CN109822422A - A kind of burnishing machine rotating shaft geometric error measuring device and method of adjustment - Google Patents
A kind of burnishing machine rotating shaft geometric error measuring device and method of adjustment Download PDFInfo
- Publication number
- CN109822422A CN109822422A CN201910169086.3A CN201910169086A CN109822422A CN 109822422 A CN109822422 A CN 109822422A CN 201910169086 A CN201910169086 A CN 201910169086A CN 109822422 A CN109822422 A CN 109822422A
- Authority
- CN
- China
- Prior art keywords
- measuring
- error
- rotating shaft
- machine tool
- geometric error
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000005498 polishing Methods 0.000 claims abstract description 85
- 238000005259 measurement Methods 0.000 claims abstract description 38
- 230000033001 locomotion Effects 0.000 claims abstract description 37
- 239000011159 matrix material Substances 0.000 claims abstract description 11
- 230000009466 transformation Effects 0.000 claims abstract description 8
- 238000009434 installation Methods 0.000 claims abstract description 7
- 238000006073 displacement reaction Methods 0.000 claims description 50
- 239000013598 vector Substances 0.000 claims description 16
- 238000012545 processing Methods 0.000 claims description 11
- 230000008859 change Effects 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 claims description 6
- 229910000831 Steel Inorganic materials 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 239000010959 steel Substances 0.000 claims description 5
- 238000012360 testing method Methods 0.000 claims description 5
- 238000013519 translation Methods 0.000 claims description 5
- 239000000919 ceramic Substances 0.000 claims description 4
- 238000000691 measurement method Methods 0.000 claims description 2
- 108010074506 Transfer Factor Proteins 0.000 abstract 1
- 238000013480 data collection Methods 0.000 abstract 1
- 238000000926 separation method Methods 0.000 abstract 1
- 230000008569 process Effects 0.000 description 8
- 230000006872 improvement Effects 0.000 description 6
- 238000003754 machining Methods 0.000 description 4
- 230000036544 posture Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000007517 polishing process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Landscapes
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The invention discloses a kind of burnishing machine rotating shaft geometric error measuring device and methods of adjustment.The device includes data collection system, computer, the standard ball (2) being installed on grinding tool main shaft, and the measuring device being installed in polishing workpiece installation main shaft (3)；Based on measuring device, geometric error method of adjustment obtains the transformation matrix of measurement result Yu standard ball spatial position the following steps are included: demarcate first to measuring device；Secondly each rotating shaft movement is carried out, standard ball space motion path is measured；Followed by error separation, error of rotary axle size and direction are recognized；It is last that geometric error is adjusted according to error identification result, geometric error is reduced, Installing machine tool required precision is met.It is difficult to carry out error transfer factor low efficiency caused by space error measures, the status of Adjustment precision difference the present invention overcomes existing burnishing machine rotating shaft geometric error.
Description
Technical Field
The invention belongs to the field of machine tools, and particularly relates to a device for measuring geometric errors of a rotary shaft of a polishing machine tool and an adjusting method.
Background
The polishing machine tool is widely applied to the processing of precision parts with high surface quality requirements, such as optical devices, artificial joints and the like, and the geometric error of a rotating shaft has direct influence on the processing quality of products in the polishing precision processing. Compared with a general machine tool, the rotary shaft of the polishing machine tool has typical characteristics, theoretically, the rotary shaft of the polishing machine tool should intersect at one point (a virtual fulcrum) to ensure that the position of a grinding tool relative to a workpiece is kept unchanged in the polishing process, and geometric errors caused by the fact that the axes of the rotary shafts do not intersect due to machining errors, assembly errors, installation deformation and the like of parts become main error factors in machining. Adjustment of the positional relationship between the axes of the plurality of rotary shafts is often the most difficult and time-consuming part of the assembly and precision adjustment of the polishing machine.
Up to now, the adjustment of the geometrical error of the rotating shaft in the polishing machine tool is still mainly performed by a single dial indicator. The measurement mode of the tabulation method can only acquire the change of the virtual pivot point in one direction in the space. However, because the error terms of the geometric error of the rotating shaft have a mutual influence relationship, it is difficult for technicians to determine the actual error state of the rotating shaft of the machine tool, and it is difficult to reduce the errors simultaneously through repeated trial adjustment. Therefore, the difficulty in actual assembly and precision adjustment is caused by the lack of a device for measuring the multi-axis space geometric error of the rotating shaft of the polishing machine tool and an adjusting method, so that the polishing precision is difficult to further improve.
Disclosure of Invention
The invention aims to provide a device and a method for measuring the geometric error of a rotary shaft of a polishing machine tool, aiming at the current situations of low error adjustment efficiency and poor adjustment precision caused by the difficulty in measuring the spatial error of the geometric error of the rotary shaft of the conventional polishing machine tool.
