CN112611318B - Method and device for measuring motion axis error - Google Patents
Method and device for measuring motion axis error Download PDFInfo
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- CN112611318B CN112611318B CN202011394823.9A CN202011394823A CN112611318B CN 112611318 B CN112611318 B CN 112611318B CN 202011394823 A CN202011394823 A CN 202011394823A CN 112611318 B CN112611318 B CN 112611318B
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
Abstract
The application provides a motion axis measuring method, which can comprise the following steps: determining a motion axis of the machine tool according to the plurality of calibration images; determining the actual motion parameters of the motion axis according to the first calibration image and the second calibration image; the first calibration image comprises a calibration image before the movement of the movement axis; the second calibration image is a calibration image after the movement of the movement axis; and determining the error of the motion axis by comparing the actual motion parameter with a preset motion parameter. By implementing the embodiment of the invention, the measurement can be completed quickly, and the operation is convenient and the cost is lower.
Description
Technical Field
The application relates to the field of machine tool measurement, in particular to a method and a device for measuring motion axis errors.
Background
With the improvement of the requirement on the machining precision of the machine tool, the high-efficiency and precise machining is realized, and the aim of reducing the machining error of the machine tool is pursued by people. The geometric error of the numerical control machine is an error caused by the inaccuracy of manufacturing and assembling of machine parts, and is one of the main error sources forming the machining error of the numerical control machine. The geometric errors of the three-axis machine tool are divided into three position degrees, six straightness degrees, nine angle pendulum errors and the verticality among three axes, and the total errors are 21. The five-axis machine tool is added with the position degrees of the two rotary tables, and 23 errors are totally included. The precision of the machine tool determines the refinement degree of the processed product to a great extent.
At present, the compensation of errors through a numerical control system is an effective way for improving the precision of a machine tool. The numerical control system compensates the errors and needs a measuring means to obtain accurate data of various geometric errors. These geometric error data are typically measured using laser interferometers and ball bar or tracker instruments. However, laser interferometers, ball bar meters and trackers are expensive and not suitable for operation on desktop machine tools.
Disclosure of Invention
The application provides a method for measuring errors of a moving axis, which can reduce the measurement cost of geometric errors of a machine tool and has the advantages of convenience in operation and wide application range.
In a first aspect, an embodiment of the present invention provides a method for measuring a kinematic axis error, which is applied to a machine tool, and may include: determining a motion axis of the machine tool according to the plurality of calibration images; determining the actual motion parameters of the motion axis according to the first calibration image and the second calibration image; the first calibration image comprises a calibration image before the movement of the movement axis; the second calibration image is a calibration image after the movement of the movement axis; and determining the error of the motion axis by comparing the actual motion parameter with a preset motion parameter.
In the embodiment of the invention, the relevant motion axis of the machine tool is determined through a plurality of calibration images, and then the error between the actual motion parameter and the preset motion parameter is determined through the first calibration image and the second calibration image. The first and second calibration images are images selected according to a certain angle or distance of movement after the movement axis is determined. For example, in the process of measuring the error of the rotating shaft, a first calibration image is acquired at a certain angle position, and a second calibration image is acquired at a position after a certain number of degrees (for example, 60 degrees). And determining the angle error between the actual rotation angle and the preset angle by comparing the first calibration image with the second calibration image. The first calibration image and the second calibration image do not refer to two adjacent calibration images, and the two corresponding images are determined by combining specific selection requirements. In the case of calculating the average value of the error, multiple sets of calibration images (each set may include 1 first calibration image and 1 second calibration image) may be selected to determine a more accurate calibration image.
In one possible implementation, the motion axis comprises a rotation axis; the plurality of calibration images are images at different rotation positions when the calibration plate rotates around the rotation axis; the first calibration image comprises a calibration image before the rotation of the rotating shaft; the second calibration image is a calibration image obtained after the rotating shaft rotates; the actual motion parameter comprises an actual rotation angle; the preset motion parameters comprise preset rotation angles; the error of the motional axis includes a rotation error of the rotational axis.
In one possible implementation, the motion axis comprises a translational axis; the plurality of calibration images are images at different translation positions when the calibration plate translates around the translation axis; the first calibration image comprises a calibration image before the translational axis is translated; the second calibration image is a calibration image after the translation shaft is translated; the actual motion parameter comprises an actual translation distance; the preset motion parameters comprise preset translation distances; the error of the motional axis comprises a translational error of the translational axis.
