CN111408861B - Five-axis laser equipment RTCP calibration equipment and method - Google Patents
Five-axis laser equipment RTCP calibration equipment and method Download PDFInfo
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Abstract
The invention relates to five-axis laser equipment, in particular to RTCP calibration equipment and a method for the five-axis laser equipment. The invention aims to solve the technical problem that RTCP calibration is difficult to carry out in the existing five-axis laser equipment, and provides RTCP calibration equipment and a method for the five-axis laser equipment. The equipment comprises a base, a rotating platform, a pitching adjusting device, an axial adjusting device, a CCD detector and a controller; the rotating platform is arranged on the base, and the rotating axis of the rotating platform is horizontally arranged; the CCD detector is arranged on the axial adjusting device, the axial adjusting device is arranged on the pitching adjusting device, and the pitching adjusting device is arranged on the rotating platform; or the CCD detector is arranged on the pitching adjusting device, the pitching adjusting device is arranged on the axial adjusting device, and the axial adjusting device is arranged on the rotating platform; the controller controls the rotating platform to rotate according to the motion program of the five-axis laser equipment, and calculates the RTCP parameter and the offset of the five-axis laser equipment according to the feedback information of the CCD detector. The method is carried out using the apparatus.
Description
Technical Field
The invention relates to calibration equipment, in particular to five-axis laser equipment RTCP calibration equipment and a method.
Background
RTCP (English name is Rotational Tool Center Point, which can be translated into rotary Tool Center programming) is the numerical control system programming of the five-axis machine Tool for realizing the Tool Center management function, and is also the only measurement standard for judging whether the five-axis machine Tool is a true five-axis machine Tool or a false five-axis machine Tool. Five axes in a five axis machine tool are used to cooperatively control the position of the center point of a tool in the machine tool so that the actual machining point of the tool falls on the actual contact point of the tool with the surface of a workpiece. The five axes here specifically include X, Y, Z a three-dimensional rectangular coordinate system formed by three mutually perpendicular linear axes, a C axis rotating around the Z axis, and an a axis rotating around the X axis, as shown in fig. 1, but the C axis rotating around the Z axis may be replaced with a B axis rotating around the Y axis.
When a part is machined, the five axes of the machine tool need to carry out complex multi-coordinate kinematic transformation, for a five-axis machine tool without an RTCP function, the calculation needs to be carried out in the post-processing process of CAM software, so that the generated program can be only used by one device, and when other machine tools machine the same part, the program needs to be regenerated, and the machine tool belongs to a false five-axis machine tool. For a five-axis machine tool with an RTCP function, because the coordinate system transformation is completed in the controller, the axis deviation parameter can be recorded in a register list of a numerical control system of the machine tool, the function has the greatest advantage that a numerical control machining program can be applied to other machine tools in a factory, and meanwhile, an internal algorithm of the RTCP numerical control system can also directly control the track running speed (namely the feeding speed) of the actual machining point of the cutter, and the machine tool belongs to a true five-axis machine tool.
When the five-axis machine tool moves, the accuracy of parameters such as offset of each rotating shaft and the length of a cutter and the like finally affects the machining precision, so that accurate calibration is required before use, RTCP parameters needing to be calibrated include AB, BC, CD, DE and EF, and as shown in FIG. 2, a point A is a C-axis rotating center, and a point C is an A-axis rotating center. AB is the deviation of the axis of rotation of the A shaft and the axis of rotation of the C shaft on the Y shaft, BC is the deviation of the axis of rotation of the C shaft and the axis of rotation of the A shaft on the X shaft, CD is the deviation of the axis of rotation of the C shaft and the axis of rotation of the A shaft on the Z shaft, DE is the distance between the center line of the cutter and the CD offset, and EF is the focal length of the focusing lens. The method for calibrating the real five-axis machine tool by using the ball rod instrument for RTCP calibration at present, for example, a Siemens numerical control system adopts the ball rod instrument for calibrating the five-axis machine tool, has the defects of high instrument cost and requires an operator to be familiar with programming of the five-axis machine tool and use of the ball rod instrument. The method is suitable for a machine tool with a hardware cutter, and the ball rod instrument is fixed on a cutter point for measurement, but the method is not suitable for a laser processing machine tool without the cutter (namely five-axis laser equipment).