The invention is realized by adopting the following technical scheme:
a device for measuring geometric errors of a rotary shaft of a polishing machine tool comprises a data acquisition system, a computer, a standard ball arranged on a main shaft of a grinding tool and a measuring device arranged on a mounting main shaft of a polishing workpiece; wherein,
the measuring device comprises a conical fixture arranged on a polishing workpiece mounting main shaft and three displacement sensors which are uniformly arranged in the circumferential direction of the conical fixture and used for measuring the spatial displacement of a standard ball arranged on a grinding tool main shaft in real time, the output ends of the three displacement sensors are connected to the input end of a data processing system, and the output end of the data processing system is connected to the input end of a computer.
The invention has the further improvement that the sphere center of the standard sphere is superposed with the virtual fulcrum, the sphericity error of the standard sphere is below 1 mu m, and the standard sphere is made of steel or ceramic.
The invention has the further improvement that the measuring axes of the three displacement sensors and the axis of the polishing workpiece mounting main shaft form a set space angle so as to realize the measurement of the space motion track of the standard spherical ball.
The invention has the further improvement that the three displacement sensors are uniformly distributed along the circumferential direction of the axis of the conical clamp, the space is intersected at one point, the top end of a measuring head of each displacement sensor is a plane, the spatial position change of a standard sphere is measured, and a main shaft for mounting a polishing workpiece is locked during measurement, so that the three displacement sensors are used as a reference measuring instrument to be kept fixed.
An error adjusting method of a device for measuring geometric errors of a rotary shaft of a polishing machine tool comprises the following steps:
1) calibrating the measuring device to obtain a transformation matrix of the measuring result and the space position of the standard sphere;
2) respectively carrying out the motions of a grinding tool main shaft and a polishing workpiece mounting main shaft, and measuring the spatial position and the motion trail of the standard round ball;
3) identifying the size and direction of a geometric error of a rotary shaft of the polishing machine tool by using an error analysis model and taking a workpiece spindle as a reference;
4) and the geometric error is adjusted according to the error identification result, so that the geometric error is reduced, and the requirement on the installation precision of the machine tool is met.
The further improvement of the invention is that in the step 1), the measuring device is calibrated, and the specific method comprises the following steps:
101) mounting a measuring device on a polishing workpiece mounting main shaft, mounting a standard round ball on a grinding tool main shaft, and moving the measuring device or the standard round ball through the linear motion of an X, Y, Z shaft of a polishing machine tool to enable the spherical center of the standard round ball to be aligned to the intersection point of the measuring axes of the three displacement sensors and setting the point as the original point position of the measuring and adjusting state of the polishing machine tool;
102) the X, Y and Z axis translation motion is realized by programming a numerical control program, and the stopping point distance is set according to the size of the measuring device, so that the stopping points are 9 symmetrical coordinate positions of a 'field' shape with the original point as a middle point;
103) in the calibration test, stopping at each stop point for 3 seconds, measuring to obtain a corresponding position sensor indication value, and reversely solving by a least square method to obtain a conversion matrix from the variation of the measurement result of the displacement sensor to the variation of the position under the actual space Cartesian coordinate system.
The further improvement of the invention is that in the step 2), the specific measuring method is as follows:
201) when the error of the rotating shaft is measured, the rotating axis of the rotating shaft is parallel to one of the X axis, the Y axis and the Z axis, so that the measuring error track is positioned in a motion plane formed by the other two coordinate axes;
202) and measuring by a measuring device to obtain the space motion track of the standard sphere in the full stroke of one rotation or rotation angle of the rotating shaft.
The further improvement of the invention is that in the step 3), the space motion track of the standard sphere obtained by real-time measurement is fitted with the least square circle center, and the space vector formed by the sphere center of the standard sphere and the least square circle center of the fitted track under the current posture of the rotating shaft is the geometric error vector which needs to be adjusted and eliminated.
The invention is further improved in that, in the step 4), according to the magnitude and the direction of the geometric error vector measured and displayed in real time by the measuring device, the mechanical structure adjustment of the geometric error is carried out one by one through an adjusting mechanism in the rotating shaft structure according to the sequence from the rotating shaft at the tail end to the rotating shaft at the bottom end, so that the geometric error meets the error requirement of the machine tool.
The invention has the following beneficial technical effects:
the device for measuring the space geometric error of the rotary shaft of the polishing machine tool provided by the invention realizes real-time measurement of the space displacement of the standard round ball arranged on the main shaft of the grinding tool through three displacement sensors which are arranged on the main shaft of a polishing workpiece and form a space angle. And in the measuring process, the main shaft of the clamp is locked, and the spatial positions and postures of the three displacement sensors are kept fixed. And a measurement result is acquired in real time through a displacement sensor measurement signal acquisition and data processing system, so that a basis is provided for error adjustment.
