement and sets
The standby exercise data for acquiring each sampled point point by point, specifically, for n-th of sampled point, the exercise data includes described n-th
The measurement mechanical coordinate of sampled point, when the measurement mechanical coordinate refers to axis of motion to n-th of sampled point, optical measurement is set
The actual motion distance of standby measured kinematic axis, in the present embodiment, the measurement mechanical coordinate of n-th of sampled point of note is M
The theoretical mechanical coordinate of [n], n-th of sampled point of note are R [n], and the machine error of n-th of sampled point of note is O [n], then for n-th
A sampled point has：
M [n]=R [n]+O [n]
Wherein, theoretical mechanical coordinate R [n] is the product of the sequence number value and fixed amount of exercise m of n-th of sampled point, i.e. R [n]
=m × n can acquire the machine error of n-th of sampled point by the formula；
In the present embodiment, acquisition module 510 can adjust acquisition parameter according to actual conditions, and acquisition parameter includes movement
Axis moves primary time interval, the movement travel of kinematic axis, the single motion amount (above-mentioned fixation amount of exercise) of kinematic axis, fortune
The forms of motion etc. of moving axis；The forms of motion of kinematic axis includes unidirectional operation or way traffic, and wherein unidirectional operation refers to fortune
Moving axis moves to range (positive direction) from mechanical origin, and way traffic refers to that kinematic axis moves to maximum row from mechanical origin
After journey (positive direction), then from maximum stroke move back into mechanical origin (negative direction).
Memory module 520 is used to preserve the kinematic axis accuracy data of acquisition；Specifically, memory module 520 will acquire
The measurement mechanical coordinate for all sampled points that module 510 obtains, theoretical mechanical coordinate, and by measurement mechanical coordinate, theoretical machine
The obtained machine error of tool coordinate is preserved, and in the present embodiment, saves as the accuracy data file that suffix is rtl.
Correction module 530 is instructed for sending movement position, judges the compensation correction condition that axis of motion meets, according to
The compensation correction condition of satisfaction obtains corresponding kinematic axis accuracy data, according to the corresponding kinematic axis accuracy data to movement
The mechanical coordinate of axis is adjusted, and is corrected the movement position instruction, is completed kinematic axis compensation correction；Movement position instructs
The position coordinates of the movement of kinematic axis, if the position coordinates of the movement are MX, MXIt is to be moved in the case of no compensation correction
The theoretical distance of axis movement, when the stroke of kinematic axis is X, then MXRanging from 0≤MX≤X；Refering to Fig. 6, in the present embodiment
In, the correction module 530 includes reading unit 531, comparison judgment unit 532, adjustment feedback unit 533 and correction unit
544, wherein accuracy data of the reading unit 531 for reading sampled point one by one；The comparison judgment unit 532 is used for will
The measurement mechanical coordinate of position coordinates and each sampled point in the movement position instruction carries out cycle comparison, judges that kinematic axis is transported
The dynamic compensation correction condition met；The adjustment feedback unit 533 is used to obtain corresponding kinematic axis precision according to judging result
Data are adjusted the position coordinates according to the corresponding kinematic axis accuracy data, return to the movement position instruction
In position coordinates correction value；The correction unit 534 completes kinematic axis and compensates school for correcting the movement position instruction
Just, specifically, during correction module 530 is adjusted the mechanical coordinate of kinematic axis according to the accuracy data, institute
Reading unit 531 is stated according to mode reading accuracy data incremental N, i.e., since mechanical origin, reads the essence of sampled point one by one
Degrees of data, the comparison judgment unit 532 is by MXCycle comparison is carried out with the measurement mechanical coordinate of each sampled point, to confirm MXInstitute
The compensation correction condition of satisfaction, the compensation correction condition includes MX> M [n-1]s &&MX< M [n] or MX=M [n]；
Wherein, if there is single sampled point n so that MXMeet condition MX=M [n], then the adjustment feedback unit 533
It is R [n] to return to the corresponding theoretical mechanical coordinates of the single sampled point n, during the correction unit 534 will instruct movement position
MXIt is modified to RX, i.e., revised movement position is obtained to the position coordinates of kinematic axis and instructed, completes kinematic axis compensation correction,
Middle RX=R [n]；
If there is adjacent two sampled points n-1 and n so that MXMeet condition MX> M [n-1]s &&MX< M [n], wherein
Fu Hao && indicates MXCondition M need to be met simultaneouslyX> M [n-1] and MX< M [n], the adjustment feedback unit 533 is according to sampling at this time
The accuracy data of point n-1 and n is to MXValue linearly corrected, i.e., according to " linear " Slope relationship of two neighboring sampled point,
Find out MXCorrection value RX, specifically, using following formula：
And the R that will be obtained in the formulaXIt returns, the correction unit 534 is according to RXCorrect MX, obtain revised movement
Position command, and the instruction of revised movement position is sent to the motion controller of kinematic axis so that motion controller according to
Revised movement position instruction controlled motion axis moves to mechanical coordinate RXPlace, it is thus achieved that the compensation correction of kinematic axis.