Disclosure of Invention
The invention aims to solve the technical problem that RTCP calibration is difficult to carry out in the existing five-axis laser equipment, and provides RTCP calibration equipment and a method for the five-axis laser equipment.
In order to solve the technical problems, the technical solution provided by the invention is as follows:
the invention provides RTCP calibration equipment for five-axis laser equipment, which is characterized in that: the device comprises a base, a rotating platform, a pitching adjusting device, an axial adjusting device, a CCD detector and a controller;
the rotating platform is arranged on the base, and the rotating axis of the rotating platform is horizontally arranged;
the CCD detector is arranged on the axial adjusting device, the axial adjusting device is arranged on the pitching adjusting device, and the pitching adjusting device is arranged on the rotating platform;
or the CCD detector is arranged on the pitching adjusting device, the pitching adjusting device is arranged on the axial adjusting device, and the axial adjusting device is arranged on the rotating platform;
the controller controls the rotation of the rotary table according to the motion program of the five-axis laser equipment and calculates the RTCP parameter and the offset of the five-axis laser equipment according to the feedback information of the CCD detector.
Further, in order to realize high-precision rotation of the rotary table, the shaft positioning precision of the rotary table is less than 4 angular seconds, and the shaft repeated positioning precision is less than 3 angular seconds.
Further, in order to make the measurement result of the CCD detector more accurate, the resolution of the CCD detector is 2448 × 2048, the optical size is two-thirds of a foot, the pixel size is 3.45 μm × 3.45 μm, and the frame rate is 79.1 fps.
Furthermore, in order to enable the RTCP calibration equipment to be stably arranged on a workbench of the five-axis laser equipment, the base is made of marble.
The invention also provides a five-axis laser equipment RTCP calibration method based on the calibration equipment, which is characterized by comprising the following steps:
1) calibration adjustment device
1.1) fixing a five-axis laser device RTCP calibration device on a workbench of a five-axis laser device, leveling a CCD detector of the five-axis laser device, and enabling a target surface of the CCD detector to be parallel to a workbench surface, wherein the five axis of the five-axis laser device comprises a three-dimensional rectangular coordinate system formed by X, Y, Z mutually perpendicular linear axes, an axis A rotating around an axis X, an axis C rotating around an axis Z or an axis B rotating around an axis Y;
1.2) rotating the A axis and the C axis of the five-axis laser equipment to zero positions, removing a focusing mirror on a laser processing head, enabling laser to vertically face downwards, enabling the laser processing head to vertically move along the Z axis, observing the position of a light spot on a CCD detector, and enabling the laser to be vertical to the target surface of the CCD detector if the position of the light spot is not changed; if the position of the light spot changes, the laser direction is adjusted until the position of the light spot does not change;
1.3) installing a focusing mirror on a laser processing head, enabling the laser processing head to move up and down along a Z axis, observing the position of a light spot on a CCD detector, setting the current position of five-axis laser equipment RTCP calibration equipment as the original position when the light spot is the minimum, establishing a three-dimensional rectangular coordinate system of the RTCP calibration equipment, and enabling the three-dimensional coordinate system of the RTCP calibration equipment to have the same direction as the three-dimensional rectangular coordinate system of the five-axis laser equipment;
2) parameter calibration
The parameters comprise AB, BC, CD and DE, a point A is the rotation center of a shaft C of the five-axis laser equipment, and a point C is the rotation center of the shaft A of the five-axis laser equipment; AB is the offset of the rotation center of the A axis and the rotation center of the C axis on the Y axis, BC is the offset of the rotation center of the C axis and the rotation center of the A axis on the X axis, CD is the offset of the rotation center of the C axis and the rotation center of the A axis on the Z axis, and DE is the offset between laser and CD;
2.1) rotating the C-axis 90 ° counterclockwise from the zero position in an absolute motion mode, moving the laser processing head along the X and Y axes until the focused spot moves to the CCD detector center position, the CCD detector acquiring the laser processing head moving distance Δ X11 along the X axis and Δ Y11 along the Y axis, and Δ X11 and Δ Y11 satisfying the following relationships:
ΔX11＝AB1+DE1+BC1；
ΔY11＝AB1+DE1-BC1；
the controller calculates the values of (AB1+ DE1) and BC1, respectively;
2.2) rotating the C-axis clockwise by 180 ° in the absolute movement mode, repeating the same operation as step 2.1), obtaining Δ X12 and Δ Y12, and Δ X12 and Δ Y12 satisfy the following relationships:
ΔX12＝AB2+DE2-BC2；
ΔY12＝AB2+DE2+BC2；
the controller calculates the values of (AB2+ DE2) and BC2, respectively;
2.3) the controller calculates the average of (AB1+ DE1) and (AB2+ DE2) as the (AB + DE) value and the average of BC1 and BC2 as the BC value;
2.4) returning the C axis to a zero position in an absolute motion mode, then rotating the A axis by 90 degrees anticlockwise, rotating the rotating platform of the five-axis laser equipment RTCP calibration equipment by 90 degrees anticlockwise around the X axis, moving the laser processing head along the Y axis and the Z axis until the focusing light spot moves to the center position of the CCD, acquiring the movement distance delta Y21 of the laser processing head along the Y axis and the movement distance delta Z21 of the laser processing head along the Z axis by the CCD detector, and enabling the delta Y21 and the delta Z21 to meet the following relations:
ΔY21＝CD1-DE1+EF；
ΔZ21＝CD1+DE1+EF；
the controller calculates the values of CD1 and DE1, respectively; wherein EF is the focal length of the focusing lens;
2.5) rotating the a axis clockwise by 180 ° in an absolute motion mode, rotating the five-axis laser equipment RTCP calibration apparatus rotation stage clockwise by 180 ° about the X axis, repeating the same operation as step 2.4), obtaining Δ Y22 and Δ Z22, and Δ Y22 and Δ Z22 satisfy the following relations:
ΔY22＝CD2+DE2+EF；
ΔZ22＝CD2-DE2+EF；
the controller calculates the values of CD2 and DE2, respectively;
2.6) the controller calculates the mean value of CD1 and CD2 as the CD value and the mean value of DE1 and DE2 as the DE value;
2.7) the controller calculates the AB value according to the (AB + DE) value obtained in the step 2.3) and the DE value obtained in the step 2.6);
and 2.8) recalibrating the RTCP parameters AB, BC, CD, DE and EF of the five-axis laser equipment by adopting the focal length EF of the focusing lens and the AB, BC, CD and DE values obtained in the step 2.3), the step 2.6) and the step 2.7).
Further, in order to ensure the accuracy of the calibration result, the method also comprises the step 3) of detecting the calibration result
3.1) rotating the C axis and the A axis to zero positions, starting an RTCP function of five-axis laser equipment, rotating the C axis, acquiring actual position information of a plurality of points by using a CCD detector on RTCP calibration equipment of the five-axis laser equipment, respectively calculating the offset of the actual positions of the plurality of points relative to a theoretical position through a controller to obtain a series of offsets, averaging the series of offsets to obtain average offsets delta X 'and delta Y1', comparing the average offsets delta X 'and delta Y1' with the maximum offset allowed by the five-axis laser equipment, judging whether the average offsets delta X 'and delta Y1' are in the maximum offset range, and if so, the calibration result of the step 2.8) meets the precision requirement of the five-axis laser equipment; if not, returning to the step 2.1); the theoretical position is a position in a five-axis laser equipment RTCP theoretical model;
3.2) returning the axis C to a zero position, rotating the axis A, repeating the operation same as that in the step 3.1) to obtain average offset delta Y2 'and delta Z', comparing the average offset delta Y2 'and the delta Z' with the maximum offset allowed by the five-axis laser equipment, and judging whether the average offset delta Y2 'and the delta Z' are within the maximum offset range, wherein if yes, the calibration result in the step 2.8) meets the precision requirement of the five-axis laser equipment; if not, returning to the step 2.1); the theoretical position is a position in a five-axis laser equipment RTCP theoretical model.
Further, in order to make the test result more accurate, the plurality of points are at least five points in step 3.1) and step 3.2).
Compared with the prior art, the invention has the following beneficial effects:
1. the invention provides an RTCP calibration method for five-axis laser equipment. When a rotary table of a five-axis laser processing machine tool (namely five-axis laser equipment) rotates, the rotary table drives a CCD detector to rotate, a controller calculates RTCP parameters of the five-axis laser equipment according to feedback information of the CCD detector, and the RTCP parameters of the five-axis laser equipment are recalibrated by using the RTCP parameters.