Furthermore, the standard ball is a precision processing part, when the standard ball is arranged on the main shaft of the grinding tool, the center of the ball coincides with the virtual pivot, the sphericity error of the standard ball is controlled to be below 1 μm, and the standard ball is made of steel or ceramic.
Furthermore, the measuring axes of the three displacement sensors and the axis of the polishing workpiece mounting main shaft form a certain spatial angle (such as 45 degrees) so as to realize the measurement of the spatial motion track of the standard round ball, and the three displacement sensors are uniformly distributed along the circumferential direction and fixed on a clamp mounted on the polishing workpiece mounting main shaft.
The invention provides an error adjusting method of a device for measuring geometric errors of a rotating shaft of a polishing machine tool, which comprises the steps of firstly calibrating the measuring device by utilizing the X, Y and Z three-axis motion of the machine tool, obtaining a transformation matrix of a measuring result and the spatial position of a standard ball by reverse solving through a least square method, and multiplying the indication values of three displacement sensors by the transformation matrix in the actual measuring process to obtain the actual position of the measured standard ball in a space Cartesian coordinate system. And secondly, performing full-stroke motion of each rotating shaft respectively, measuring the space motion track of the standard ball in the motion of each rotating shaft, and identifying to obtain the size and the direction of the space geometric error of each rotating shaft by using an error analysis model. And finally, according to the virtual fulcrum target position (error vector) obtained by the error identification result and the real-time position of the standard sphere obtained by the current measurement system, carrying out space geometric error adjustment on the rotating shaft according to an adjusting mechanism in the mechanical structure of the machine tool, reducing geometric errors and meeting the requirement of the installation precision of the machine tool.
Drawings
FIG. 1 is a schematic structural diagram of a device for measuring geometric errors of a rotating shaft of a polishing machine according to the present invention.
Fig. 2 is a schematic structural view of a measuring apparatus including three displacement sensors, fig. 2(a) is a side view, and fig. 2(b) is a top view.
FIG. 3 is a flow chart of the error adjustment method based on the measurement of the geometric error of the rotating shaft space of the polishing machine according to the present invention.
FIG. 4 is a schematic diagram of a method for determining the magnitude and direction of an adjustment vector according to the present invention.
Description of reference numerals:
1-grinding tool spindle (H axis), 2-standard ball, 3-conical clamp, 4-displacement sensor, 5-polishing workpiece mounting spindle (S axis), 6-rotating axis B axis and 7-rotating axis C axis.
Detailed Description
The invention is further described below with reference to the following figures and examples.
As shown in fig. 1 and fig. 2, the device for measuring the geometric error of the revolving shaft of the polishing machine tool provided by the invention comprises a data acquisition system, a computer, a standard round ball 2 arranged on a grinding tool spindle 1, and a measuring device arranged on a polishing workpiece mounting spindle 5; wherein, measuring device is including installing conical anchor clamps 3 on polishing work piece installation main shaft 5 and installing in this conical anchor clamps 3 circumference and three displacement sensor 4 that evenly set up for carry out space displacement real-time measurement to installing standard ball 2 on grinding apparatus main shaft 1, three displacement sensor 4's output all is connected to data processing system's input, and data processing system's output is connected to the input of computer.
Wherein, the sphere center of the standard sphere 2 coincides with the virtual pivot, and the sphericity error of the standard sphere 2 is below 1 μm, and steel or ceramic standard spheres are adopted. The measuring axes of the three displacement sensors 4 and the axis of the polishing workpiece mounting main shaft 5 form a set space angle (such as 45 degrees) so as to realize the measurement of the space motion track of the standard round ball 2. In addition, the three displacement sensors 4 are uniformly distributed along the circumferential direction of the axis of the conical clamp 3, the space is intersected at one point, the top end of a measuring head of each displacement sensor 4 is a plane, the spatial position change of the standard round ball 2 is measured, and a polishing workpiece mounting main shaft 5 is locked in the measurement process, so that the three displacement sensors 4 are used as reference measuring instruments to be kept fixed.
