CN113446968B  Method for detecting and identifying installation error of main shaft and coaxiality of main shaft and C axis  Google Patents
Method for detecting and identifying installation error of main shaft and coaxiality of main shaft and C axis Download PDFInfo
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 CN113446968B CN113446968B CN202110721898.1A CN202110721898A CN113446968B CN 113446968 B CN113446968 B CN 113446968B CN 202110721898 A CN202110721898 A CN 202110721898A CN 113446968 B CN113446968 B CN 113446968B
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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
 G01B11/00—Measuring arrangements characterised by the use of optical techniques
 G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
 G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
Abstract
The invention discloses a method for detecting and identifying a spindle installation error and coaxiality of a spindle and a C axis, which relates to the technical field of numerical control machine parameter measurement and comprises the following steps: step 1: measuring data acquisition, namely measuring and recording the position deviation of the ball center of the ball head check rod when the C shaft and the main shaft are at different corner positions by using a detection instrument; and 2, step: extracting the measurement data of the C axis rotating for at least one circle in the step 1, obtaining the sphere center motion radius by utilizing a least square fitting circle, and calculating the installation inclination error of the main shaft by combining different rod lengths of the ball head detection rod; and 3, step 3: extracting the measurement data of the C axis and the main shaft rotating for at least one circle in the step 1, and performing sine function fitting to obtain a main shaft installation translation error and a main shaft and C axis coaxiality error; and 4, step 4: and repeating the steps 1 to 3, measuring for multiple times, and taking the average value of the identification results.
Description
Technical Field
The invention relates to the technical field of numerical control machine tool parameter measurement, in particular to a method for detecting and identifying a spindle installation error and coaxiality of a spindle and a C axis.
Background
As the shape and curved surface of the part to be processed by numerical control become more and more complex, the numerical control machine tool with large swing angle and large stroke range is widely applied. The machine tool is characterized in that the machine tool is provided with a Cshaped rotating shaft, so that the rotating range of a swing angle is enlarged, and the range of processing parts is wider. The swing head composed of the main shaft and the C shaft is used as an important functional part of a machine tool, the rotation precision of the swing head is a key index for reflecting the performance of a numerical control machine tool, and the rotation precision of the swing head is influenced by not only self geometric errors, but also main shaft installation errors in the machining process, so that the distribution of surface appearance textures of a machined part is determined.
At present, when a numerical control machine tool with a Cshaped rotating shaft is used for detecting the installation error and the coaxiality of a main shaft, the traditional manual measuring method such as using an inspection rod, a dial indicator and the like has the defects that the manual operation error is easily introduced, the automation degree is low, and the accuracy of a result depends on the technical level of an operator. In order to improve the automatic measurement level, the invention patent with the application number of 'CN 201810601644.4' utilizes the circular grating and the autocollimator to complete the measurement and identification of the main shaft rotation error, the method has high measurement precision, but the rotation error caused by the Caxis rotation motion of the machine tool is not considered, and the overall precision of the machine tool swing head is reduced; when the coaxiality of the spindle and the C axis is measured in the invention patent with the application number of 'CN 201510779253.8', the influence of the installation error of the spindle on the measurement result is not considered, and the accuracy of the identification result depends on the sufficient precision of the installation of the spindle, but the actual situation is not optimistic.
Generally speaking, in the prior art method, errors caused by Caxis coaxiality and spindle installation are not taken as research objects to be effectively integrated, so that the established detection and identification model is relatively single, and the method is not beneficial to effectively separating comprehensive errors of machine tool rotary motion and clarifying the action mechanism of each error factor.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a method for detecting and identifying the installation error of a main shaft and the coaxiality of the main shaft and a C axis, so that the separation and identification of the deviation value of a measuring position can be still effectively realized under the condition of considering more error sources, and the identification result is accurate and effective.
In order to solve the technical problem, the invention adopts the following technical scheme:
a method for detecting and identifying a spindle installation error and coaxiality of a spindle and a C axis comprises the following steps:
step 1: measurement data acquisition: measuring and recording the position deviation (delta x, delta y) of the ball center of the ball head check rod when the C shaft and the main shaft are at different corner positions by using a detection instrument;
step 2: identifying the mounting inclination error of the main shaft: extracting the measurement data of the C axis rotating for at least one circle in the step 1, obtaining the movement radius of the center of the sphere by using a least square fitting circle, and calculating the installation inclination error of the main shaft by combining different rod lengths of a bulb checking rod;
and step 3: identifying the mounting translation error of the main shaft and the coaxiality error of the main shaft and the C shaft: extracting the measurement data of the C axis and the main shaft in the step 1 when rotating for at least one circle, and performing sine function fitting to obtain a main shaft installation translation error and a main shaft and C axis coaxiality error;
and 4, step 4: multiple identification averaging: and repeating the steps 1 to 3, carrying out multiple measurements, and taking the average value of the identification results.