2. And 3) detecting a calibration result, respectively rotating the axis A and the axis C by any angle, acquiring at least five positions by using a CCD detector, calculating to obtain an offset through a controller, and re-calibrating if the offset exceeds the accuracy requirement of five-axis laser equipment. The accuracy of the calibration result is ensured.
Drawings
FIG. 1 is a schematic diagram of a five-axis laser apparatus;
FIG. 2 is a schematic diagram of five-axis laser equipment calibration parameters;
FIG. 3 is a schematic structural diagram of a five-axis laser equipment RTCP calibration apparatus of the present invention;
FIG. 4 is a schematic diagram of a five-axis laser equipment RTCP calibration apparatus of the present invention fixed on a five-axis laser equipment worktable;
description of reference numerals:
the device comprises a base 1, a rotary table 2, a pitching adjusting device 3, an axial adjusting device 4, a CCD detector 5, a workbench 6, a laser processing head 7 and five-axis laser equipment 8.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
The invention provides five-axis laser equipment RTCP calibration equipment, which comprises a base 1, a rotary table 2, a pitching adjusting device 3, an axial adjusting device 4, a CCD detector 5 and a controller, wherein the base is provided with a plurality of positioning holes; the base 1 is made of marble; the rotary table 2 is arranged on the base 1, the rotation axis of the rotary table is horizontally arranged, the shaft positioning precision of the rotary table 2 is less than 4 arc seconds, and the shaft repeated positioning precision is less than 3 arc seconds; the CCD detector 5 is arranged on the axial adjusting device 4, the axial adjusting device 4 is arranged on the pitching adjusting device 3, and the pitching adjusting device 3 is arranged on the rotating platform 2; or, the CCD detector 5 is mounted on the pitch adjusting device 3, the pitch adjusting device 3 is mounted on the axial adjusting device 4, the axial adjusting device 4 is mounted on the rotating platform 2, the resolution of the CCD detector 5 is 2448 × 2048, the optical size is two-thirds of a foot, the pixel size is 3.45 μm × 3.45 μm, and the frame rate is 79.1 fps. The controller controls the rotation of the rotating platform 2 according to the motion program of the five-axis laser equipment 8, and calculates the RTCP parameter and the offset of the five-axis laser equipment 8 according to the feedback information of the CCD detector 5.
The invention also provides a five-axis laser equipment RTCP calibration method based on the calibration equipment, which comprises the following steps:
1) calibration adjustment device
1.1) fixing a five-axis laser equipment RTCP calibration device on a workbench 6 of a five-axis laser equipment 8, and leveling a CCD detector 5 of the five-axis laser equipment 8 to ensure that a target surface of the CCD detector 5 is parallel to a workbench surface, wherein five axes of the five-axis laser equipment 8 comprise X, Y, Z three mutually-perpendicular linear axes to form a three-dimensional rectangular coordinate system, an axis A rotating around an X axis, a axis C rotating around a Z axis or an axis B rotating around a Y axis;
1.2) rotating the A axis and the C axis of the five-axis laser device 8 to zero positions, removing a focusing mirror on a laser processing head 7, enabling laser to vertically face downwards, enabling the laser processing head 7 to vertically move along the Z axis, observing the position of a light spot on a CCD detector 5, and enabling the laser to be vertical to the target surface of the CCD detector 5 if the position of the light spot is not changed; if the position of the light spot changes, the laser direction is adjusted until the position of the light spot does not change;
1.3) installing a focusing mirror on a laser processing head 7, enabling the laser processing head 7 to move up and down along a Z axis, observing the position of a light spot on a CCD detector 5, setting the minimum light spot as a focus position, setting the current position of a five-axis laser device RTCP calibration device as the original position of the five-axis laser device RTCP calibration device, establishing a three-dimensional rectangular coordinate system of the RTCP calibration device, and enabling the three-dimensional coordinate system of the RTCP calibration device to be in the same direction as the three-dimensional rectangular coordinate system of the five-axis laser device;
2) parameter calibration
The parameters comprise AB, BC, CD and DE, a point A is the rotation center of the axis C of the five-axis laser equipment 8, and a point C is the rotation center of the axis A of the five-axis laser equipment 8; AB is the offset of the rotation center of the A axis and the rotation center of the C axis on the Y axis, BC is the offset of the rotation center of the C axis and the rotation center of the A axis on the X axis, CD is the offset of the rotation center of the C axis and the rotation center of the A axis on the Z axis, and DE is the offset between laser and CD;
