CN112388388B - Machine tool geometric error detection method based on standard ball array - Google Patents
Machine tool geometric error detection method based on standard ball array Download PDFInfo
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- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
Abstract
The invention relates to the field of machine tool error detection, aims to solve the problem of long time for detecting and identifying the geometric error of the existing machine tool, and provides a machine tool geometric error detection method based on a standard ball array, wherein the ball center positions of a group of standard ball arrays which are measured in advance are compared and calculated with the ball center positions of the standard ball arrays which are detected by a numerical control machine tool measuring head on the machine, and the deviation errors of 6 standard ball array coordinate systems and any 1-15 errors in 15 machine tool geometric errors are detected and identified by using a kinematic homogeneous transformation and a least square method formula; the method comprises the following steps: firstly, establishing a measuring coordinate system with the origin of the coordinate system positioned at the center of a certain sphere in a standard sphere array, the XY plane of the coordinate system parallel to the plane of the standard sphere array and the X axis of the coordinate system parallel or vertical to the edge of a rectangular or rectangular grid formed by the standard sphere array; the other standard ball array sphere center positions are represented by coordinate values of the sphere centers thereof in the measurement coordinate system. The invention has the advantage of short detection period.
Description
Technical Field
The invention relates to the field of machine tool error detection, in particular to a machine tool geometric error detection method based on a standard ball array.
Background
The five-axis linkage machine tool has the advantages of better curved surface adaptability, fewer clamping times and clamp quantity, higher material removal rate and the like in the process of machining parts with complex curved surfaces. Therefore, the five-axis linkage numerical control machine tool is widely used for machining turbines, propeller blades, complex airplane structural parts and the like.
The modern manufacturing industry has higher and higher requirements on the machining precision of parts, so that the precision requirement on a numerical control machine tool is higher and higher. Because the five-axis linkage numerical control machine tool is additionally provided with the two rotary oscillating shafts, compared with a three-axis linkage machine tool, the five-axis linkage numerical control machine tool has the advantages that the rigidity is reduced, and meanwhile, the geometric precision is also reduced. The geometric error compensation of the machine tool is the most effective measure for improving the machining precision of the five-axis linkage numerical control machine tool at present, and the premise of the geometric error compensation of the machine tool is that the current geometric error information of the machine tool must be obtained.
The geometric errors of the five-axis linkage numerical control machine tool comprise geometric errors of a translational shaft and geometric errors of a rotary swing shaft, the method for measuring the geometric errors of the translational shaft is well solved, and the national standard and the ISO standard have standard measuring methods. In addition, scholars at home and abroad also provide twenty-two-wire, fourteen-wire, twelve-two-wire, nine-wire and other identification methods based on the laser interferometer aiming at the geometric errors of the translational axis. The traditional method has long time for detecting and identifying the geometric errors of the machine tool.
Disclosure of Invention
The invention aims to provide a machine tool geometric error detection method based on a standard ball array, and aims to solve the problem that the machine tool geometric error detection identification time is long in the prior art.
The embodiment of the invention is realized by the following steps:
a machine tool geometric error detection method based on a standard ball array compares and calculates a group of standard ball array sphere center positions which are measured in advance with standard ball array sphere center positions which are detected by a numerical control machine tool measuring head on machine, and detects and identifies any 1-15 errors in 6 standard ball array coordinate system deviation errors and 15 machine tool geometric errors by using a formula;
the deviation errors of the 6 standard ball array coordinate systems comprise 3 translation deviations and 3 rotation deviations of the standard ball array coordinate systems and the numerical control machine tool coordinate systems; the geometric errors of the 15 machine tools comprise positioning errors of 3 motion axes, verticality errors of 3 motion axes, pitching errors of 3 motion axes, yaw errors of 3 motion axes and rolling errors of 3 motion axes, and the method comprises the following steps:
firstly, establishing a measuring coordinate system with the origin of the coordinate system positioned at the center of a certain sphere in a standard sphere array, the XY plane of the coordinate system parallel to the plane of the standard sphere array and the X axis of the coordinate system parallel or vertical to the edge of a rectangular or rectangular grid formed by the standard sphere array; the sphere center positions of other standard sphere arrays are represented by the coordinate values of the sphere centers in the measurement coordinate system;
when the standard ball array is detected on a machine tool, the plane of the standard ball array is parallel to the XY plane of the machine tool, and the side of a rectangular or rectangular grid formed by the standard ball array is parallel or vertical to the X axis of the machine tool; when the standard ball array is measured on a machine tool, a measurement coordinate system is consistent with a measurement coordinate system used when the sphere center position of the standard ball array is measured in advance;
in the standard ball array, the position P of the center of the ball 11(x1 y1 z1) Taking a connecting line of the sphere center of the ball 1 and the sphere center of the ball 2 as an original point, taking the sphere center of the ball 1, the sphere center of the ball 2 and the sphere center of the ball 3 as XY planes to establish a coordinate system, and taking a direction vertical to the XY planes as a Z axis; wherein the ball 3 is located on the Y-axis;
recording the psychological theory position of each standard sphere in the space standard sphere array as P1(x1 y1 z1)、P2(x2 y2 z2)、P3(x3y3 z3)、…、Pn-1(xn-1 yn-1 zn-1)、Pn(xn yn zn) Wherein x is1＝y1＝z1＝y2＝z2＝z3＝0；
P 'is measured by a machine tool measuring head on a machine tool and is the position of the center of each standard sphere'1(x′1 y′1 z′1)、P′2(x′2 y′2z′2)、P′3(x′3 y′3 z′3)、……、P′n-1(x′n-1 y′n-1 z′n-1)、P′n(x′n y′n z′n)；
Actual position p 'of machine tool motion when there is machine tool error'aIs composed of
Order:
f＝(x+δx+zεy-yεz+xδxx+yδyx+zδzx+zxεxy+zyεyy+zzεzy-yxεxz-yyεyz-yzεzz-x′)2+(y+δy-zεx+xεz+xδxy+yδyy+zδzy-zxεxx-zyεyx-zzεzx+xxεxz+xyεyz+xzεzz-y′)2+(z+δz+yεx-xεy+xδxz+yδyz+zδzz+yxεxx+yyεyx+yzεzx-xxεxy-xyεyy-xzεzy-z′)2，
by
Obtaining:
by
Obtaining:
by
Obtaining:
by
Obtaining:
in the formula:
δx、δy、δzrespectively representing 3 translational deviations of the standard ball array coordinate system and the numerical control machine tool coordinate system about an X, Y, Z axis;
εx、εy、εzrespectively representing 3-term rotation deviation of a standard ball array coordinate system and a numerical control machine tool coordinate system about an X, Y, Z axis;
of the 15-term geometric errors of the machine tool, δxx、δyy、δzzRespectively representing the positioning errors of 3 motion axes; deltaxy＝δyx、δyz＝δzy、δzx＝δxzRespectively representing the perpendicularity errors of 3 motion axes; epsilonxx、εxy、εxz,εyx、εyy、εyz,εzx、εzy、εzzRespectively representing the pitching error of 3 motion axes, the yawing error of 3 motion axes and the rolling error of 3 motion axes;
and solving the equation set consisting of the 4 sets of equations expressed in the form of the matrix, and calculating the 3 translation deviations, the 3 rotation deviations and the 15 machine tool geometric errors of the standard spherical array coordinate system and the numerical control machine tool coordinate system.
The method for detecting the geometric errors of the machine tool based on the standard ball array has the advantages that the detection period is short, so that the method not only can be used for detecting the geometric errors of the machine tool in a constant temperature environment, but also can be used for tracking, detecting and identifying the thermal errors of the machine tool in machining intervals of the machine tool.
In one embodiment:
the standard ball array consists of n standard balls, wherein n is more than or equal to 4.
In one embodiment:
the standard ball array is composed of standard balls arranged on the same plane.
In one embodiment:
the standard ball array is composed of standard ball sub-arrays which are respectively arranged on different planes which are parallel to each other.
In one embodiment:
the standard balls located on the same plane are arranged according to the rectangular vertexes or the rectangular grid intersections.
In one embodiment:
the sides of the rectangle or the rectangle grid formed by the standard ball sub-arrays on different planes in the standard ball array are all parallel or vertical to each other.
Detailed Description
Furthermore, the appearances of the terms "first," "second," and the like in the description of the present invention are only used for distinguishing between the descriptions and are not intended to indicate or imply relative importance.