Preferably, the specific steps of step 1 are as follows:
step 11: the measuring instrument is arranged on the workbench, and the machine tool is driven to enable the center of the ball head check rod to be in contact with the measuring instrument;
step 12: according to the stroke of the C axis and the main shaft, the movement position points are divided at certain intervals, ball head detection rods with different lengths are installed on the main shaft, and the position deviation of the ball center of the ball head detection rod is measured after the ball head detection rod rotates at least one circle.
Preferably, the following experimental protocol is specifically adopted in the steps 12:
wherein C represents the motion position angle of the C axis, S represents the motion position angle of the main shaft, Δ C and Δ S respectively represent the motion intervals of the C axis and the main shaft, and i and j represent the serial numbers of the measurement angles.
Preferably, the specific steps of step 2 are as follows:
step 21: the positional deviation generated in the Caxis rotation in the step 1 is (Δ x) _{ci} ,Δy _{ci} ) I =1,2, \8230, the leastsquares fit circular curve equation formed by the deviation points is as follows:
R ^{2} ＝(xA) ^{2} +(yB) ^{2} (1)
in the formula, R is the radius of a fitting circle, A and B represent coordinate values of a circle center coordinate on an XY plane, and x and y represent coordinate values of points on the fitting circle curve;
step 22: let a = 2A, b = 2B, k = A ^{2} +B ^{2} R ^{2} Another form of least squares fit circular curve equation can be obtained:
x ^{2} +y ^{2} +ax+by+k＝0 (2)
step 23: calculating the distance from the position deviation point to the center of a circle as l _{i} ：
l _{i} ^{2} ＝(Δx _{ci} A) ^{2} +(Δy _{ci} B) ^{2} (3)
Step 24: calculating the square sum of the difference between the radius of the fitted circle and the distance of the deviation point:
Q _{i} ＝∑(l _{i} ^{2} R ^{2} ) ^{2} ＝∑(Δx _{ci} ^{2} +Δy _{ci} ^{2} +aΔx _{ci} +bΔy _{ci} +k) ^{2} (4)
substituting the measurement data to solve the formula, and obtaining a fitting circle radius R when the square sum is minimum;
step 25: finally, obtaining a main shaft installation inclination error:
wherein θ represents a spindle mounting inclination error, L _{1} 、L _{2} Respectively representing the lengths, R, of two ballend check rods with different rod lengths _{1} 、R _{2} Respectively represent L _{1} 、L _{2} The radius of a fitting circle generated by a ball head inspection rod with a long rod.
Preferably, the specific steps of step 3 are as follows:
step 31: extracting Deltax of position deviation generated when C axis rotates in step 1 _{ci} Or Δ y _{ci} Δ x of positional deviation of spindle rotation _{sj} Or Δ y _{sj} I = j =1,2, \ 8230, the sinusoidal equation formed with the Ydirection deviation values is as follows:
y＝asin(bφ+c)+d (6)
in the formula, y represents the ordinate of a point on a fitting curve, phi represents the abscissa of the point on the fitting curve, and a, b, c and d respectively represent the amplitude, angular frequency, initial phase and offset of a sinusoidal curve;
fitting the sinusoidal equation to a series of deviation points (φ, Δ y) is:
Q＝∑(asin(bΔx+c)+dΔy) ^{2} (7)
to minimize Q, one should satisfy:
solving the formula (8) to obtain each coefficient result of the sinusoidal equation;
step 32: calculating the mounting and translation error of the main shaft by using the position deviation data measured by the rotation motion of the main shaft:
r _{s} ＝a _{s} L _{1} sinθ (9)
in the formula, a _{s} Amplitude, L, representing a fit to the spindle motion data _{1} Represents the length of the sphere center checking rod, theta represents the mounting inclination error of the cutter, and r _{s} Representing the mounting and translation error of the spindle, and calculating the projection on X and Y coordinate axes by combining the initial phase;
step 33: substituting the position deviation data measured by the C axis and the main axis into calculation to obtain the coaxiality of the main axis and the C axis in the X direction and the Y direction as follows:
m _{x} ＝r _{c} cosc _{c} +r _{s} cosc _{s}
m _{y} ＝r _{c} sinc _{c} +r _{s} sinc _{s} (10)
in the formula, m _{x} 、m _{y} Respectively shows the coaxiality error of the main shaft and the C shaft in the X direction and the Y direction, C _{s} 、c _{c} Respectively representing the phase, r, of a sinusoidal fit of the spindle deviation data with the Caxis deviation data _{c} Represents the radius of fit of the Caxis motion data, where r _{c} ＝a _{c} L _{1} sinθ，a _{c} Representing the magnitude of the Caxis motion data fit.