In a possible implementation manner, before determining the motion axis of the machine tool according to the plurality of calibration images, the method further includes: determining a machine tool coordinate system of the machine tool; setting the preset motion parameters of the motion axis.
In one possible implementation, the determining motion axes of the machine tool from the plurality of calibration images includes: placing a calibration block on the translational shaft; shooting a plurality of calibration images of the calibration block in the translation process of the translation shaft; and obtaining a direction vector of the translational axis through a straight line fitting algorithm so as to determine the translational axis.
In one possible implementation, the method further includes: determining a plane normal vector of each of the plurality of calibration images; and according to the translation direction of the translation shaft, decomposing the plane normal vector of each calibration image to measure one or more of a pitch angle, a roll angle and a rotation angle at the position corresponding to each calibration image.
In one possible implementation, the determining motion axes of the machine tool from the plurality of calibration images includes: placing a calibration block on the rotating shaft; shooting a plurality of calibration images of the calibration block in the rotation process of the rotating shaft; and calculating the axis position and the rotation center point coordinate of the rotating shaft through a rotation center fitting algorithm.
In a second aspect, an embodiment of the present invention provides another method for measuring a kinematic axis error, which is applied to a machine tool, and may include:
determining a motion axis of the machine tool according to the plurality of calibration images; the plurality of calibration images comprise a first calibration image and a second calibration image; determining the actual motion parameters of the motion axis according to the first calibration image and the second calibration image; and determining the error of the motion axis by comparing the actual motion parameter with a preset motion parameter. Specifically, after a machine tool motion axis is determined through a plurality of calibration images, a first calibration image and a second calibration image are obtained from the plurality of calibration images; and determining an error according to the first calibration image and the second calibration image. It is to be understood that, in the multiple calibration images captured by the multiple calibration images in the embodiment of the present invention, the angle corresponding to the position between each adjacent calibration image may be the same or arbitrary.
In the embodiment of the invention, the parameters of the motion axis of the machine tool (such as the position of the rotating shaft) are determined by further calculation according to the coordinates of the calibration block in the plurality of taken calibration images. After the parameters of the motion axis are determined, the parameters of the actual motion of the motion axis are determined from the first calibration image and the second calibration image. And comparing the actually measured motion parameters with preset motion parameters to determine the error of the machine tool. By implementing the embodiment of the invention, the cost can be reduced, and the application range of the measurement method can be improved. Compared with the traditional method, the method of the embodiment of the invention can complete the measurement more quickly, and has convenient operation and lower cost.
In one possible implementation, the motion axis comprises a rotation axis; the plurality of calibration images are images at different rotation positions when the calibration plate rotates around the rotation axis; the first calibration image comprises a calibration image before the rotation of the rotating shaft; the second calibration image is a calibration image obtained after the rotating shaft rotates; the actual motion parameter comprises an actual rotation angle; the preset motion parameters comprise preset rotation angles; the error of the motional axis includes a rotation error of the rotational axis.
In one possible implementation, the motion axis comprises a translational axis; the plurality of calibration images are images at different translation positions when the calibration plate translates around the translation axis; the first calibration image comprises a calibration image before the translation of the translation axis; the second calibration image is a calibration image after the translation shaft is translated; the actual motion parameter comprises an actual translation distance; the preset motion parameters comprise preset translation distances; the error of the motional axis comprises a translational error of the translational axis.
In a possible implementation manner, before determining the motion axis of the machine tool according to the plurality of calibration images, the method further includes: determining a machine tool coordinate system of the machine tool; and setting the preset motion parameters of the motion shaft.
In one possible implementation, the determining motion axes of the machine tool from the plurality of calibration images includes: placing a calibration block on the translational shaft; shooting a plurality of calibration images of the calibration block in the translation process of the translation shaft; and obtaining a direction vector of the translational axis through a straight line fitting algorithm so as to determine the translational axis.
In one possible implementation, the method further includes: determining a plane normal vector of each of the plurality of calibration images; and according to the translation direction of the translation shaft, decomposing the plane normal vector of each calibration image to measure one or more of a pitch angle, a roll angle and a rotation angle at the position corresponding to each calibration image.