As shown in fig. 3 and 4, fig. 3 is a flow chart of an error adjustment method based on the measurement of the spatial geometric error of the rotating shaft of the polishing machine, according to which the geometric error of the rotating shaft of the polishing machine can be efficiently and accurately adjusted, and in the specific embodiment, a specific error adjustment method is given by taking a certain 7-axis polishing machine as an example. Fig. 4 is a method for determining the magnitude and direction of a geometric error adjustment vector based on a standard spherical ball motion trajectory in a full-stroke motion process of a rotating shaft, and a specific error measurement and adjustment method is provided in the specific embodiment by taking a rotating shaft B-axis 6 as an example. The invention provides an error adjusting method of a device for measuring geometric errors of a rotary shaft of a polishing machine tool, which comprises the following steps:
1) calibrating the measuring device to obtain a transformation matrix of the measuring result and the space position of the standard sphere 2; the specific calibration method comprises the following steps:
101) mounting a measuring device on a polishing workpiece mounting main shaft 5, mounting a standard round ball 2 on a grinding tool main shaft 1, and moving the measuring device or the standard round ball 2 through linear motion of an X, Y, Z shaft of a polishing machine tool to enable the spherical center of the standard round ball 2 to be aligned to the intersection point of the measuring axes of three displacement sensors 4 and setting the intersection point as the original point position of the measuring and adjusting state of the polishing machine tool;
102) the X, Y and Z axis translation motion is realized by programming a numerical control program, and the stopping point distance (such as 0.5mm) is set according to the size of the measuring device, so that the stopping point is 9 symmetrical coordinate positions (each point distance is 0.5mm) in a 'tian' -shaped mode with the original point as the middle point;
103) in the calibration test, stopping at each stop point for 3 seconds, measuring to obtain a corresponding position sensor indication value, and reversely solving by a least square method to obtain a conversion matrix from the variation of the measurement result of the displacement sensor to the variation of the position under the actual space Cartesian coordinate system.
2) Respectively moving a grinding tool main shaft 1 and a polishing workpiece mounting main shaft 5, and measuring the spatial position and the motion track of a standard round ball 2; the specific measurement method comprises the following steps:
201) when the error of the rotating shaft is measured, the rotating axis of the rotating shaft is parallel to one of the X axis, the Y axis and the Z axis, so that the measuring error track is positioned in a motion plane formed by the other two coordinate axes;
202) and measuring by a measuring device to obtain the space motion track of the standard sphere 2 in the full stroke of one rotation or rotation angle of the rotating shaft.
3) Identifying the magnitude and direction of the error of the rotating shaft by using an error analysis model; and fitting the least square circle center through the spatial motion track of the standard sphere 2 obtained by real-time measurement, wherein a spatial vector formed by the sphere center of the standard sphere 2 and the least square circle center of the fitted track under the current posture of the rotating shaft is a geometric error vector which needs to be adjusted and eliminated.
4) The geometric errors are adjusted according to the error identification result, the geometric errors are reduced, the requirement of the installation precision of the machine tool is met, and specifically, the mechanical structure adjustment of the geometric errors is performed one by one through an adjusting mechanism (an eccentric disc, an adjusting nut and the like) in a rotating shaft structure according to the magnitude and the direction of the geometric error vector measured and displayed in real time by a measuring device and the sequence from a tail end rotating shaft to a bottom end rotating shaft, so that the geometric errors meet the requirement of the machine tool errors.
The invention is explained in detail by taking the measurement of geometric errors and the adjustment of errors of a rotating shaft of a 7-shaft polishing machine tool of a certain type as an example:
design of device for measuring geometric error of rotary shaft of polishing machine tool
The structure of the 7-axis polishing machine is shown in the attached figure 1 and comprises three translational axes of X, Y and Z, two revolving axes of B and C and two main axes of an S axis and an H axis. In actual polishing work, a workpiece is mounted on the S axis, and a polishing grinding tool is mounted on the H axis. One feature of this machine is the virtual pivot point at which the pivot axis B6 intersects the pivot axis C7 during polishing. It should be noted that the structure is a typical structure of intersection of the rotating shafts of the polishing machine tool, and other spatial arrangement modes of motion shafts of the polishing machine tool exist, but the polishing machine tool generally has the typical characteristic that the rotating shafts intersect at one point, so that the invention has the universality for measuring and adjusting the geometric errors of the rotating shafts of the polishing machine tool.
The geometric error measuring device is mounted on a polishing machine tool as shown in figure 1, a standard round ball is mounted at the top end of a main shaft of a grinding tool, the center of the ball coincides with the axis of the main shaft and a virtual pivot of the machine tool, and the standard round ball isAnd (5) steel balls. A measuring device comprising three displacement sensors forming a space angle is arranged on a polishing workpiece mounting main shaft, and the polishing workpiece mounting main shaft is locked during measurement, so that the three displacement sensors are kept fixed as a reference measuring instrument. The measuring signal is transmitted to the data acquisition system through the cable and is transmitted to the personal computer end, and the measuring result is displayed through the interface program.