Preferably, in step 1, the detection instrument is any one of an Rtest meter, a laser tracker, and a laser displacement sensor.
The invention has the following beneficial effects:
1. the basic principle of the invention is that error identification is completed by detecting the deviation of the actual tool tip position and the theoretical tool tip position during the rotary motion of the machine tool and then using two ballhead check rods with different lengths, and the solution of the main shaft installation error and the main shaft and Caxis coaxiality error of a fiveaxis numerical control machine with a C shaft is completed by using a least square fitting mode by combining the collected measurement data after respectively driving a C shaft and a main shaft to rotate for at least one circle according to a certain motion interval, so that the ballhead check rod does not need to be adjusted in advance during subsequent detection, and the quick detection of the deviation data of the ball center position of the check rod can be completed by subtracting the components of the error under different angles, thereby overcoming the defect that a coaxiality adjuster is needed to be used in the traditional means, easily using a numerical control system to compile measurement circulation to realize automatic detection, further improving the automatic detection and software processing capability, and having better practicability.
2. The method is efficient and accurate, has strong practicability, can still effectively realize the separation and identification of the deviation value of the measuring position under the condition of considering more error sources, has accurate and effective identification results, and is easy to realize automatic detection and identification, namely, a detection instrument is arranged at a fixed position of a workbench, a bulb detection rod is placed in a tool magazine, the detection method can realize automatic detection by compiling a measuring cycle, and a software tool can be developed to realize automatic identification based on the identification method.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a flow chart of a method for detecting and identifying a spindle installation error and coaxiality between a spindle and a C axis according to the present invention;
FIG. 2 is a schematic structural diagram of a CA doublependulum type fiveaxis numerical control machine tool with a C rotating shaft;
FIG. 3 is a schematic view of the installation error of the main shaft and the coaxiality of the main shaft and the C axis in the present invention;
FIG. 4 is a schematic diagram of the principal axis installation error and the principal axis and C axis coaxiality solving method of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures.
Due to the influence of installation, manufacturing and assembly errors of the machine tool, a coaxiality error is generated between the axis of the C shaft and the spindle, and the conical surface of the spindle is continuously abraded in the longterm use process, so that the installation inclination error and the installation translation error of the tool shank installed in the spindle are generated, as shown in an attached drawing 3. Therefore, the ballend core rod is required to be used for detection and correction so as to keep good machining precision of the machine tool.
Examples
As shown in fig. 14, the present embodiment provides a method for detecting and identifying a spindle installation error and a coaxiality between a spindle and a C axis, comprising the following steps:
step 1: measurement data acquisition: measuring and recording the position deviation (delta x, delta y) of the ball center of the ball head check rod when the C shaft and the main shaft are at different corner positions by using a detection instrument;
and 2, step: identifying the mounting inclination error of the main shaft: extracting the measurement data of the C axis rotating for at least one circle in the step 1, obtaining the movement radius of the center of the sphere by using a least square fitting circle, and calculating the installation inclination error of the main shaft by combining different rod lengths of a bulb checking rod;
and 3, step 3: identifying a main shaft installation translation error and a main shaft and C shaft coaxiality error: extracting the measurement data of the C axis and the main axis rotating for at least one circle in the step 1, and performing sine function fitting to obtain a main axis installation translation error and a main axis and C axis coaxiality error;
and 4, step 4: multiple identification averaging: and (4) repeating the steps 1 to 3, carrying out multiple measurements, and taking the average value of the identification results.
It should be noted that the "at least one rotation" in the above steps 2 and 3 may be 1, 1.5, 2, etc.
Specifically, the specific steps of step 1 are as follows:
step 11: the measuring instrument is arranged on the workbench, and the machine tool is driven to enable the center of the ballend detection rod to be in contact with the measuring instrument;
step 12: according to the stroke of the C axis and the main shaft, the movement position points are divided at certain intervals, the ballhead detection rods with different lengths are installed on the main shaft, and the position deviation of the ball center of the ballhead detection rod is measured after the main shaft rotates at least one circle.