In one possible implementation, the determining motion axes of the machine tool from the plurality of calibration images includes: placing a calibration block on the rotating shaft; shooting a plurality of calibration images of the calibration block in the rotation process of the rotating shaft; and calculating the axis position and the rotation center point coordinate of the rotating shaft by a rotation center fitting algorithm.
In a third aspect, an embodiment of the present invention provides a device for measuring a kinematic axis error, which is applied to a machine tool, and may include:
a calibration unit for determining a motion axis of the machine tool from a plurality of calibration images; the plurality of calibration images comprise a first calibration image and a second calibration image;
the motion parameter unit is used for determining the actual motion parameter of the motion axis according to the first calibration image and the second calibration image; the first calibration image comprises a calibration image before the movement of the movement axis; the second calibration image is a calibration image after the movement of the movement axis;
and the comparison unit is used for determining the error of the motion axis by comparing the actual motion parameter with a preset motion parameter.
In one possible implementation, the motion axis comprises a rotation axis; the plurality of calibration images are images at different rotation positions when the calibration plate rotates around the rotation axis; the first calibration image comprises a calibration image before the rotation of the rotating shaft; the second calibration image is a calibration image obtained after the rotating shaft rotates; the actual motion parameter comprises an actual rotation angle; the preset motion parameters comprise preset rotation angles; the error of the motional axis includes a rotation error of the rotational axis.
In one possible implementation, the motion axis comprises a translational axis; the plurality of calibration images are images at different translation positions when the calibration plate translates around the translation axis; the first calibration image comprises a calibration image before the translation of the translation axis; the second calibration image is a calibration image after the translation shaft is translated; the actual motion parameter comprises an actual translation distance; the preset motion parameters comprise preset translation distances; the error of the motional axis comprises a translational error of the translational axis.
In a possible implementation, the device further comprises a machine tool unit for:
determining a machine coordinate system of the machine tool before determining the motion axes of the machine tool from the plurality of calibration images; setting the preset motion parameters of the motion axis.
In a possible implementation manner, the calibration unit is configured to: placing a calibration block on the translational shaft; shooting a plurality of calibration images of the calibration block in the translation process of the translation shaft; and obtaining a direction vector of the translational axis through a straight line fitting algorithm so as to determine the translational axis.
In one possible implementation, the apparatus further includes a vector unit configured to: determining a plane normal vector of each of the plurality of calibration images; and decomposing the plane normal vector of each calibration image according to the translation direction of the translation shaft so as to measure one or more of a pitch angle, a roll angle and a rotation angle at the position corresponding to each calibration image.
In a possible implementation manner, the calibration unit is further configured to: placing a calibration block on the rotating shaft; shooting a plurality of calibration images of the calibration block in the rotation process of the rotating shaft; and calculating the axis position and the rotation center point coordinate of the rotating shaft by a rotation center fitting algorithm.
In a fourth aspect, embodiments of the present invention provide a device for measuring a kinematic axis error, which may include a processor, an input device, an output device, and a memory. The processor, input device, output device, and memory are interconnected. Wherein the memory is to store a computer program comprising program instructions; the processor is configured to invoke the program instructions to execute the step instructions according to the first aspect of the embodiment of the present invention.
In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program for electronic data exchange; the aforementioned computer program causes a computer to perform some or all of the steps as described in the first aspect of the embodiments of the present invention.
In a sixth aspect, embodiments of the present invention provide a computer program product, wherein the computer program product comprises a non-transitory computer readable storage medium storing a computer program, the computer program being operable to cause a computer to perform some or all of the steps as described in the first aspect of the embodiments of the present invention. The computer program product may be a software installation package.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the embodiments or the description of the prior art will be briefly described below.
FIG. 1 is a schematic flow chart of a method for error of a kinematic axis according to an embodiment of the present invention;
FIG. 2 is a schematic view of a method for determining an axis of a moving shaft according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a kinematic axis error measurement apparatus provided in an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an apparatus according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making creative efforts shall fall within the protection scope of the present application.
The terms "first," "second," "third," and "fourth," etc. in the description and claims of this application and in the accompanying drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein may be combined with other embodiments.
First, some terms in the embodiments of the present invention are explained so as to be easily understood by those skilled in the art.
(1) A numerical control machine (CNC) is an automated machine tool equipped with a programmed control system. The control system is capable of logically processing and decoding a program defined by a control code or other symbolic instructions, represented by coded numbers, which are input to the numerical control device via the information carrier. After operation, the numerical control device sends out various control signals to control the action of the machine tool, and the parts are automatically machined according to the shape and size required by the drawing.
