CN112935573A

CN112935573A - Precision compensation method and device for exchange workbench

Info

Publication number: CN112935573A
Application number: CN201911247747.6A
Authority: CN
Inventors: 杨志朋; 陈焱; 蔡建平; 何纯贤; 高云峰
Original assignee: Han s Laser Technology Industry Group Co Ltd; Hans Laser Smart Equipment Group Co Ltd
Current assignee: Han's Laser Intelligent Equipment Jiangsu Co ltd; Han s Laser Technology Industry Group Co Ltd
Priority date: 2019-12-09
Filing date: 2019-12-09
Publication date: 2021-06-11
Anticipated expiration: 2039-12-09
Also published as: CN112935573B

Abstract

The invention relates to a precision compensation method of an exchange workbench and a precision compensation device of the exchange workbench, comprising the following steps: in a stable state after the workbench is exchanged, the sensor starts to work to acquire a plurality of groups of data representing the distance between the fixed end and the movable end of the workbench; acquiring a plurality of groups of switching errors according to the data; filtering the plurality of groups of exchange errors to obtain filtered exchange errors; and compensating the workbench according to the filtered exchange error during positioning. According to the precision compensation method and the precision compensation device of the exchange workbench, a plurality of groups of exchange errors are obtained and filtered in a stable state after the workbench is exchanged, and compensation is carried out according to the filtered exchange errors during machine tool positioning, so that high machining precision can be obtained.

Description

Precision compensation method and device for exchange workbench

Technical Field

The invention relates to the field of exchange workbenches, in particular to a precision compensation method and a precision compensation device for an exchange workbench.

Background

The exchange workbench part of the existing optical fiber laser cutting machine adopts a traditional three-phase asynchronous motor to realize exchange control, closed-loop control is not realized, repeated exchange positioning precision is not high for many times, and when a workpiece is clamped on the workbench, the problem of insufficient precision possibly exists in the same machine tool coordinate position after exchange.

Disclosure of Invention

In view of the above, it is necessary to provide a method and an apparatus for compensating for the accuracy of a change table, which can solve the problem that the accuracy may be insufficient in re-machining at the same machine coordinate position after the change of the conventional change table.

A method of precision compensation of a swap table, comprising:

in a stable state after the workbench is exchanged, the sensor starts to work to acquire a plurality of groups of data representing the distance between the fixed end and the movable end of the workbench;

acquiring a plurality of groups of switching errors according to the data;

filtering the plurality of groups of exchange errors to obtain filtered exchange errors;

and compensating the workbench according to the filtered exchange error during positioning.

In one embodiment, the step of obtaining a plurality of sets of data representing the distance between the fixed end and the movable end of the worktable comprises: acquiring a first ten groups of voltage data in a first time period; acquiring a second ten groups of voltage data in a second time period;

the step of obtaining a plurality of sets of switching errors from the data comprises: acquiring a first ten groups of exchange errors according to the first ten groups of voltage data; acquiring a second ten-group switching error according to the second ten-group voltage data;

the step of filtering the plurality of groups of switching errors and obtaining the filtered switching errors comprises: judging a first maximum exchange error and a first minimum exchange error according to the first ten groups of exchange errors, removing the first maximum exchange error and the first minimum exchange error, reserving a first eight groups of exchange errors, and obtaining a first average exchange error according to the first eight groups of exchange errors; judging a second maximum exchange error and a second minimum exchange error according to the second ten groups of exchange errors, removing the second maximum exchange error and the second minimum exchange error, reserving a second eight groups of exchange errors, and obtaining a second average exchange error according to the second eight groups of exchange errors; and acquiring the filtered exchange error according to the first average exchange error and the second average exchange error.

In one embodiment, the data processing cycle of each set of the data is 6 milliseconds, the first time period is 60 milliseconds, and the second time period is 60 milliseconds.

In one embodiment, the step of acquiring a plurality of sets of data representing the distance between the fixed end and the movable end of the worktable comprises acquiring a plurality of sets of analog voltage data;

the step of obtaining a plurality of groups of switching errors according to the data comprises converting the plurality of groups of analog voltage data into a plurality of groups of digital voltage data and obtaining a plurality of groups of switching errors according to the plurality of groups of digital voltage data.

In one embodiment, the step of obtaining a plurality of sets of switching errors from the plurality of sets of digital voltage data comprises:

and acquiring a plurality of groups of exchange errors according to the distance equivalent and the plurality of groups of digital voltage data, wherein the distance equivalent is acquired according to the stroke of the sensor and the analog-to-digital conversion precision.

In one embodiment, the post-stage swap steady state comprises:

the working table is switched in place, and the in-place detection, the clamping detection and the motor signal are not output;

the machine tool is not in a motion state, and a shaftless enabling signal and a program automatic operation signal are not provided.

In one embodiment, the method further comprises a calibration judgment step and a calibration step, wherein the calibration judgment step comprises the steps of judging whether the filtered exchange error is larger than a preset value, and if so, performing the calibration step.