The kinematic axis means for correcting provided according to embodiments of the present invention by integral collecting, preservation and reads kinematic axis
Accuracy data can complete the automatic compensation of movement position instruction of kinematic axis, realize the high-precision correction of kinematic axis.
Refering to Fig. 6, the embodiment of the present invention provides a kind of kinematic axis means for correcting, and described device further includes authentication module 540,
The authentication module 540 is used to read the kinematic axis accuracy data, and according to the kinematic axis progress data to kinematic axis
Movement carries out accuracy compensation, and whether the movement for verifying kinematic axis after accuracy compensation meets required precision, is transported after accuracy compensation
When the movement of moving axis meets required precision, then kinematic axis accuracy data acquisition is completed；Otherwise it needs to carry out mechanical school to kinematic axis
Just, then by the acquisition module 510 kinematic axis accuracy data is resurveyed；
Specifically, since the initial precision of kinematic axis is mainly ensured by ball screw accuracy, the acquisition of the acquisition module 510 is completed
After obtaining the accuracy data of first group of sampling, the accuracy data of first group of sampling is read in motion control by the authentication module 540
Device carries out accuracy compensation to the movement of kinematic axis, and then whether the movement of kinematic axis meets required precision after verification accuracy compensation,
Especially by judging whether the maximal accuracy error amount after compensation is verified less than predetermined threshold value；If the maximal accuracy after compensation
Error amount is less than predetermined threshold value, after illustrating compensation the movement of kinematic axis meet required precision, then correction module 530 can directly by
The kinematic axis accuracy data of acquisition is used for the correction of kinematic axis；If the maximal accuracy error amount after compensation exceeds predetermined threshold value,
Illustrate that the movement of kinematic axis after compensating is unsatisfactory for required precision, then judge the kinematic axis there are mechanical problem, needs to carry out machinery
Correction, the acquisition module 510 resurveys kinematic axis accuracy data after mechanical checkout, and the authentication module 540 carries out again
Precision test, maximal accuracy error amount until meeting required precision, such as before compensation are less than the kinematic axis of 0.1mm, mend
It repays when the maximal accuracy error amount after correction is less than 0.05mm and just meets required precision；Or the maximal accuracy error amount before compensation
Kinematic axis less than 0.08mm, the maximal accuracy error amount after compensation correction just meet required precision when being less than 0.02mm.
Further, described device further includes reseting module 550, and the reseting module 550 is used to move in the acquisition
It is executed before axis accuracy data and resets operation, axis of motion is made to be back to mechanical origin.
The function of each module sees the relevant technologies content in previous embodiment one in the present embodiment two.
The kinematic axis means for correcting provided according to embodiments of the present invention by integral collecting, preservation and reads kinematic axis
Accuracy data, can complete the automatic compensation of movement position instruction of kinematic axis, and by precision test repeatedly, realize kinematic axis
High-precision correction.