Referring to fig. 1, fig. 1 is a schematic flow chart of a method for motion axis error according to an embodiment of the present invention; as shown in fig. 1, the method embodiment takes a five-axis machine tool to which the kinematic axis error method is applied as an example of an implementation subject, and is described from the side of the five-axis machine tool, and may specifically include steps S101 to S103.
Step S101: and determining the motion axis of the machine tool according to the plurality of calibration images.
Specifically, the calibration image is obtained by capturing the position of the calibration block on the motion axis and the motion of the calibration block by a capturing component (such as a camera). A calibration image at each location may be taken. The plurality of calibration images includes a first calibration image and a second calibration image. For example, in the process of calibrating the parameters of the machine tool coordinate axes, the machine tool coordinate axis calibration mainly calibrates the origin of the machine tool coordinate and the directions of the five axes of X, Y, Z, a and C. The method for measuring the coordinate axis parameters of the machine tool through the calibration block comprises the following steps:
a) The camera is placed at a reasonable position, and the positions of the X axis, the Y axis, the Z axis, the A axis and the C axis can be observed at the same time.
b) Placing the calibration block on an X axis, and simultaneously rotating along with the X axis to acquire an image of the calibration block; and calculating the position of the axis and the coordinate of the rotating central point by a rotating center fitting algorithm, and setting the position which is a fixed distance away from the rotating central point as the origin of coordinates by a preset value.
c) The calibration blocks are respectively arranged on X, Y and Z axes, and images of the calibration blocks are collected in the process of translation along with the coordinate axes, and vectors in three directions can be obtained by a straight line fitting method
d) The calibration blocks are respectively arranged on the A axis and the C axis, images of the calibration blocks are collected along with the rotation of the coordinate axis, and direction vectors of the A axis and the C axis and positioning points on corresponding axes can be solved through a rotation axis center fitting algorithm.
For example, referring to fig. 2, fig. 2 is a schematic diagram of determining an axis of a moving shaft according to an embodiment of the present invention; as shown in fig. 2, taking the x-axis as the first coordinate axis and the calibration block rotating 360 degrees around the x-axis as an example, the trajectory of three vertices (such as points a, B, and C shown in the figure) on the calibration block during the rotation process is selected for description. And the point A on the calibration block rotates around the axis of the x shaft to form a closed circular track A ', and the circle center a of the point A is determined according to the circular track A'. Similarly, the center B may be determined from the trajectory B ', and the center C may be determined from the trajectory C'. Due to the three-dimensional structure of the calibration block, a plurality of circle centers which are not on the same plane can be obtained; the x-axis is determined by fitting calculations to a plurality of circle centers (a, b, c as shown in the figure). And determining the positive direction of the x axis according to the preset moving direction of the x axis of the machine tool so as to determine the direction of the x axis.
It should be noted that the relevant measurements of the y axis and the z axis in the translational axis are not described in detail.
Step S102: and determining the actual motion parameters of the motion axis according to the first calibration image and the second calibration image.
Specifically, the actual motion parameter of the motion axis may be determined by comparing the position or angle of the calibration image before the motion of the motion axis (corresponding to the first calibration image) and the calibration image after the motion (corresponding to the second calibration image).
Step S103: and determining the error of the motion axis by comparing the actual motion parameter with a preset motion parameter.
Specifically, the machine tool may determine the error of the motion axis by comparing the actual motion parameter with a preset motion parameter. In the motion error analysis process, the following steps may be involved:
a) Rotational angle error analysis
i. The calibration plate is arranged on a rotating plane, a plurality of calibration images are collected along with the rotation of the rotating shaft, and the parameters of the rotating shaft are calculated through a rotating shaft fitting algorithm
ii, controlling the rotating shaft to rotate by a specific angle through an instruction, simultaneously acquiring a calibration image in the process, and calculating the rotating angle through the rotating shaft parameter and the initial and final position calibration images to compare
b) Translational process error analysis
i. The calibration plate is arranged on the motion shaft, a plurality of calibration images are collected along with the translation of the motion shaft, the images are calibrated through the start and end positions, the translation distance is calculated, and the images are compared
And ii, calculating the normal vector of the plane for each calibration image acquired in the middle process, and decomposing the normal vector by combining the motion direction to respectively measure the pitch angle, the roll angle and the rotation angle of each position.