Furthermore, the terms "horizontal", "vertical" and the like when used in the description of the present invention do not require that the components be absolutely horizontal or overhanging, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Examples
The embodiment provides a machine tool geometric error detection method based on a standard ball array, which is characterized in that the center position of a group of pre-measured standard ball array is compared and calculated with the center position of a standard ball array detected by a numerical control machine tool measuring head on the machine, and any 1-15 errors in 6 standard ball array coordinate system deviation errors and 15 machine tool geometric errors are detected and identified by using a formula;
the deviation errors of the 6 standard ball array coordinate systems comprise 3 translation deviations and 3 rotation deviations of the standard ball array coordinate systems and the numerical control machine coordinate system; the geometric errors of the 15 machine tools comprise positioning errors of 3 motion axes, verticality errors of 3 motion axes, pitching errors of 3 motion axes, yaw errors of 3 motion axes and rolling errors of 3 motion axes, and the method comprises the following steps:
firstly, establishing a measuring coordinate system with the origin of the coordinate system positioned at the center of a certain sphere in a standard sphere array, the XY plane of the coordinate system parallel to the plane of the standard sphere array and the X axis of the coordinate system parallel or vertical to the edge of a rectangular or rectangular grid formed by the standard sphere array; the sphere center positions of other standard sphere arrays are represented by the coordinate values of the sphere centers in the measurement coordinate system;
when the standard ball array is detected on a machine tool, the plane of the standard ball array is parallel to the XY plane of the machine tool, and the side of a rectangular or rectangular grid formed by the standard ball array is parallel to or vertical to the X axis of the machine tool; when the standard ball array is measured on the machine tool, a measurement coordinate system is consistent with a measurement coordinate system used when the sphere center position of the standard ball array is determined in advance;
with ball 1 center position P in standard ball array1(x1 y1 z1) Taking a connecting line of the sphere center of the ball 1 and the sphere center of the ball 2 as an original point, taking the sphere center of the ball 1, the sphere center of the ball 2 and the sphere center of the ball 3 as XY planes to establish a coordinate system, and taking a direction vertical to the XY planes as a Z axis; wherein the ball 3 is located on the Y-axis;
recording the psychological position of each standard sphere in the space standard sphere array as P1(x1 y1 z1)、P2(x2 y2 z2)、P3(x3y3 z3)、…、Pn-1(xn-1 yn-1 zn-1)、Pn(xn yn zn) Wherein x is1＝y1＝z1＝y2＝z2＝z3＝0；
P 'is measured by a machine tool measuring head on a machine tool and is the position of the center of each standard sphere'1(x′1 y′1 z′1)、P′2(x′2 y′2z′2)、P′3(x′3 y′3 z′3)、……、P′n-1(x′n-1 y′n-1 z′n-1)、P′n(x′n y′n z′n)；
Actual position p 'of machine tool motion when there is machine tool error'aIs composed of
Order:
f＝(x+δx+zεy-yεz+xδxx+yδyx+zδzx+zxεxy+zyεyy+zzεzy-yxεxz-yyεyz-yzεzz-x′)2+(y+δy-zεx+xεz+xδxy+yδyy+zδzy-zxεxx-zyεyx-zzεzx+xxεxz+xyεyz+xzεzz-y′)2+(z+δz+yεx-xεy+xδxz+yδyz+zδzz+yxεxx+yyεyx+yzεzx-xxεxy-xyεyy-xzεzy-z′)2，
by
Obtaining:
by
Obtaining:
by
Obtaining:
by
Obtaining:
in the formula:
δx、δy、δzrespectively representing 3 translational deviations of the standard ball array coordinate system and the numerical control machine tool coordinate system about an X, Y, Z axis;
εx、εy、εzrespectively representing 3-term rotation deviation of a standard ball array coordinate system and a numerical control machine tool coordinate system about an X, Y, Z axis;
of the geometric errors of the 15-term machine tool, δxx、δyy、δzzRespectively representing the positioning errors of 3 motion axes; deltaxy＝δyx、δyz＝δzy、δzx＝δxzRespectively representing the perpendicularity errors of 3 motion axes; epsilonxx、εxy、εxz,εyx、εyy、εyz,εzx、εzy、εzzRespectively representing the pitching error of 3 motion axes, the yawing error of 3 motion axes and the rolling error of 3 motion axes;
and solving the equation set consisting of the 4 sets of equations expressed in the form of the matrix, and calculating the 3 translation deviations, the 3 rotation deviations and the 15 machine tool geometric errors of the standard spherical array coordinate system and the numerical control machine tool coordinate system.
The method for detecting the geometric errors of the machine tool based on the standard ball array has the advantages that the detection period is short, so that the method not only can be used for detecting the geometric errors of the machine tool in a constant temperature environment, but also can be used for tracking, detecting and identifying the thermal errors of the machine tool in machining intervals of the machine tool.