An apparatus for compensating for the accuracy of an exchange table, comprising: sensor, data transmission unit and host computer, wherein:

the sensor is used for starting to work in a stable state after the workbench is exchanged, and acquiring a plurality of groups of data representing the distance between the fixed end and the movable end of the workbench;

the data transmission unit is used for transmitting the data representing the distance between the fixed end and the movable end of the workbench to the upper computer;

the upper computer is used for acquiring a plurality of groups of exchange errors according to the plurality of groups of data representing the distance between the fixed end and the moving end of the workbench, and filtering the plurality of groups of exchange errors to acquire the filtered exchange errors;

In one embodiment, the sensor is a laser range sensor.

In one embodiment, the sensor stroke is-20 mm to 30 mm.

In one embodiment, the input side of the sensor side to the upper computer is connected by a shielded twisted pair.

In one embodiment, the sensor is arranged in the sealed space, and when the sensor needs to work, the sensor starts to work by controlling the cylinder to open the gate.

According to the precision compensation method and the precision compensation device of the exchange workbench, a plurality of groups of exchange errors are obtained and filtered in a stable state after the workbench is exchanged, and compensation is carried out according to the filtered exchange errors during machine tool positioning, so that high machining precision can be obtained.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings of the embodiments can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic flow chart of a precision compensation method for a swap table according to the present invention;

FIG. 2 is a schematic flow chart of filtering a plurality of sets of switching errors to obtain filtered switching errors;

fig. 3 is a schematic diagram of a precision compensation device of an exchange workbench provided by the invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

As shown in fig. 1, which is a schematic flow chart of a precision compensation method for an exchange workbench provided by the present invention, the method is suitable for precision compensation of an exchange workbench, such as precision compensation of an exchange workbench of an optical fiber laser cutting machine, and the precision compensation method for an exchange workbench specifically includes:

step S100: and under the stable state after the workbench is exchanged, the sensor starts to work to acquire a plurality of groups of data representing the distance between the fixed end and the movable end of the workbench.

In one embodiment, the stage swap stable state includes: the working table is switched in place, and the in-place detection, the clamping detection and the motor signal are not output; and the machine tool is not in a motion state, and has no shaft enabling signal, program automatic operation signal and the like. The sensor is ensured to start or finish detection at an accurate moment, the signal output of the sensor is ensured to be stable, and large errors are avoided.

Step S200: and acquiring a plurality of groups of exchange errors according to a plurality of groups of data representing the distance between the fixed end and the movable end of the workbench.

Step S300: and filtering the plurality of groups of exchange errors to obtain the filtered exchange errors.

Step S400: and compensating according to the filtered exchange error when the workbench is positioned.

According to the precision compensation method of the exchange workbench, multiple groups of exchange errors are obtained and filtered in a stable state after the workbench is exchanged, and compensation is carried out according to the filtered exchange errors during machine tool positioning, so that high machining precision can be obtained.

In one embodiment, step S100 may specifically include: acquiring a first ten groups of voltage data in a first time period; during a second time period, a second ten sets of voltage data are acquired.

In one embodiment, the data processing period of each set of data representing the distance between the fixed end and the movable end of the worktable is 6 milliseconds, and each set of data processing includes starting to work from the sensor, acquiring sensor voltage data, acquiring an exchange error according to the sensor voltage data, filtering, and then performing exchange error compensation. The first time period may be 60 milliseconds, which includes ten sets of data processing cycles, and the first ten sets of voltage data are obtained, and the following steps S210 and S310 are performed; the second time period may be 60 milliseconds, including ten sets of data processing cycles, a second ten sets of voltage data is acquired, and the following steps S220 and S320 are performed.

The step S200 may specifically include:

step S210: acquiring a first ten groups of exchange errors according to the first ten groups of voltage data;

step S220: a second ten-set switching error is obtained from the second ten-set voltage data.

As shown in fig. 2, the filtering the plurality of sets of switching errors, and the step of obtaining the filtered switching errors may specifically include:

step S310: and judging a first maximum exchange error and a first minimum exchange error according to the first ten groups of exchange errors, removing the first maximum exchange error and the first minimum exchange error, reserving a first eight groups of exchange errors, and averaging according to the first eight groups of exchange errors to obtain a first average exchange error Dis 1.

Step S320: and judging a second maximum exchange error and a second minimum exchange error according to the second ten groups of exchange errors, removing the second maximum exchange error and the second minimum exchange error, reserving a second eight groups of exchange errors, and averaging according to the second eight groups of exchange errors to obtain a second average exchange error Dis 2.

Step S330: the filtered swapping error is obtained according to the first average swapping error Dis1 and the second average swapping error Dis 2.

According to the precision compensation method of the exchange workbench, the influence of single data on the whole is reduced by acquiring multiple groups of data for filtering, and reliable exchange error data are ensured to be obtained.

In one embodiment, step S100 may specifically include acquiring multiple sets of analog voltage data.

Step S200 may specifically include converting multiple sets of analog voltage data into multiple sets of digital voltage data, and obtaining multiple sets of switching errors according to the multiple sets of digital voltage data.