In one possible implementation, the motion axis comprises a rotation axis; the plurality of calibration images are images at different rotation positions when the calibration plate rotates around the rotation axis; the first calibration image comprises a calibration image before the rotation of the rotating shaft; the second calibration image is a calibration image obtained after the rotating shaft rotates; the actual motion parameter comprises an actual rotation angle; the preset motion parameters comprise preset rotation angles; the error of the motional axis includes a rotation error of the rotational axis. Through the implementation of the embodiment of the invention, the positions before and after the rotating shaft rotates for a certain angle are compared, and the angle obtained through comparison is compared with the actually set angle, so that the rotation error of the machine tool is obtained. Alternatively, the average value of the rotation error angle is determined by means of a plurality of measurements.
In one possible implementation, the motion axis comprises a translational axis; the plurality of calibration images are images at different translation positions when the calibration plate translates around the translation axis; the first calibration image comprises a calibration image before the translation of the translation axis; the second calibration image is a calibration image after the translation shaft is translated; the actual motion parameter comprises an actual translation distance; the preset motion parameters comprise preset translation distances; the error of the motional axis includes a translational error of the translational axis.
In a possible implementation manner, before determining the motion axis of the machine tool according to the plurality of calibration images, the method further includes: determining a machine tool coordinate system of the machine tool; setting the preset motion parameters of the motion axis.
In one possible implementation, the determining the motion axis of the machine tool from the plurality of calibration images includes: placing a calibration block on the translational shaft; shooting a plurality of calibration images of the calibration block in the translation process of the translation shaft; and obtaining a direction vector of the translational axis through a straight line fitting algorithm so as to determine the translational axis.
In one possible implementation, the method further includes: determining a plane normal vector of each calibration image in the plurality of calibration images; and according to the translation direction of the translation shaft, decomposing the plane normal vector of each calibration image to measure one or more of a pitch angle, a roll angle and a rotation angle at the position corresponding to each calibration image.
In one possible implementation, the determining motion axes of the machine tool from the plurality of calibration images includes: placing a calibration block on the rotating shaft; shooting a plurality of calibration images of the calibration block in the rotation process of the rotating shaft; and calculating the axis position and the rotation center point coordinate of the rotating shaft by a rotation center fitting algorithm.
In the embodiment of the invention, the parameters of the motion axis of the machine tool (such as the position of the rotating shaft) are determined by further calculation according to the coordinates of the calibration block in the plurality of taken calibration images. After the parameters of the motion axis are determined, the parameters of the actual motion of the motion axis are determined from the first calibration image and the second calibration image. And comparing the actually measured motion parameters with preset motion parameters to determine the error of the machine tool. By implementing the embodiment of the invention, the cost can be reduced, and the application range of the measurement method can be improved. Compared with the traditional method, the method provided by the embodiment of the invention has the advantages of high measurement speed, convenience in operation and lower cost.
While the method embodiments of the present invention have been described in detail above, one embodiment of the apparatus involved is described below.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a kinematic axis error measurement apparatus according to an embodiment of the present invention; as shown in fig. 3, the kinematic axis error measurement apparatus 30 may be applied to a machine tool, and may include a calibration unit 301, a kinematic parameter unit 302, a comparison unit 303, a machine tool unit 304, and a vector unit 305. Optional units may also include a machine tool unit 304 and a vector unit 305.
A calibration unit 301 for determining a motion axis of the machine tool from a plurality of calibration images; the plurality of calibration images comprise a first calibration image and a second calibration image;
a motion parameter unit 302, configured to determine an actual motion parameter of the motion axis according to the first calibration image and the second calibration image;
a comparison unit 303, configured to determine an error of the motion axis by comparing the actual motion parameter with a preset motion parameter.
In one possible implementation, the motion axis comprises a rotation axis; the plurality of calibration images are images at different rotation positions when the calibration plate rotates around the rotation axis; the first calibration image comprises a calibration image before the rotation of the rotating shaft; the second calibration image is a calibration image obtained after the rotating shaft rotates; the actual motion parameter comprises an actual rotation angle; the preset motion parameters comprise preset rotation angles; the error of the motional axis includes a rotation error of the rotational axis.