In this embodiment, the standard ball array is formed by n standard balls, and n is greater than or equal to 4. Alternatively, the standard ball array may be composed of standard balls arranged on the same plane, or may be composed of standard ball sub-arrays arranged on different planes parallel to each other.
In this embodiment, the standard spheres located on the same plane are arranged according to rectangular vertexes or rectangular grid intersections. The sides of the rectangle or the rectangular grid formed by the standard ball sub-arrays on different planes in the standard ball array are all parallel or vertical to each other.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A machine tool geometric error detection method based on a standard ball array is characterized in that:
comparing and calculating a group of standard ball array sphere center positions which are measured in advance with standard ball array sphere center positions which are detected by a numerical control machine tool measuring head on machine, and detecting and identifying any 1-15 errors in 6 standard ball array coordinate system deviation errors and 15 machine tool geometric errors by using a formula;
the deviation errors of the 6 standard ball array coordinate systems comprise 3 translation deviations and 3 rotation deviations of the standard ball array coordinate systems and the numerical control machine coordinate system; the geometric errors of the 15 machine tools comprise positioning errors of 3 motion axes, verticality errors of 3 motion axes, pitching errors of 3 motion axes, yaw errors of 3 motion axes and rolling errors of 3 motion axes, and the method comprises the following steps:
firstly, establishing a measuring coordinate system with the origin of the coordinate system positioned at the center of a certain sphere in a standard sphere array, the XY plane of the coordinate system parallel to the plane of the standard sphere array and the X axis of the coordinate system parallel or vertical to the edge of a rectangular or rectangular grid formed by the standard sphere array; the sphere center positions of other standard sphere arrays are represented by the coordinate values of the sphere centers in the measurement coordinate system;
when the standard ball array is detected on a machine tool, the plane of the standard ball array is parallel to the XY plane of the machine tool, and the side of a rectangular or rectangular grid formed by the standard ball array is parallel or vertical to the X axis of the machine tool; when the standard ball array is measured on the machine tool, a measurement coordinate system is consistent with a measurement coordinate system used when the sphere center position of the standard ball array is determined in advance;
with ball 1 center position P in standard ball array1(x1 y1 z1) Taking a connecting line of the sphere center of the ball 1 and the sphere center of the ball 2 as an original point, taking the sphere center of the ball 1, the sphere center of the ball 2 and the sphere center of the ball 3 as XY planes to establish a coordinate system, and taking a direction vertical to the XY planes as a Z axis; wherein the ball 3 is located on the Y-axis;
recording the psychological position of each standard sphere in the space standard sphere array as P1(x1 y1 z1)、P2(x2 y2 z2)、P3(x3 y3z3)、…、Pn-1(xn-1 yn-1 zn-1)、Pn(xn yn zn) Wherein x is1＝y1＝z1＝y2＝z2＝z3＝0；
Measuring the position of the center of each standard sphere on a machine tool by using a machine tool measuring head to be P1′(x′1 y′1 z′1)、P′2(x′2 y′2 z′2)、P′3(x′3 y′3 z′3)、……、P′n-1(x′n-1 y′n-1 z′n-1)、P′n(x′n y′n z′n)；
Actual position p 'of machine tool motion when there is machine tool error'aIs composed of
Order:
f＝(x+δx+zεy-yεz+xδxx+yδyx+zδzx+zxεxy+zyεyy+zzεzy-yxεxz-yyεyz-yzεzz-x′)2+(y+δy-zεx+xεz+xδxy+yδyy+zδzy-zxεxx-zyεyx-zzεzx+xxεxz+xyεyz+xzεzz-y′)2+(z+δz+yεx-xεy+xδxz+yδyz+zδzz+yxεxx+yyεyx+yzεzx-xxεxy-xyεyy-xzεzy-z′)2，
by
Obtaining:
by
Obtaining:
by
Obtaining:
by
Obtaining:
in the formula:
δx、δy、δzrespectively representing 3 translational deviations of the standard ball array coordinate system and the numerical control machine tool coordinate system about an X, Y, Z axis;
εx、εy、εzrespectively representing 3-term rotation deviation of a standard ball array coordinate system and a numerical control machine tool coordinate system about an X, Y, Z axis;
of the 15-term geometric errors of the machine tool, δxx、δyy、δzzEach represents 3Positioning error of individual axes of motion; deltaxy＝δyx、δyz＝δzy、δzx＝δxzRespectively representing the perpendicularity errors of 3 motion axes; epsilonxx、εxy、εxz,εyx、εyy、εyz,εzx、εzy、εzzRespectively representing the pitching error of 3 motion axes, the yawing error of 3 motion axes and the rolling error of 3 motion axes;
and solving the equation set consisting of the 4 sets of equations expressed in the form of the matrix, and calculating the 3 translation deviations, the 3 rotation deviations and the 15 machine tool geometric errors of the standard spherical array coordinate system and the numerical control machine tool coordinate system.