The specific structure of the measuring device arranged on the mounting main shaft of the polishing workpiece is shown in figure 2, the displacement sensors are 3 Heidenhain-METRO MT1281 type displacement sensors which are distributed at equal angles, the measuring precision of the sensors is +/-0.2 mu m, and the measuring range is 12 mm. The measuring device is arranged on the polishing workpiece mounting main shaft, the measuring axis of the sensor and the axis of the polishing workpiece mounting main shaft are 45 degrees, and the top end of the sensor is arrangedThe plane contact of the target sphere to realize the measurement of the space position of the target sphere. Data acquisition system using HThe eidenhain-EIB 741 develops real-time display and adjustment calculation software of the measurement position of the standard ball through an interface protocol, and can obtain corresponding axis position error and adjustment through measuring the space track of the standard ball when the B shaft or the C shaft rotates in real time and circularly fitting the space track.
Polishing machine tool error adjustment based on real-time measurement of rotary shaft space error
1. Measuring device calibration
The direct measurement by the measuring device is the displacement change result of the three displacement sensors, and in practice, the change track of the spatial position of the standard sphere in the XYZ coordinate system is more concerned. Theoretically, the displacement measurement of the sensor can be converted into XYZ coordinate changes by the spatial angular relationship of the three displacement sensors to the XYZ coordinate system. However, such theoretical conversion may have a large error due to machining errors of the measuring device jig itself, mounting errors of the sensors, and alignment errors of the measuring device mounted on the mounting spindle of the polishing workpiece with the XYZ axes. Therefore, the calibration of the conversion matrix of the measurement result of the measuring device is realized by utilizing the XYZ axial motion of the machine tool.
Firstly, a measuring device is arranged on a polishing workpiece mounting main shaft, a standard round ball is aligned and moved to the intersection point of the measuring axes of the three displacement sensors, and the intersection point is set as a standard round ball calibration origin. The distance between the stop points is 0.5mm, 9 stop points are distributed in a shape of a Chinese character 'tian' with the origin as the center, translation motion of the X, Y, Z shaft of the machine tool is realized by programming an NC program, and the measuring device performs spatial translation motion along a straight line track between any two adjacent points in the shape of the Chinese character 'tian'. In the test, the test was stopped at each stop point position for 3 seconds, and the displacement variation of each displacement sensor was measured. And intercepting the position data of each stop point, and solving the average value of each section of each sensor at the position of each stop point. If the indication values of the three displacement sensors are vectors: p is a radical ofsensor＝(psensor1,psensor2,psensor3) And the corresponding machine tool XYZ coordinate vector is: p is a radical ofXYZ(X, Y, Z) and the transformation matrix is: t, then there are:
psensor＝pXYZ·T (1)
knowing the position of each instruction stop point, measuring by a measuring device to obtain the indicating value of each displacement sensor at the instruction stop point, and then obtaining T by a least square method:
T＝pXYZ\psensor(2)
and unitized to obtain (in this example, data related to machining and mounting errors of the actual measuring device):
in this way, a transformation from the variation of the displacement sensor measurement to a variation of the position in the actual space cartesian coordinate system is achieved.
2. Measuring, identifying and adjusting geometric error of rotary shaft of polishing machine tool
After the calibration of the measuring device is completed, the measurement, identification and adjustment of the geometric error of the rotating shaft of the polishing machine tool can be carried out, and the specific implementation process is shown in the attached figure 3. In the process, the positions of the standard round balls in a space Cartesian coordinate system are converted. Taking a rotating shaft B parallel to the Y axis as an example, when the C axis is-90 degrees and fixed through measurement of a measuring device, the B axis rotates for a full stroke (from-63 degrees to 73 degrees, the machine tool is ensured not to generate interference collision, the feeding rate is F which is 500 degrees/min), and the track of a standard sphere on a space XZ plane is obtained.
The trajectory of the standard sphere in the XZ plane is shown in FIG. 4, and the trajectory is approximately circular arc. The circle center position (cross mark position) of the virtual fulcrum is obtained through least square circle fitting, namely the actual B-axis position is also the target position of virtual fulcrum adjustment. When the solid round points are the swing arms of the B axis and the C axis and return to the adjusting positions (the B axis is 45 degrees, and the C axis is-90 degrees), the virtual fulcrum is at the actual position of the XZ plane. The adjustment position is the current position at the beginning of the machine tool adjustment, and is generally the position of the motion axis for facilitating the adjustment of the geometric error of the mechanical structure. The space vector connecting the current position and the target position is an adjusting vector for adjusting the geometric accuracy:
v＝(0.095 0.131)
namely, the virtual pivot needs to be moved 0.095mm in the X-axis direction and 0.131mm in the Z-axis direction from the current position to reach the target position. In this example, an adjustable eccentric mechanism exists in the polishing machine tool, and the angle of the rotary deviation mechanism is determined according to the distance to be adjusted in the direction X, Z, so that the movement and error adjustment of the virtual fulcrum along the directions of the X axis and the Z axis can be accurately realized.