2.1) rotating the C-axis 90 ° counterclockwise from the zero position in an absolute motion mode, moving the laser processing head 7 along the X and Y axes until the focused spot moves to the center position of the CCD detector 5, the CCD detector 5 acquiring the movement distance Δ X11 of the laser processing head 7 along the X axis and the movement distance Δ Y11 along the Y axis, and Δ X11 and Δ Y11 satisfying the following relations:
ΔX11＝AB1+DE1+BC1；
ΔY11＝AB1+DE1-BC1；
the controller calculates the values of (AB1+ DE1) and BC1, respectively;
2.2) rotating the C-axis clockwise by 180 ° in the absolute movement mode, repeating the same operation as step 2.1), obtaining Δ X12 and Δ Y12, and Δ X12 and Δ Y12 satisfy the following relationships:
ΔX12＝AB2+DE2-BC2；
ΔY12＝AB2+DE2+BC2；
the controller calculates the values of (AB2+ DE2) and BC2, respectively;
2.3) the controller calculates the average of (AB1+ DE1) and (AB2+ DE2) as the (AB + DE) value and the average of BC1 and BC2 as the BC value;
2.4) returning the C axis to a zero position in an absolute motion mode, then rotating the A axis 90 degrees anticlockwise, rotating the five-axis laser equipment RTCP calibration equipment rotating platform 2 90 degrees anticlockwise around the X axis, moving the laser processing head 7 along the Y and Z axes until the focusing light spot moves to the center position of the CCD, acquiring the moving distance delta Y21 of the laser processing head 7 along the Y axis and the moving distance delta Z21 along the Z axis by the CCD detector 5, and enabling the delta Y21 and the delta Z21 to meet the following relations:
ΔY21＝CD1-DE1+EF；
ΔZ21＝CD1+DE1+EF；
the controller calculates the values of CD1 and DE1, respectively; wherein EF is the focal length of the focusing lens;
2.5) rotating the a axis clockwise by 180 ° in the absolute motion mode, rotating the five-axis laser equipment RTCP calibration apparatus rotating stage 2 clockwise by 180 ° about the X axis, repeating the same operation as in step 2.4), obtaining Δ Y22 and Δ Z22, and Δ Y22 and Δ Z22 satisfy the following relations:
ΔY22＝CD2+DE2+EF；
ΔZ22＝CD2-DE2+EF；
the controller calculates the values of CD2 and DE2, respectively;
2.6) the controller calculates the mean value of CD1 and CD2 as the CD value and the mean value of DE1 and DE2 as the DE value;
2.7) the controller calculates the AB value according to the (AB + DE) value obtained in the step 2.3) and the DE value obtained in the step 2.6);
2.8) recalibrating the RTCP parameters AB, BC, CD, DE and EF of the five-axis laser equipment 8 by adopting the focal length EF of the focusing lens and the AB, BC, CD and DE values obtained in the step 2.3), the step 2.6) and the step 2.7).
3) Calibration result detection
3.1) rotating the C axis and the A axis to zero positions, starting an RTCP function of the five-axis laser equipment 8, rotating the C axis, acquiring actual position information of at least five points by utilizing a CCD detector 5 on RTCP calibration equipment of the five-axis laser equipment, respectively calculating the offset of the actual positions of the points relative to a theoretical position through a controller to obtain a series of offsets, averaging the series of offsets to obtain average offsets delta X 'and delta Y1', comparing the average offsets delta X 'and delta Y1' with the maximum offset allowed by the five-axis laser equipment 8, judging whether the average offsets delta X 'and delta Y1' are in the maximum offset range, and if so, the calibration result of the step 2.8) meets the precision requirement of the five-axis laser equipment 8; if not, returning to the step 2.1); the theoretical positions are positions of a plurality of points in a five-axis laser equipment RTCP theoretical model;
3.2) returning the axis C to a zero position, rotating the axis A, repeating the operation same as that in the step 3.1) to obtain average offset delta Y2 'and delta Z', comparing the average offset delta Y2 'and the delta Z' with the maximum offset allowed by the five-axis laser equipment 8, judging whether the average offset delta Y2 'and the delta Z' are within the maximum offset range, and if so, determining that the calibration result in the step 2.8) meets the precision requirement of the five-axis laser equipment 8; if not, returning to the step 2.1); the theoretical position is a position in a five-axis laser equipment RTCP theoretical model;
finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same, and it is obvious for a person skilled in the art to modify the specific technical solutions described in the foregoing embodiments or to substitute part of the technical features, and these modifications or substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions protected by the present invention.
