CN112114557A - Dynamic precision detection method and system for five-axis linkage numerical control machine tool and storage medium - Google Patents

Dynamic precision detection method and system for five-axis linkage numerical control machine tool and storage medium Download PDF

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CN112114557A
CN112114557A CN202010933306.8A CN202010933306A CN112114557A CN 112114557 A CN112114557 A CN 112114557A CN 202010933306 A CN202010933306 A CN 202010933306A CN 112114557 A CN112114557 A CN 112114557A
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关立文
王立平
付萌
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Tsinghua University
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    • 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
    • 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
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Abstract

The invention relates to a method, a system and a storage medium for detecting the dynamic precision of a five-axis linkage numerical control machine tool, wherein the method comprises the following steps: acquiring a numerical control machining code of a selected dynamic precision detection test piece of the five-axis linkage numerical control machine tool; acquiring discrete data of real-time positions of five servo axes when the numerical control machine tool runs in a no-load mode; generating a real-time position and a real-time posture of the cutter relative to the test piece; performing virtual machining according to the real-time position and the real-time posture to obtain a virtual machining test piece model; comparing the virtual machining test piece model with the test piece theoretical model to obtain a virtual machining contour error; and obtaining the dynamic precision of the five-axis linkage numerical control machine tool according to the contour error. The method does not need other detection tools, is simple and easy to implement, does not depend on an accurate model of the machine tool, is not influenced by geometric errors of the machine tool, is not influenced by deformation errors of the cutter and the workpiece, saves materials of the cutter and the test piece, reduces three-coordinate detection links of the processed test piece, avoids the influence of detection errors on dynamic precision detection, and has wide application prospect.

Description

Dynamic precision detection method and system for five-axis linkage numerical control machine tool and storage medium
Technical Field
The invention relates to the technical field of five-axis linkage numerical control machine tools, in particular to a method and a system for detecting the dynamic precision of a five-axis linkage numerical control machine tool and a storage medium.
Background
With the increasing requirements on machining speed and machining precision, dynamic precision becomes an important index influencing the machining performance of the five-axis linkage numerical control machine tool, and the detection of the dynamic precision of the five-axis linkage numerical control machine tool has great significance for factory detection, daily maintenance, optimization design of the machine tool and the like.
Dynamic precision detection of five-axis linkage numerical control machine tools is divided into an instrument-based detection method and a test piece-based detection method.
The instrument-based detection methods are represented by a cue stick instrument, an R-Test detection device, and an RTCP detection method, such as: CN201911181489.6 uses 5 displacement sensors to detect two balls on the check rod, thereby detecting the position and vector of the cutter shaft; cn201911064213.x uses a ball bar instrument to detect the dynamic accuracy; CN201120185412.9 detects the position of the ball on the check rod by three dial indicators. The method has a small detection range, and can only detect the dynamic precision between two shafts or three shafts.
The test method based on the test piece is represented by a test piece based on NAS979 and an S-shaped test piece, such as CN201610407659.8, and is a five-axis linkage numerical control machine tool dynamic error detection method based on the S-shaped test piece; CN200710048269.7 discloses an S-shaped detection test piece for comprehensively detecting the precision of a numerical control milling machine and a detection method thereof. The method can reflect the dynamic precision condition of the five-axis machine tool in a cutting state, but has the factors of geometric errors, deformation errors, clamping errors, measurement errors and the like, which influence the dynamic precision detection result of the five-axis machine tool, and the method has the advantages of complex detection process, high cost and great difficulty.
Disclosure of Invention
Aiming at the problems, the invention provides a method and a system for detecting the dynamic precision of a five-axis linkage numerical control machine tool and a storage medium, which do not depend on an accurate model of the machine tool, reduce the three-coordinate detection link of a processed test piece and avoid the influence of detection errors on the detection of the dynamic precision.
In order to achieve the purpose, the invention adopts the following technical scheme: a dynamic precision detection method for a five-axis linkage numerical control machine tool comprises the following steps: acquiring a numerical control machining code of a selected dynamic precision detection test piece of the five-axis linkage numerical control machine tool; acquiring discrete data of real-time positions of five servo axes when the numerical control machine tool runs in a no-load mode; generating a real-time position and a real-time posture of the cutter relative to the test piece; performing virtual machining according to the real-time position and the real-time posture to obtain a virtual machining test piece model; comparing the virtual machining test piece model with the test piece theoretical model to obtain a virtual machining contour error; and obtaining the dynamic precision of the five-axis linkage numerical control machine tool according to the contour error.