The method for measuring and adjusting the geometric errors of the single rotating shaft is provided, common errors of a plurality of rotating shafts in the polishing machine tool are mutually independent, but an error coupling phenomenon caused by the adjusting structure of the machine tool also exists, the measurement and adjustment can be generally carried out from the rotating shaft at the tail end, the rotating shaft at the bottom end is adjusted in sequence, and the rapid measurement and adjustment of the spatial geometric errors of the crossed rotating shafts of the machine tool can be realized. Compared with the traditional dial indicator measuring method, the method has the advantages that the measurement is carried out in a single direction, errors in all directions in the adjusting process are mutually influenced, repeated debugging is needed, and the time of several days is usually needed for completing the precision adjustment. The error adjusting process based on the rotating shaft space geometric error measurement only needs several hours, and the method has great advantages in the aspects of adjusting precision and adjusting efficiency.
Claims (9)
1. A device for measuring the geometric error of a rotary shaft of a polishing machine tool is characterized by comprising a data acquisition system, a computer, a standard round ball (2) arranged on a grinding tool main shaft (1) and a measuring device arranged on a polishing workpiece mounting main shaft (3); wherein,
the measuring device comprises a conical fixture (4) arranged on a polishing workpiece mounting main shaft (3) and three displacement sensors (5) which are uniformly arranged in the circumferential direction of the conical fixture (4) and used for measuring the space displacement of a standard round ball (2) arranged on a grinding tool main shaft (1) in real time, the output ends of the three displacement sensors (5) are connected to the input end of a data processing system, and the output end of the data processing system is connected to the input end of a computer.
2. The device for measuring the geometric error of the rotating shaft of the polishing machine tool as claimed in claim 1, wherein the standard round ball (2) has a sphere center coinciding with the virtual fulcrum, and the standard round ball (2) has a sphericity error of less than 1 μm, and is made of steel or ceramic.
3. A device for measuring geometrical errors of a rotating shaft of a polishing machine tool according to claim 1, characterized in that the measuring axes of the three displacement sensors (5) are at a set spatial angle with the axis of the polishing workpiece mounting spindle (3) to realize the measurement of the spatial motion trajectory of the standard sphere (2).
4. The device for measuring the geometric error of the revolving shaft of the polishing machine tool as claimed in claim 1, wherein the three displacement sensors (5) are uniformly distributed along the circumferential direction of the axis of the conical clamp (4) and spatially intersect at a point, and the top ends of the measuring heads of the displacement sensors (5) are flat surfaces so as to measure the spatial position change of the standard round ball (2), and the main shaft (3) for mounting the polished workpiece is locked during measurement, so that the three displacement sensors (5) are kept fixed as a reference measuring instrument.
5. The method for adjusting errors of a device for measuring geometrical errors of a rotating shaft of a polishing machine according to any one of claims 1 to 4, comprising the steps of:
1) calibrating the measuring device to obtain a transformation matrix of the measuring result and the space position of the standard sphere (2);
2) respectively moving a grinding tool main shaft (1) and a polishing workpiece mounting main shaft (3), and measuring the spatial position and the motion track of the standard round ball (2);
3) identifying the size and direction of a geometric error of a rotary shaft of the polishing machine tool by using an error analysis model and taking a workpiece spindle as a reference;
4) and the geometric error is adjusted according to the error identification result, so that the geometric error is reduced, and the requirement on the installation precision of the machine tool is met.
6. The method for adjusting the geometric error of the rotating shaft of the polishing machine tool according to claim 5, wherein in the step 1), the measuring device is calibrated by the following specific method:
101) mounting a measuring device on a polishing workpiece mounting main shaft (3), mounting a standard round ball (2) on a grinding tool main shaft (1), and moving the measuring device or the standard round ball (2) through linear motion of a polishing machine tool X, Y, Z shaft to enable the center of the standard round ball (2) to be aligned to the intersection of the measuring axes of three displacement sensors (5) and setting the intersection as the original point position of the measuring and adjusting state of the polishing machine tool;
102) the X, Y and Z axis translation motion is realized by programming a numerical control program, and the stopping point distance is set according to the size of the measuring device, so that the stopping points are 9 symmetrical coordinate positions of a 'field' shape with the original point as a middle point;
103) in the calibration test, stopping at each stop point for 3 seconds, measuring to obtain a corresponding position sensor indication value, and reversely solving by a least square method to obtain a conversion matrix from the variation of the measurement result of the displacement sensor to the variation of the position under the actual space Cartesian coordinate system.