Claims (3)
1. An RTCP calibration method based on five-axis laser equipment RTCP calibration equipment is characterized in that:
the five-axis laser equipment RTCP calibration equipment comprises a base (1), a rotating platform (2), a pitching adjusting device (3), an axial adjusting device (4), a CCD detector (5) and a controller;
the rotating platform (2) is arranged on the base (1), and the rotating axis of the rotating platform is horizontally arranged;
the CCD detector (5) is arranged on the axial adjusting device (4), the axial adjusting device (4) is arranged on the pitching adjusting device (3), and the pitching adjusting device (3) is arranged on the rotating platform (2);
or the CCD detector (5) is arranged on the pitching adjusting device (3), the pitching adjusting device (3) is arranged on the axial adjusting device (4), and the axial adjusting device (4) is arranged on the rotating platform (2);
the controller controls the rotation of the rotating platform (2) according to a motion program of the five-axis laser equipment (8), and calculates RTCP parameters and offset of the five-axis laser equipment (8) according to feedback information of the CCD detector (5);
the method comprises the following steps:
1) calibration adjustment device
1.1) fixing a five-axis laser equipment RTCP calibration device on a workbench (6) of five-axis laser equipment (8), leveling a CCD detector (5) of the five-axis laser equipment RTCP calibration device to enable a target surface of the CCD detector (5) to be parallel to a workbench surface, wherein five axes of the five-axis laser equipment (8) comprise a three-dimensional rectangular coordinate system formed by X, Y, Z three mutually-perpendicular linear axes, an axis A rotating around an axis X, an axis C rotating around an axis Z or an axis B rotating around an axis Y;
1.2) rotating the A axis and the C axis of the five-axis laser equipment (8) to zero positions, removing a focusing mirror on a laser processing head (7), enabling laser to vertically face downwards, enabling the laser processing head (7) to vertically move along the Z axis, observing the position of a light spot on a CCD detector (5), and enabling the laser to be vertical to the target surface of the CCD detector (5) if the position of the light spot is not changed; if the position of the light spot changes, the laser direction is adjusted until the position of the light spot does not change;
1.3) installing a focusing mirror on a laser processing head (7), enabling the laser processing head (7) to move up and down along a Z axis, observing a spot position on a CCD detector (5), setting the current position of a five-axis laser device RTCP calibration device as the original position of the five-axis laser device RTCP calibration device when the spot is the minimum, establishing a three-dimensional rectangular coordinate system of the RTCP calibration device, and enabling the three-dimensional rectangular coordinate system of the RTCP calibration device and the three-dimensional rectangular coordinate system of the five-axis laser device (8) to have the same direction;
2) parameter calibration
The parameters comprise AB, BC, CD and DE, a point A is the rotation center of a shaft C of the five-axis laser equipment (8), and a point C is the rotation center of the shaft A of the five-axis laser equipment (8); AB is the offset of the rotation center of the A axis and the rotation center of the C axis on the Y axis, BC is the offset of the rotation center of the C axis and the rotation center of the A axis on the X axis, CD is the offset of the rotation center of the C axis and the rotation center of the A axis on the Z axis, and DE is the offset between laser and CD;
2.1) rotating the C axis 90 degrees counterclockwise from the zero position in an absolute motion mode, moving the laser processing head (7) along X and Y axes until the focusing light spot moves to the center position of the CCD detector (5), wherein the CCD detector (5) acquires the movement distance delta X11 of the laser processing head (7) along the X axis and the movement distance delta Y11 along the Y axis, and the delta X11 and the delta Y11 satisfy the following relations:
ΔX11＝AB1+DE1+BC1；
ΔY11＝AB1+DE1-BC1；
the controller calculates the values of (AB1+ DE1) and BC1, respectively;
2.2) rotating the C-axis clockwise by 180 ° in the absolute movement mode, repeating the same operation as step 2.1), obtaining Δ X12 and Δ Y12, and Δ X12 and Δ Y12 satisfy the following relationships:
ΔX12＝AB2+DE2-BC2；
ΔY12＝AB2+DE2+BC2；
the controller calculates the values of (AB2+ DE2) and BC2, respectively;