Further, the method for acquiring the numerical control machining code comprises the following steps: firstly, selecting a dynamic precision detection test piece of a five-axis linkage numerical control machine tool, and carrying out numerical control programming according to a theoretical three-dimensional model of the test piece to obtain a test piece processing cutter position file; and then carrying out post-processing according to the numerical control machine model to obtain a numerical control processing code for processing the test piece.
Further, the discrete data acquisition method comprises: and (3) mounting the test piece on a workbench, and driving the numerical control machine tool to run in a no-load mode by using the numerical control machining code under the condition that a cutter is not mounted, so as to obtain discrete data fed back by the real-time positions of five servo shafts of the numerical control machine tool.
Further, the method for generating the real-time position and the posture of the cutter relative to the test piece comprises the following steps:
s31, respectively calculating the position of a tool nose point of the tool relative to a coordinate system of the numerical control machine tool and the axis vector of the tool, and the position and the posture vector of a test piece on the workbench relative to the coordinate system of the numerical control machine tool at a specific moment according to the geometric models of the numerical control machine tool and the tool;
s32, calculating to obtain a coordinate transformation matrix M of the cutter relative to a coordinate system of the numerical control machine tool1And a coordinate transformation matrix M of the specimen on the worktable relative to the coordinate system of the numerically controlled machine tool2；
S33, according to
Figure BDA0002671028060000021
And obtaining a coordinate transformation matrix M of the cutter relative to the test piece on the workbench, and representing the real-time position and the posture of the cutter relative to the test piece at the moment.
Further, the method for acquiring the virtual machining test piece model comprises the following steps:
s41, selecting n points A at equal distance on the axis of the cutteriAt tkAnd tk+1Two adjacent time instants, thenThe axis vectors of the lower cutter of the test piece coordinate system on the numerical control machine tool workbench are respectively
Figure BDA0002671028060000022
And
Figure BDA0002671028060000023
and the selected points on the axis of the lower cutter of the test piece coordinate system on the numerical control machine tool workbench are respectively Ai,kAnd Ai,k+1(ii) a Wherein i is 1,2, …, n;
s42, according to
Figure BDA0002671028060000024
Obtaining the sum A on the circumferential surface of the cutting tooli,kCorresponding point Bi,kAccording to
Figure BDA0002671028060000025
Obtaining the sum A on the circumferential surface of the cutting tooli,k+1Corresponding point Bi,k+1；
S43, point Bi,k、Bi,k+1Is obtained from tkTo tk+1And (3) combining the approximate envelope curved surface of the time with the self curved surface of the cutter to obtain the envelope curved surface in the whole processing process to form a virtual processing test piece model.
Further, the method for acquiring the contour error of the virtual machining comprises the following steps: selecting a plurality of points on the theoretical model of the test piece, and sequentially calculating the shortest distance from each point to the surface of the virtual machining test piece model, namely the virtual machining contour error.
Further, the method for determining the dynamic precision of the five-axis linkage numerical control machine tool comprises the following steps: and judging whether the virtual machining contour error of each point on the obtained test piece exceeds the contour error allowable range or not according to the preset test piece machining contour error allowable range, and recording the number of points with the virtual machining contour error exceeding the range, wherein if the number of points with the exceeding range is within the preset allowable range, the dynamic precision of the five-axis linkage numerical control machine tool is qualified, and otherwise, the dynamic precision of the five-axis linkage numerical control machine tool is unqualified.