2. The method for detecting the geometric error of the machine tool based on the standard ball array as claimed in claim 1, wherein the method comprises the following steps:
the standard ball array consists of n standard balls, wherein n is more than or equal to 4.
3. The method for detecting the geometric error of the machine tool based on the standard ball array according to claim 2, is characterized in that:
the standard ball array is composed of standard balls arranged on the same plane.
4. The method for detecting the geometric error of the machine tool based on the standard ball array as claimed in claim 2, wherein the method comprises the following steps:
the standard ball array is composed of standard ball sub-arrays which are respectively arranged on different planes which are parallel to each other.
5. The method for detecting geometric errors of a machine tool based on a standard ball array according to claim 3 or 4, characterized in that:
the standard balls located on the same plane are arranged according to the rectangular vertexes or the rectangular grid intersections.
6. The method for detecting the geometric error of the machine tool based on the standard ball array as claimed in claim 4, wherein the method comprises the following steps:
the sides of the rectangle or the rectangle grid formed by the standard ball sub-arrays on different planes in the standard ball array are all parallel or vertical to each other.
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| CN1025514C (en) * | 1991-02-01 | 1994-07-20 | 天津大学 | One dimension spherical column surveying method for 21 items of mechanism error of three coordinate surveying machine, its surveying equipment and the equipment self checking method |
| CN2115516U (en) * | 1992-03-21 | 1992-09-09 | 欧阳健飞 | T-shape machine tool error tester |
| CN2169847Y (en) * | 1993-03-05 | 1994-06-22 | 欧阳健飞 | Combined ball row testing apparatus |
| JP3993784B2 (en) * | 2002-04-09 | 2007-10-17 | 独立行政法人産業技術総合研究所 | Multidimensional coordinate measuring machine performance evaluation method, multidimensional coordinate measuring machine calibration gauge and calibration gauge jig |
| TWI369578B (en) * | 2007-10-29 | 2012-08-01 | Univ Nat Taiwan | Self-aligned stylus with high sphericity and method of manufacturing the same |
| TW201326742A (en) * | 2011-12-29 | 2013-07-01 | Prec Machinery Res Dev Ct | Geometric error estimation method of five-axis tool machine |
| CN104097114B (en) * | 2014-07-08 | 2017-03-22 | 沈阳机床(集团)有限责任公司 | Method for measuring and separating geometric errors of multi-axis-linkage numerical control machine tool |
| WO2016115704A1 (en) * | 2015-01-22 | 2016-07-28 | 北京交通大学 | Laser measurement system and method capable of detecting 21 geometric errors |
| CN206132015U (en) * | 2016-06-28 | 2017-04-26 | 天津大学 | Etalon that multisensor measuring engine coordinate is unified and precision is examined and determine |
| CN106141814B (en) * | 2016-08-04 | 2017-12-29 | 天津大学 | The detection of Digit Control Machine Tool translation shaft geometric error and discrimination method based on LaserTRACER |
| CN108227622B (en) * | 2018-01-10 | 2019-12-17 | 福州大学 | machine tool geometric error measuring method and system based on one-dimensional measuring head and standard ball |
| JP6598913B2 (en) * | 2018-03-27 | 2019-10-30 | 株式会社牧野フライス製作所 | Three-dimensional gauge and measuring method of three-dimensional position error of machine |
| CN109341471A (en) * | 2018-10-22 | 2019-02-15 | 天津大学 | The identification method of three axis lathe geometric errors detection is realized based on ball row |
| CN109405779A (en) * | 2018-11-20 | 2019-03-01 | 天津大学 | The three coordinate measuring machine error of perpendicularity detection device and method of L-type ball row |
| CN111678472B (en) * | 2020-06-09 | 2022-02-15 | 无锡身为度信息技术有限公司 | Error identification method for rotary table of four-axis coordinate measuring machine |
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