2.3) the controller calculates the average of (AB1+ DE1) and (AB2+ DE2) as the (AB + DE) value and the average of BC1 and BC2 as the BC value;
2.4) returning the C axis to a zero position in an absolute motion mode, then rotating the A axis anticlockwise by 90 degrees, rotating the five-axis laser equipment RTCP calibration equipment rotating platform (2) anticlockwise by 90 degrees around the X axis, moving the laser processing head (7) along the Y axis and the Z axis until the focusing light spot moves to the center position of the CCD, acquiring the movement distance delta Y21 of the laser processing head (7) along the Y axis and the movement distance delta Z21 along the Z axis by the CCD detector (5), and enabling the delta Y21 and the delta Z21 to satisfy the following relations:
ΔY21＝CD1-DE1+EF；
ΔZ21＝CD1+DE1+EF；
the controller calculates the values of CD1 and DE1, respectively; wherein EF is the focal length of the focusing lens;
2.5) rotating the a axis clockwise by 180 ° in an absolute motion mode, rotating the five-axis laser equipment RTCP calibration apparatus rotating table (2) clockwise by 180 ° about the X axis, repeating the same operation as in step 2.4), acquiring Δ Y22 and Δ Z22, and Δ Y22 and Δ Z22 satisfying the following relationships:
ΔY22＝CD2+DE2+EF；
ΔZ22＝CD2-DE2+EF；
the controller calculates the values of CD2 and DE2, respectively;
2.6) the controller calculates the mean value of CD1 and CD2 as the CD value and the mean value of DE1 and DE2 as the DE value;
2.7) the controller calculates the AB value according to the (AB + DE) value obtained in the step 2.3) and the DE value obtained in the step 2.6);
and 2.8) recalibrating the RTCP parameters AB, BC, CD, DE and EF of the five-axis laser equipment (8) by adopting the focal length EF of the focusing lens and the AB, BC, CD and DE values obtained in the step 2.3), the step 2.6) and the step 2.7).
2. The RTCP calibration method based on the five-axis laser equipment RTCP calibration equipment as claimed in claim 1, characterized in that: further comprises step 3) detection of calibration result
3.1) rotating the C axis and the A axis to zero positions, starting an RTCP function of five-axis laser equipment (8), rotating the C axis, acquiring actual position information of a plurality of points by utilizing a CCD detector (5) on RTCP calibration equipment of the five-axis laser equipment, respectively calculating the offset of the actual positions of the points relative to a theoretical position through a controller to obtain a series of offsets, averaging the series of offsets to obtain average offsets delta X 'and delta Y1', comparing the average offsets delta X 'and delta Y1' with the maximum offset allowed by the five-axis laser equipment (8), judging whether the average offsets delta X 'and delta Y1' are in the maximum offset range, and if so, the calibration result of the step 2.8) meets the precision requirement of the five-axis laser equipment (8); if not, returning to the step 2.1); the theoretical position is a position in a five-axis laser equipment RTCP theoretical model;
3.2) returning the C axis to a zero position, rotating the A axis, repeating the operation same as the step 3.1) to obtain average offset delta Y2 'and delta Z', comparing the average offset delta Y2 'and the delta Z' with the maximum offset allowed by the five-axis laser equipment (8), judging whether the average offset delta Y2 'and the delta Z' are within the maximum offset range, and if so, determining that the calibration result of the step 2.8) meets the precision requirement of the five-axis laser equipment (8); if not, returning to the step 2.1); the theoretical position is a position in a five-axis laser equipment RTCP theoretical model.
3. The RTCP calibration method based on the five-axis laser equipment RTCP calibration equipment as claimed in claim 2, characterized in that: in step 3.1) and step 3.2), the plurality of points is at least five points.
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| CN112475592B (en) * | 2020-11-26 | 2021-11-12 | 北京航空航天大学 | Inherent parameter calibration method for double-swing-head five-axis linkage laser processing machine tool |
| CN113290330B (en) * | 2021-04-27 | 2022-05-10 | 中国科学院西安光学精密机械研究所 | Laser processing head space position calibration method of six-axis five-linkage machine tool |
| CN114193008B (en) * | 2021-11-26 | 2022-08-19 | 中国科学院西安光学精密机械研究所 | RTCP parameter calibration method for five-axis linkage laser processing equipment |
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