In one possible implementation, the motion axis comprises a translational axis; the plurality of calibration images are images at different translation positions when the calibration plate translates around the translation axis; the first calibration image comprises a calibration image before the translational axis is translated; the second calibration image is a calibration image after the translation shaft is translated; the actual motion parameter comprises an actual translation distance; the preset motion parameters comprise preset translation distances; the error of the motional axis comprises a translational error of the translational axis.
In a possible implementation, the apparatus further comprises a machine tool unit 304 for:
determining a machine tool coordinate system of the machine tool before determining the motion axes of the machine tool from the plurality of calibration images; setting the preset motion parameters of the motion axis.
In a possible implementation manner, the calibration unit 301 is configured to: placing a calibration block on the translational shaft; shooting a plurality of calibration images of the calibration block in the translation process of the translation shaft; and obtaining a direction vector of the translational axis through a straight line fitting algorithm so as to determine the translational axis.
In one possible implementation, the apparatus further includes a vector unit 305 configured to: determining a plane normal vector of each calibration image in the plurality of calibration images; and decomposing the plane normal vector of each calibration image according to the translation direction of the translation shaft so as to measure one or more of a pitch angle, a roll angle and a rotation angle at the position corresponding to each calibration image.
In a possible implementation manner, the calibration unit 301 is further configured to: placing a calibration block on the rotating shaft; shooting a plurality of calibration images of the calibration block in the rotation process of the rotating shaft; and calculating the axis position and the rotation center point coordinate of the rotating shaft by a rotation center fitting algorithm.
It should be noted that, for the functions of each functional unit of the kinematic axis error measurement apparatus 30 described in the embodiment of the apparatus of the present invention, reference may be made to the related description in the section of the cylindrical workpiece in the embodiment of the method described in fig. 1, and details are not repeated here.
Referring to fig. 4, fig. 4 is a schematic structural diagram of an apparatus according to an embodiment of the present invention. The aforementioned means may be implemented in the structure in fig. 4, and the apparatus 4 may comprise at least one storage component 401, at least one communication component 402, at least one processing component 403. In addition, the device may also include general components such as an antenna, a power supply, etc., which will not be described in detail herein.
The storage component 401 may be a Read-Only Memory (ROM) or other types of static storage devices that can store static information and instructions, a Random Access Memory (RAM) or other types of dynamic storage devices that can store information and instructions, an Electrically Erasable Programmable Read-Only Memory (EEPROM), a compact disc Read-Only Memory (CD-ROM) or other optical disc storage, optical disc storage (which may include compact disc, laser disc, optical disc, digital versatile disc, blu-ray disc, etc.), a magnetic disc storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to. The memory may be self-contained and coupled to the processor via a bus. The memory may also be integrated with the processor.
The communication component 402 may be a device for communicating with other devices or communication networks, such as an upgrade server, a key server, a device inside a vehicle, and the like.
The processing unit 403 may be a general purpose Central Processing Unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more ics for controlling the execution of programs according to the above schemes.
In the case of the apparatus shown in fig. 4 being the coordinate origin measuring device 40, the processing unit 403 is configured to determine the axes of motion of the machine tool from a plurality of calibration images; the plurality of calibration images comprise a first calibration image and a second calibration image; determining the actual motion parameters of the motion axis according to the first calibration image and the second calibration image; and determining the error of the motion axis by comparing the actual motion parameter with a preset motion parameter.
The embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium may store a program, and when the program is executed, the program may include some or all of the steps of any one of the method embodiments described above.
Embodiments of the present invention also provide a computer program or a computer program product, where the computer program may include instructions that, when executed by a computer, cause the computer to perform some or all of the steps including any one of the method embodiments described above.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
It should be noted that for simplicity of description, the above-mentioned method embodiments are described as a series of acts, but those skilled in the art will recognize that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required by the invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the above-described division of the units is only one type of division of logical functions, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. The elements of the above device embodiments may or may not be physically separated, and some or all of the elements may be selected according to actual needs to achieve the purpose of the solution of the embodiments of the present invention.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit. The integrated unit may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product.