7. The error adjustment method of the device for measuring the geometric error of the rotating shaft of the polishing machine tool according to claim 6, wherein in the step 2), the specific measurement method comprises the following steps:
201) when the error of the rotating shaft is measured, the rotating axis of the rotating shaft is parallel to one of the X axis, the Y axis and the Z axis, so that the measuring error track is positioned in a motion plane formed by the other two coordinate axes;
202) and measuring by a measuring device to obtain the space motion track of the standard sphere (2) in the full stroke of one rotation or rotation angle of the rotating shaft.
8. The error adjustment method of the device for measuring the geometric error of the revolving shaft of the polishing machine tool according to claim 7, wherein in the step 3), the spatial motion trajectory of the standard sphere (2) obtained through real-time measurement is fitted with the least square circle center, so that the spatial vector formed by the sphere center of the standard sphere (2) and the least square circle center of the fitted trajectory in the current posture of the revolving shaft is the geometric error vector to be adjusted and eliminated.
9. The error adjustment method for the device for measuring the geometric error of the rotating shaft of the polishing machine tool according to claim 8, wherein in the step 4), the mechanical structure adjustment of the geometric error is performed by the adjusting mechanism in the rotating shaft structure one by one according to the magnitude and direction of the geometric error vector measured and displayed by the measuring device in real time and following the sequence from the rotating shaft at the end to the rotating shaft at the bottom end, so that the geometric error meets the error requirement of the machine tool.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910169086.3A CN109822422A (en) | 2019-03-06 | 2019-03-06 | A kind of burnishing machine rotating shaft geometric error measuring device and method of adjustment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910169086.3A CN109822422A (en) | 2019-03-06 | 2019-03-06 | A kind of burnishing machine rotating shaft geometric error measuring device and method of adjustment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109822422A true CN109822422A (en) | 2019-05-31 |
Family
ID=66865490
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910169086.3A Pending CN109822422A (en) | 2019-03-06 | 2019-03-06 | A kind of burnishing machine rotating shaft geometric error measuring device and method of adjustment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109822422A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110307974A (en) * | 2019-08-19 | 2019-10-08 | 王庆喜 | A kind of detection device of computer radiating motor main shaft |
| CN111451880A (en) * | 2020-04-21 | 2020-07-28 | 中国工程物理研究院机械制造工艺研究所 | AB double-tool pendulum five-axis magnetorheological polishing machine tool structure parameter calibration method |
| CN112001052A (en) * | 2020-08-31 | 2020-11-27 | 郑州轻工业大学 | Quantitative analysis method for precision design of high-precision multi-axis numerical control machine tool |
| CN112388389A (en) * | 2020-09-30 | 2021-02-23 | 成都飞机工业（集团）有限责任公司 | Method and device for detecting position error of rotating axis of five-axis linkage numerical control machine tool |
| CN115502798A (en) * | 2022-08-30 | 2022-12-23 | 北京精密机电控制设备研究所 | Device and method for grinding spherical surface and conical surface of feedback rod of servo valve in smooth continuous connection mode |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58196955A (en) * | 1982-05-12 | 1983-11-16 | Toyoda Mach Works Ltd | Positioning device |
| DE3711721C1 (en) * | 1987-04-07 | 1988-09-01 | Rolf Leidig | Positioning device for machine tools |
| CN102430959A (en) * | 2011-10-10 | 2012-05-02 | 西安交通大学 | Method for quickly detecting kinematic errors of numerical control machine turntable |
| CN202361957U (en) * | 2011-11-04 | 2012-08-01 | 九江精密测试技术研究所 | Angular position precision detection apparatus of precision positioning disk |
| CN106152956A (en) * | 2016-09-23 | 2016-11-23 | 苏州蓝王机床工具科技有限公司 | A kind of laser inside diameter measuring instrument |
| CN109032070A (en) * | 2018-07-19 | 2018-12-18 | 西南交通大学 | A kind of contactless R-test measuring instrument scaling method using eddy current displacement sensor |
-
2019
- 2019-03-06 CN CN201910169086.3A patent/CN109822422A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58196955A (en) * | 1982-05-12 | 1983-11-16 | Toyoda Mach Works Ltd | Positioning device |
| DE3711721C1 (en) * | 1987-04-07 | 1988-09-01 | Rolf Leidig | Positioning device for machine tools |
| CN102430959A (en) * | 2011-10-10 | 2012-05-02 | 西安交通大学 | Method for quickly detecting kinematic errors of numerical control machine turntable |