A five-axis linkage numerical control machine tool dynamic precision detection system comprises: the device comprises a first acquisition module, a second acquisition module, a generation module, a virtual machining module, a comparison module and a precision determination module;
the first acquisition module is used for acquiring the numerical control machining code of the selected five-axis linkage numerical control machine tool dynamic precision detection test piece;
the second acquisition module is used for acquiring discrete data of real-time positions of five servo axes when the numerical control machine tool runs in a no-load mode;
the generating module is used for generating the real-time position and the posture of the cutter relative to the test piece;
the virtual machining module performs virtual machining according to the real-time position and the real-time posture to obtain a virtual machining test piece model;
the comparison module compares the virtual machining test piece model with the test piece theoretical model to obtain a virtual machining contour error;
and the precision determining module is used for obtaining the dynamic precision of the five-axis linkage numerical control machine tool according to the contour error.
A computer readable storage medium storing one or more programs, the one or more programs comprising instructions, which when executed by a computing device, cause the computing device to perform any of the methods of the embodiments described above.
A computing device, comprising: one or more processors, memory, and one or more programs stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing any of the methods as described in the embodiments above.
Due to the adoption of the technical scheme, the invention has the following advantages: the invention utilizes the detection element of the numerical control machine tool, does not need other detection tools, is simple and easy, does not depend on the accurate model of the machine tool, is not influenced by the geometric error of the machine tool, is not influenced by the deformation error of the cutter and the workpiece, saves the material of the cutter and the test piece, reduces the three-coordinate detection link of the processed test piece, avoids the influence of the detection error on the dynamic precision detection, and has wide application prospect.
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FIG. 1 is a schematic diagram of a five-axis linkage numerical control machine tool dynamic precision detection method.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the objects, features and advantages of the invention can be more clearly understood. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are merely intended to illustrate the spirit of the technical solution of the present invention.
In a first embodiment of the present invention, as shown in fig. 1, the present embodiment provides a method for detecting dynamic accuracy of a five-axis linkage numerical control machine tool, including the following steps:
s1, acquiring numerical control machining codes of the selected dynamic precision detection test piece of the five-axis linkage numerical control machine tool;
firstly, selecting a dynamic precision detection test piece of a five-axis linkage numerical control machine tool, and carrying out numerical control programming according to a theoretical three-dimensional model of the test piece to obtain a test piece processing cutter position file; then, according to the numerical control machine model, carrying out post-processing to obtain a numerical control processing code for processing the test piece;
in this embodiment, the numerical control programming may be implemented by using a mature technology in the prior art.
S2, acquiring discrete data of the real-time positions of five servo axes when the numerical control machine tool runs in no-load mode according to the numerical control machining codes;
mounting the test piece on a workbench, and under the condition that a cutter is not mounted, driving the numerical control machine tool to run in no-load mode by using the numerical control machining code obtained in the step S1 to obtain discrete data fed back by the real-time positions of five servo axes of the numerical control machine tool;
s3, generating the real-time position and the posture of the cutter relative to the test piece according to the discrete data of the real-time positions of the five servo axes;
the method specifically comprises the following steps:
s31, respectively calculating the position of a tool nose point of the tool relative to a coordinate system of the numerical control machine tool and the axis vector of the tool, and the position and the posture vector of a test piece on the workbench relative to the coordinate system of the numerical control machine tool at a specific moment according to the geometric models of the numerical control machine tool and the tool;
s32, calculating to obtain a coordinate transformation matrix M of the cutter relative to a coordinate system of the numerical control machine tool1And a coordinate transformation matrix M of the specimen on the worktable relative to the coordinate system of the numerically controlled machine tool2；
S33, according to
Figure BDA0002671028060000045
Obtaining a coordinate transformation matrix M of the cutter relative to a test piece on the workbench, and representing the real-time position and posture of the cutter relative to the test piece at the moment;
s4, performing virtual machining according to the real-time position and the posture obtained in the step S3 to obtain a virtual machining test piece model;
the method specifically comprises the following steps:
s41, selecting n points A at equal distance on the axis of the cutteri(i ═ 1,2, …, n) at tkAnd tk+1At two adjacent moments, the axis vectors of the lower cutter of the coordinate system of the test piece on the numerical control machine tool workbench obtained according to the step S3 are respectively
Figure BDA0002671028060000041
And
Figure BDA0002671028060000042
and the selected points on the axis of the lower cutter of the test piece coordinate system on the numerical control machine tool workbench are respectively Ai,kAnd Ai,k+1；
S42, according to
Figure BDA0002671028060000043
Obtaining the sum A on the circumferential surface of the cutting tooli,kCorresponding point Bi,kAccording to
Figure BDA0002671028060000044
Obtaining the sum A on the circumferential surface of the cutting tooli,k+1Corresponding point Bi,k+1；
S43, point Bi,k、Bi,k+1Is obtained from tkTo tk+1The approximate envelope surface between the time instants,and combining the self curved surface of the cutter to obtain an envelope curved surface in the whole machining process to form a virtual machining test piece model.