Based on such understanding, the technical solution of the present invention may substantially or partially contribute to the prior art, or all or part of the technical solution may be embodied in the form of a software product, which is stored in a storage medium and may include several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc., and may specifically be a processor in the computer device) to execute all or part of the steps of the above methods according to various embodiments of the present invention. Among them, the aforementioned storage medium may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a magnetic disk, an optical disk, a Read-Only Memory (ROM) or a Random Access Memory (RAM). The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (6)
1. A method for measuring kinematic axis error is applied to a machine tool and is characterized by comprising the following steps:
placing a calibration block on the rotating shaft; the calibration block comprises a plurality of vertexes;
shooting a plurality of calibration images of the calibration block in the rotation process of the rotating shaft; the plurality of calibration images comprises images at different rotational positions of the calibration block as it rotates about the rotational axis; the calibration images comprise a first calibration image and a second calibration image;
for each vertex in the plurality of vertexes of the calibration block, determining the circle center corresponding to each vertex according to the track formed by the corresponding vertex in the plurality of calibration images;
determining the axis position and the rotation center point coordinate of the rotating shaft through fitting calculation of each circle center;
determining the actual motion parameter of the rotating shaft according to the first calibration image and the second calibration image; the first calibration image comprises a calibration image before the rotation of the rotating shaft; the second calibration image is a calibration image obtained after the rotating shaft rotates; the actual motion parameter comprises an actual rotation angle;
determining the error of the rotating shaft by comparing the actual motion parameter with a preset motion parameter; the preset motion parameters comprise preset rotation angles; the error of the rotation axis includes a rotation error of the rotation axis.
2. The method of claim 1, further comprising:
determining a machine tool coordinate system of the machine tool;
and setting the preset motion parameters of the motion shaft.
3. A method for measuring kinematic axis error, applied to a machine tool, is characterized in that the method comprises the following steps:
placing a calibration block on the translation shaft; the calibration block comprises a plurality of vertexes;
shooting a plurality of calibration images of the calibration block in the translation process of the translation shaft; the plurality of calibration images comprise a first calibration image and a second calibration image; the first calibration image comprises a calibration image before the translation of the translation axis; the second calibration image comprises a calibration image after the translation shaft is translated;
obtaining a direction vector of the translational axis through a straight line fitting algorithm according to the vertexes of the calibration blocks in the multiple calibration images so as to determine the translational axis;
determining the actual motion parameter of the translational axis according to the first calibration image and the second calibration image; the first calibration image comprises a calibration image before the translational axis moves; the second calibration image is a calibration image after the translational axis moves;
determining the error of the translational axis by comparing the actual motion parameter with a preset motion parameter; the actual motion parameter comprises an actual translation distance; the preset motion parameters comprise preset translation distances; the error comprises a translation error.
4. The method of claim 3, further comprising:
determining a plane normal vector of each of the plurality of calibration images;
and decomposing the plane normal vector of each calibration image according to the translation direction of the translation shaft so as to measure one or more of a pitch angle, a roll angle and a rotation angle at the position corresponding to each calibration image.
5. A measuring device for motion axis error is applied to a machine tool and is characterized by comprising:
the calibration unit is used for placing the calibration block on the rotating shaft; the calibration block comprises a plurality of vertexes;
shooting a plurality of calibration images of the calibration block in the rotation process of the rotating shaft; the plurality of calibration images comprises images at different rotational positions of the calibration block as it rotates about the rotational axis; the calibration images comprise a first calibration image and a second calibration image;
for each vertex in the plurality of vertexes of the calibration block, determining the circle center corresponding to each vertex according to the track formed by the corresponding vertex in the plurality of calibration images;
determining the axis position and the rotation center point coordinate of the rotating shaft through fitting calculation of each circle center;
the motion parameter unit is used for determining the actual motion parameter of the rotating shaft according to the first calibration image and the second calibration image; the first calibration image comprises a calibration image before the rotation of the rotating shaft; the second calibration image is a calibration image obtained after the rotating shaft rotates; the actual motion parameter comprises an actual rotation angle;
the comparison unit is used for determining the error of the rotating shaft by comparing the actual motion parameter with a preset motion parameter; the preset motion parameters comprise preset rotation angles; the error of the rotation axis includes a rotation error of the rotation axis.
6. A computer-readable storage medium, characterized in that the computer-readable storage medium stores program instructions that, when executed by a processor, cause the processor to perform the method of any of claims 1-4.
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| CN108620955B (en) * | 2018-04-18 | 2019-11-19 | 大连理工大学 | The measurement of machine tool rotary axis error and discrimination method based on monocular vision |
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