It should be noted that each function module in the above-mentioned each embodiment of the present invention can be integrated in a processing list
Can also be that modules physically exist alone in member, it can also be during two or more modules be integrated in one unit.On
The form realization that hardware had both may be used in integrated unit is stated, can also be realized in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can be stored in one and computer-readable deposit
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
Device (can be personal computer, server or network equipment etc.) or intelligent terminal or processor (Processor)
Execute the part steps of each embodiment the method for the present invention.And storage medium above-mentioned includes：It is USB flash disk, mobile hard disk, read-only
Memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disc or
The various media that can store program code such as person's CD.
In above-described embodiment provided by the present invention, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the module, only
Only a kind of division of logic function, formula that in actual implementation, there may be another division manner, for example, multiple module or components can be tied
Another system is closed or is desirably integrated into, or some features can be ignored or not executed.
The module illustrated as separating component may or may not be physically separated, aobvious as module
The component shown may or may not be physical module, you can be located at a place, or may be distributed over multiple
In network element.Some or all of module therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
Obviously, embodiments described above is only a part of the embodiment of the present invention, instead of all the embodiments, attached
Presently preferred embodiments of the present invention is given in figure, but is not intended to limit the scope of the claims of the present invention.The present invention can be with many differences
Form realize, keep the understanding to the disclosure more thorough on the contrary, purpose of providing these embodiments is
Comprehensively.Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art comes,
Can still modify to the technical solution recorded in aforementioned each specific implementation mode, or to which part technical characteristic into
Row equivalence replacement.Every equivalent structure done using description of the invention and accompanying drawing content, is directly or indirectly used in other
Relevant technical field, similarly within scope of patent protection of the present invention.
Claims (10)
1. a kind of movement axle bearing calibration, which is characterized in that including：
Acquire kinematic axis accuracy data, the kinematic axis accuracy data include the sampled point on axis of motion stroke quantity and
The exercise data of sampled point；
Preserve the kinematic axis accuracy data of acquisition；
Movement position instruction is sent, the compensation correction condition that axis of motion meets is judged, according to the compensation correction condition of satisfaction
Corresponding kinematic axis accuracy data is obtained, the mechanical coordinate of kinematic axis is adjusted according to the corresponding kinematic axis accuracy data
It is whole, the movement position instruction is corrected, kinematic axis compensation correction is completed.
2. according to the method described in claim 1, it is characterized in that, further including：
The kinematic axis accuracy data is read, and precision benefit is carried out to the movement of kinematic axis according to the kinematic axis progress data
Repay, and whether the movement for verifying kinematic axis after accuracy compensation meets required precision, after accuracy compensation the movement of kinematic axis meet
When required precision, then kinematic axis accuracy data acquisition is completed, and subsequent step is executed；Otherwise after carrying out mechanical checkout to kinematic axis
Resurvey kinematic axis accuracy data.
3. method according to claim 1 or 2, which is characterized in that the transmission movement position instruction judges that kinematic axis is transported
The dynamic compensation correction condition met obtains corresponding kinematic axis accuracy data, according to described according to the compensation correction condition of satisfaction
Corresponding kinematic axis accuracy data is adjusted the mechanical coordinate of kinematic axis, corrects the movement position instruction, completes movement
Axis compensation correction includes：
The accuracy data of sampled point is read one by one；
The measurement mechanical coordinate of position coordinates and each sampled point during the movement position is instructed carries out cycle comparison, judges to transport
The compensation correction condition that moving axis movement meets；
Corresponding kinematic axis accuracy data is obtained according to judging result, according to the corresponding kinematic axis accuracy data to institute's rheme
It sets coordinate to be adjusted, returns to the correction value of the position coordinates in the movement position instruction；
The movement position instruction is corrected, kinematic axis compensation correction is completed.