S5, comparing the virtual machining test piece model with the test piece theoretical model to obtain a virtual machining contour error;
the method specifically comprises the following steps: selecting a plurality of points on the theoretical model of the test piece, and sequentially calculating the shortest distance from each point to the surface of the virtual machining test piece model obtained in the step S4, namely the profile error of virtual machining;
s6, obtaining the dynamic precision of the five-axis linkage numerical control machine tool according to the contour error obtained in the S5;
the method specifically comprises the following steps: and judging whether the virtual machining contour error of each point on the test piece obtained in the step S5 exceeds the contour error allowable range or not according to the preset test piece machining contour error allowable range, recording the number of points with the virtual machining contour error exceeding the range, if the number of the points with the exceeding range is within the preset allowable range, the dynamic precision of the five-axis linkage numerical control machine tool is qualified, and if not, the dynamic precision of the five-axis linkage numerical control machine tool is unqualified.
The invention provides a dynamic precision detection system of a five-axis linkage numerical control machine tool in a second embodiment, which comprises a first acquisition module, a second acquisition module, a generation module, a virtual machining module, a comparison module and a precision determination module;
the first acquisition module is used for acquiring the numerical control machining code of the selected dynamic precision detection test piece of the five-axis linkage numerical control machine tool;
the second acquisition module is used for acquiring discrete data of real-time positions of five servo axes when the numerical control machine tool runs in a no-load mode;
the generating module is used for generating the real-time position and the posture of the cutter relative to the test piece;
the virtual machining module performs virtual machining according to the real-time position and the real-time posture to obtain a virtual machining test piece model;
the comparison module compares the virtual machining test piece model with the test piece theoretical model to obtain a virtual machining contour error;
and the precision determining module is used for obtaining the dynamic precision of the five-axis linkage numerical control machine tool according to the contour error.
In a third embodiment of the invention, a computer readable storage medium storing one or more programs, the one or more programs comprising instructions, which when executed by a computing device, cause the computing device to perform any of the methods of the embodiments above is provided.
In a fourth embodiment of the invention, a computing device is provided that includes one or more processors, memory, and one or more programs stored in the memory and configured for execution by the one or more processors, the one or more programs including instructions for performing any of the methods of the embodiments above.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above embodiments are only used for illustrating the present invention, and the steps may be changed, for example, the processing sample may be an "S" sample or other known and unknown samples, and on the basis of the technical solution of the present invention, any modification and equivalent changes to the individual steps according to the principle of the present invention should not be excluded from the scope of the present invention.

Claims (10)

1. A dynamic precision detection method for a five-axis linkage numerical control machine tool is characterized by comprising the following steps:
acquiring a numerical control machining code of a selected dynamic precision detection test piece of the five-axis linkage numerical control machine tool;
acquiring discrete data of real-time positions of five servo axes when the numerical control machine tool runs in a no-load mode;
generating a real-time position and a real-time posture of the cutter relative to the test piece;
performing virtual machining according to the real-time position and the real-time posture to obtain a virtual machining test piece model;
comparing the virtual machining test piece model with the test piece theoretical model to obtain a virtual machining contour error;
and obtaining the dynamic precision of the five-axis linkage numerical control machine tool according to the contour error.
2. The method of claim 1, wherein the numerical control machining code is obtained by: firstly, selecting a dynamic precision detection test piece of a five-axis linkage numerical control machine tool, and carrying out numerical control programming according to a theoretical three-dimensional model of the test piece to obtain a test piece processing cutter position file; and then carrying out post-processing according to the numerical control machine model to obtain a numerical control processing code for processing the test piece.