| CN202361957U (en) * | 2011-11-04 | 2012-08-01 | 九江精密测试技术研究所 | Angular position precision detection apparatus of precision positioning disk |
| CN106152956A (en) * | 2016-09-23 | 2016-11-23 | 苏州蓝王机床工具科技有限公司 | A kind of laser inside diameter measuring instrument |
| CN109032070A (en) * | 2018-07-19 | 2018-12-18 | 西南交通大学 | A kind of contactless R-test measuring instrument scaling method using eddy current displacement sensor |
Non-Patent Citations (2)
| Title |
|---|
| 刘健: "R-test五轴数控机床旋转轴误差测量系统设计", 《中国优秀硕士学位论文全文数据库 工程科技I辑》 * |
| 张历记: "基于R-test测量仪的五轴数控机床旋转轴几何误差测量及辨识", 《中国优秀硕士学位论文全文数据库 工程科技I辑》 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110307974A (en) * | 2019-08-19 | 2019-10-08 | 王庆喜 | A kind of detection device of computer radiating motor main shaft |
| CN110307974B (en) * | 2019-08-19 | 2021-02-05 | 朱福栋 | Detection equipment for computer heat dissipation motor spindle |
| CN111451880A (en) * | 2020-04-21 | 2020-07-28 | 中国工程物理研究院机械制造工艺研究所 | AB double-tool pendulum five-axis magnetorheological polishing machine tool structure parameter calibration method |
| CN112001052A (en) * | 2020-08-31 | 2020-11-27 | 郑州轻工业大学 | Quantitative analysis method for precision design of high-precision multi-axis numerical control machine tool |
| CN112001052B (en) * | 2020-08-31 | 2023-09-29 | 郑州轻工业大学 | Quantitative analysis method for precision design of high-precision multi-axis numerical control machine tool |
| CN112388389A (en) * | 2020-09-30 | 2021-02-23 | 成都飞机工业（集团）有限责任公司 | Method and device for detecting position error of rotating axis of five-axis linkage numerical control machine tool |
| CN115502798A (en) * | 2022-08-30 | 2022-12-23 | 北京精密机电控制设备研究所 | Device and method for grinding spherical surface and conical surface of feedback rod of servo valve in smooth continuous connection mode |
| CN115502798B (en) * | 2022-08-30 | 2024-08-06 | 北京精密机电控制设备研究所 | Device and method for grinding smooth continuous connection of spherical surface and conical surface of feedback rod of servo valve |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109822422A (en) | A kind of burnishing machine rotating shaft geometric error measuring device and method of adjustment | |
| US6772619B2 (en) | Measuring apparatus and method for correcting errors in a machine | |
| US8457786B2 (en) | Method and an apparatus for calibration of an industrial robot system | |
| CN109822574A (en) | A kind of method of industrial robot end six-dimension force sensor calibration | |
| CN111660295A (en) | Industrial robot absolute precision calibration system and calibration method | |
| CN108655827B (en) | Method for identifying space error of five-axis numerical control machine tool | |
| CN102601684B (en) | Indirect measurement method based tool parameter calibration method for high-precision drilling robot | |
| CN109596073A (en) | A kind of origin position scaling method of the revolving platform central axis of view-based access control model measurement | |
| CN109238199B (en) | Robot rotating shaft kinematic parameter calibration method | |
| CN113146613B (en) | Three-dimensional self-calibration device and method for D-H parameters of industrial robot | |
| CN111854658B (en) | R-test precision ball head detection device and calibration method thereof | |
| TWI704028B (en) | Tool path location compensation system based on offset of fixture | |
| CN110161965B (en) | On-machine measurement method for large-scale aerospace casing inclined hole | |
| CN110181558A (en) | A kind of devices and methods therefor becoming shoulder joint formula coordinate measuring machine calibration robot | |
| CN116079790B (en) | Tool calibration device, method, terminal and medium for processing robot | |
| CN110006339B (en) | Antenna reflector composite material mold surface precision in-situ measurement method and system | |
| CN116295171B (en) | Cradle type turntable assembly precision detection device and detection method | |
| CN115365941B (en) | Automatic workpiece pose calibration method for optical polishing | |
| CN115139338B (en) | Robot TCP quick high-precision calibration method | |
| CN111895905A (en) | Error compensation method for hexagonal axis straightness detection system | |
| CN116499405A (en) | Novel standard component for calibrating complex curved surface measurement system and calibration method | |
| CN114152236B (en) | High-precision sphericity measuring method based on spherical coordinate sphericity instrument | |
| CN115284079A (en) | Magnetorheological polishing calibration method | |
| CN110480291B (en) | Precise butt joint method for complex structural part based on 6-degree-of-freedom industrial robot | |
| CN114833837B (en) | Industrial robot tail end TCP transfer method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190531 |