4. according to the method described in claim 3, it is characterized in that, it is described by the movement position instruct in position coordinates with
The measurement mechanical coordinate of each sampled point carries out cycle comparison, judges whether to meet the compensation correction condition packet in compensation correction condition
Include MX> M [n-1]s &&MX< M [n] or MX=M [n]；
Wherein MXFor the position coordinates, M [n] is the mechanical measurement coordinate of n-th of sampled point, and M [n-1] is (n-1)th sampled point
Mechanical measurement coordinate；
It is described that corresponding kinematic axis accuracy data is obtained according to judging result, according to the corresponding kinematic axis accuracy data to institute
It states position coordinates and is adjusted and specifically include：
If MXMeet condition MX=M [n] then corrects M according to the corresponding theory mechanical coordinate R [n] of n-th of sampled pointXValue；
If MXMeet condition MX> M [n-1]s &&MX< M [n], then according to the precision number of n-th of sampled point and (n-1)th sampled point
According to passing through formulaTo MXIt is modified, R [n-1] is the theory of (n-1)th sampled point
Mechanical coordinate, RXFor MXCorrection value.
5. according to the method described in claim 3, it is characterized in that, further including multiple before the acquisition kinematic axis accuracy data
Bit manipulation makes axis of motion be back to mechanical origin.
6. a kind of kinematic axis means for correcting, which is characterized in that including：
Acquisition module, for acquiring kinematic axis accuracy data, the kinematic axis accuracy data includes on axis of motion stroke
The quantity of sampled point and the exercise data of sampled point；
Memory module, the kinematic axis accuracy data for preserving acquisition；
Correction module judges the compensation correction condition that axis of motion meets, according to satisfaction for sending movement position instruction
Compensation correction condition obtains corresponding kinematic axis accuracy data, according to the corresponding kinematic axis accuracy data to the machine of kinematic axis
Tool coordinate is adjusted, and is corrected the movement position instruction, is completed kinematic axis compensation correction.
7. the apparatus of claim 2, which is characterized in that further include authentication module, for reading the kinematic axis essence
Degrees of data, and accuracy compensation is carried out to the movement of kinematic axis according to the kinematic axis progress data, and transported after verifying accuracy compensation
Whether the movement of moving axis meets required precision.
8. the apparatus of claim 2, which is characterized in that the correction module includes：
Reading unit, the accuracy data for reading sampled point one by one；
Comparison judgment unit, for position coordinates and each sampled point in instructing the movement position measurement mechanical coordinate into
Row cycle compares, and judges the compensation correction condition that axis of motion meets；
Feedback unit is adjusted, for obtaining corresponding kinematic axis accuracy data according to judging result, according to the corresponding movement
Axis accuracy data is adjusted the position coordinates, returns to the correction value of the position coordinates in the movement position instruction；
Unit is corrected, for correcting the movement position instruction, completes kinematic axis compensation correction.
9. device according to claim 8, which is characterized in that the compensation correction item that the comparison judgment unit is judged
Part includes MX=M [n] or MX> M [n-1]s &&MX< M [n]；
Wherein MXFor the position coordinates, M [n] is the mechanical measurement coordinate of n-th of sampled point, and M [n-1] is (n-1)th sampled point
Mechanical measurement coordinate；
The adjustment feedback unit is specifically used for working as MXMeet condition MXAccording to the corresponding theoretical machine of n-th of sampled point when=M [n]
Tool coordinate R [n] corrects MXValue, and for working as MXMeet condition MX> M [n-1]s &&MXAccording to n-th of sampled point when < M [n]
With the accuracy data of (n-1)th sampled point, pass through formulaTo MXIt is modified, R [n-
1] it is the theoretical mechanical coordinate of (n-1)th sampled point, RXFor MXCorrection value.
10. device according to claim 8, which is characterized in that further include reseting module, in the acquisition kinematic axis
It is executed before accuracy data and resets operation, axis of motion is made to be back to mechanical origin.
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