3. The method of claim 1, wherein the discrete data is obtained by: and (3) mounting the test piece on a workbench, and driving the numerical control machine tool to run in a no-load mode by using the numerical control machining code under the condition that a cutter is not mounted, so as to obtain discrete data fed back by the real-time positions of five servo shafts of the numerical control machine tool.
4. The method of claim 1, wherein the method of generating the real-time position and orientation of the tool relative to the test piece comprises the steps of:
s31, respectively calculating the position of a tool nose point of the tool relative to a coordinate system of the numerical control machine tool and the axis vector of the tool, and the position and the posture vector of a test piece on the workbench relative to the coordinate system of the numerical control machine tool at a specific moment according to the geometric models of the numerical control machine tool and the tool;
s32, calculating to obtain a coordinate transformation matrix M of the cutter relative to a coordinate system of the numerical control machine tool1And a coordinate transformation matrix M of the specimen on the worktable relative to the coordinate system of the numerically controlled machine tool2；
S33, according to
Figure FDA0002671028050000011
And obtaining a coordinate transformation matrix M of the cutter relative to the test piece on the workbench, and representing the real-time position and the posture of the cutter relative to the test piece at the moment.
5. The method as claimed in claim 1, wherein the method for obtaining the virtual machining test piece model comprises the following steps:
s41, selecting n points A at equal distance on the axis of the cutteriAt tkAnd tk+1Two adjacent time instantsThe axial vectors of the lower cutter of the test piece coordinate system on the numerical control machine tool worktable are respectively
Figure FDA0002671028050000012
And
Figure FDA0002671028050000013
and the selected points on the axis of the lower cutter of the test piece coordinate system on the numerical control machine tool workbench are respectively Ai,kAnd Ai,k+1(ii) a Wherein i is 1,2, …, n;
s42, according to
Figure FDA0002671028050000014
Obtaining the sum A on the circumferential surface of the cutting tooli,kCorresponding point Bi,kAccording to
Figure FDA0002671028050000015
Obtaining the sum A on the circumferential surface of the cutting tooli,k+1Corresponding point Bi,k+1；
S43, point Bi,k、Bi,k+1Is obtained from tkTo tk+1And (3) combining the approximate envelope curved surface of the time with the self curved surface of the cutter to obtain the envelope curved surface in the whole processing process to form a virtual processing test piece model.
6. The method of claim 1, wherein the virtual machining contour error is obtained by: selecting a plurality of points on the theoretical model of the test piece, and sequentially calculating the shortest distance from each point to the surface of the virtual machining test piece model, namely the virtual machining contour error.
7. The method according to claim 1, wherein the method for determining the dynamic accuracy of the five-axis linkage numerical control machine tool comprises the following steps: and judging whether the virtual machining contour error of each point on the obtained test piece exceeds the contour error allowable range or not according to the preset test piece machining contour error allowable range, and recording the number of points with the virtual machining contour error exceeding the range, wherein if the number of points with the exceeding range is within the preset allowable range, the dynamic precision of the five-axis linkage numerical control machine tool is qualified, and otherwise, the dynamic precision of the five-axis linkage numerical control machine tool is unqualified.
8. The utility model provides a five-axis linkage digit control machine tool dynamic accuracy detecting system which characterized in that includes: the device comprises a first acquisition module, a second acquisition module, a generation module, a virtual machining module, a comparison module and a precision determination module;
the first acquisition module is used for acquiring the numerical control machining code of the selected five-axis linkage numerical control machine tool dynamic precision detection test piece;
the second acquisition module is used for acquiring discrete data of real-time positions of five servo axes when the numerical control machine tool runs in a no-load mode;
the generating module is used for generating the real-time position and the posture of the cutter relative to the test piece;
the virtual machining module performs virtual machining according to the real-time position and the real-time posture to obtain a virtual machining test piece model;
the comparison module compares the virtual machining test piece model with the test piece theoretical model to obtain a virtual machining contour error;
and the precision determining module is used for obtaining the dynamic precision of the five-axis linkage numerical control machine tool according to the contour error.
9. A computer readable storage medium storing one or more programs, the one or more programs comprising instructions, which when executed by a computing device, cause the computing device to perform any of the methods of claims 1-7.
10. A computing device, comprising: one or more processors, memory, and one or more programs stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing any of the methods of claims 1-7.
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