In one embodiment, the step of obtaining a plurality of sets of switching errors according to a plurality of sets of digital voltage data may specifically include:

In one embodiment, the following calculation may be used to obtain the swap error: exchange error is the digital voltage data distance equivalent.

In one embodiment, the sensor stroke is-20 mm to 30mm, and the analog-to-digital conversion accuracy is 2^16 ^ 65536. The distance equivalent is 50/65536 0.00076293945.

In one embodiment, the above method for compensating precision of an exchange workbench further includes a calibration judgment step and a calibration step, where the calibration judgment step includes judging whether the filtered exchange error is greater than a preset value, and if so, performing the calibration step.

In one embodiment, the preset value may be 2 mm.

In one embodiment, the calibration step may specifically be:

and in a stable state after the workbench is exchanged, a button for establishing a reference value on the workbench is pressed, the sensor starts to work, initial data representing the distance between the fixed end and the movable end of the workbench is obtained, and the initial data is used as a reference value of each piece of data. After acquiring a plurality of groups of data representing the distance between the fixed end and the moving end of the workbench and acquiring the filtered exchange error according to the plurality of groups of data representing the distance between the fixed end and the moving end of the workbench, if the acquired filtered exchange error is greater than a preset value, clearing the previous reference value. The button for establishing the reference value on the table is pressed again, and the reference value is acquired again as the reference value of each data thereafter.

As shown in fig. 3, the present invention further provides an apparatus for compensating the precision of an exchange workbench, which specifically includes: sensor 110, data transmission unit 120 and host computer 130, wherein:

the sensor 110 is configured to start working in a stable state after the workbench is exchanged, and acquire a plurality of sets of data representing a distance between the fixed end and the movable end of the workbench.

The data transmission unit 120 is used for transmitting a plurality of sets of data representing the distance between the fixed end and the movable end of the workbench to the upper computer 130.

The upper computer 130 is used for acquiring a plurality of groups of exchange errors according to data of distances between the fixed end and the movable end of the plurality of groups of characterization working tables, filtering the plurality of groups of exchange errors and acquiring the filtered exchange errors.

And compensating according to the filtered exchange error when the workbench is positioned.

The precision compensation apparatus of the swap table in this embodiment and the precision compensation method of the swap table in the embodiment corresponding to fig. 1 belong to the same concept, and specific implementation processes thereof are detailed in the corresponding method embodiments, and technical features in the method embodiments are applicable in this apparatus embodiment, and are not described herein again.

In one embodiment, the sensor may be a laser ranging sensor, such as a seegmini type laser ranging sensor.

In one embodiment, the sensor stroke may be-20 mm to 30 mm.

In one embodiment, the sensor side is connected to the input side of the upper computer by an ultra-flexible shielded twisted pair, so that the reliability of data transmission is ensured, and signal distortion caused by large interference generated in the transmission process is avoided.

In one embodiment, the sensor is arranged in the sealed space, when the sensor works, the gate is opened by controlling the cylinder, the sensor starts to work, the sensor is effectively protected in an industrial field environment, and the service life is prolonged.

In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless expressly limited otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A method for compensating for the accuracy of a swap table, comprising:

acquiring a plurality of groups of switching errors according to the data;

2. The method of claim 1, wherein the step of obtaining a plurality of sets of data characterizing the distance between the fixed end and the mobile end of the stage comprises: acquiring a first ten groups of voltage data in a first time period; acquiring a second ten groups of voltage data in a second time period;

3. The method of claim 2, wherein the data processing cycle of each set of the data is 6 milliseconds, the first time period is 60 milliseconds, and the second time period is 60 milliseconds.

4. The method of claim 1 or 2, wherein the step of obtaining a plurality of sets of data characterizing the distance between the fixed end and the mobile end of the stage comprises obtaining a plurality of sets of analog voltage data;

5. The method of claim 4, wherein the step of obtaining a plurality of sets of switching errors from the plurality of sets of digital voltage data comprises:

6. The method of exchanging stage accuracy compensation of claim 1, wherein the stage post-exchange steady state comprises:

7. The method of claim 1, further comprising a calibration decision and a calibration step, wherein the calibration decision comprises a decision of whether the filtered swap error is greater than a predetermined value, and if so, the calibration step is performed.

8. An apparatus for compensating for the accuracy of an exchange table, comprising: sensor, data transmission unit and host computer, wherein:

9. The apparatus for precision compensation of exchange tables according to claim 8, characterized in that said sensor is a laser ranging sensor.

10. The apparatus for precision compensation of exchange tables according to claim 9, characterized in that the sensor stroke is-20 mm to 30 mm.

11. The apparatus of claim 10, wherein the input side of the sensor to the host computer is connected by a shielded twisted pair.

12. The apparatus for compensating for the accuracy of an exchange table according to claim 11, wherein the sensor is disposed in a sealed space, and when the sensor is required to operate, the sensor is operated by controlling the cylinder to open the gate.