Specifically, the following experimental scheme is specifically adopted in the steps 12:
serial number  Position of C axis  Position of the main shaft  Length of ball end test rod 
1  C＝(i1)Δc  S＝(j1)Δs  L1 
2  C＝(i1)Δc  Without limitation  L2 
Wherein C represents the motion position angle of the C axis, S represents the motion position angle of the main shaft, Δ C and Δ S respectively represent the motion intervals of the C axis and the main shaft, and i and j represent the serial numbers of the measurement angles.
Specifically, the specific steps of step 2 are as follows:
step 21: the positional deviation generated in the Caxis rotation in the step 1 is (Δ x) _{ci} ,Δy _{ci} ) I =1,2, \8230, the leastsquares fit circular curve equation formed by the deviation points is as follows:
R ^{2} ＝(xA) ^{2} +(yB) ^{2} (1)
in the formula, R is the radius of a fitting circle, A and B represent coordinate values of a circle center coordinate on an XY plane, and x and y represent coordinate values of points on the fitting circle curve;
step 22: let a = 2A, b = 2B, k =A ^{2} +B ^{2} R ^{2} Another form of least squares fit circular curve equation can be obtained:
x ^{2} +y ^{2} +ax+by+k＝0 (2)
step 23: calculating the distance from the position deviation point to the circle center as l _{i} ：
l _{i} ^{2} ＝(Δx _{ci} A) ^{2} +(Δy _{ci} B) ^{2} (3)
Step 24: calculating the square sum of the difference between the radius of the fitting circle and the distance of the deviation point:
Q _{i} ＝∑(l _{i} ^{2} R ^{2} ) ^{2} ＝∑(Δx _{ci} ^{2} +Δy _{ci} ^{2} +aΔx _{ci} +bΔy _{ci} +k) ^{2} (4)
substituting the measurement data to solve the formula, and obtaining a fitting circle radius R when the square sum is minimum;
step 25: finally, obtaining a main shaft installation inclination error:
wherein θ represents a spindle mounting inclination error, L _{1} 、L _{2} Respectively representing the length of the ballend checking rod, R, of two different rod lengths _{1} 、R _{2} Respectively represent L _{1} 、L _{2} The fitting circle radius generated by a ball head inspection rod with a long rod.
Specifically, the specific steps of step 3 are as follows:
step 31: extracting Δ x of the positional deviation generated when the C axis rotates in the step 1 _{ci} Or Δ y _{ci} Δ x of positional deviation of spindle rotation _{sj} Or Δ y _{sj} I = j =1,2, \ 8230, the sinusoidal equation formed with the Ydirection deviation values is as follows:
y＝asin(bφ+c)+d (6)
in the formula, y represents the ordinate of a point on a fitting curve, phi represents the abscissa of the point on the fitting curve, and a, b, c and d respectively represent the amplitude, angular frequency, initial phase and offset of a sinusoidal curve;
fitting the sinusoidal equation to a series of deviation points (φ, Δ y) results in:
Q＝∑(asin(bΔx+c)+dΔy) ^{2} (7)
to minimize Q, it should satisfy:
solving the formula (8) to obtain each coefficient result of the sinusoidal equation;
step 32: the position deviation data measured by the spindle rotation motion is used, and the spindle installation translation error can be calculated by combining the position deviation data with the figure 4:
r _{s} ＝a _{s} L _{1} sinθ (9)
in the formula, a _{s} Amplitude, L, representing a fit to the spindle motion data _{1} Represents the length of the ball center checking rod, theta represents the mounting inclination error of the cutter, and r _{s} Representing the mounting translation error of the main shaft, and calculating the projection on X and Y coordinate axes by combining the initial phase;
step 33: substituting the position deviation data measured by the C axis and the main axis into calculation to obtain the coaxiality of the main axis and the C axis in the X direction and the Y direction as follows:
m _{x} ＝r _{c} cosc _{c} +r _{s} cosc _{s}
m _{y} ＝r _{c} sinc _{c} +r _{s} sinc _{s} (10)
in the formula, m _{x} 、m _{y} Respectively shows the coaxiality error of the main shaft and the C shaft in the X direction and the Y direction, C _{s} 、c _{c} Respectively representing the phase, r, of a sinusoidal fit of the spindle deviation data with the Caxis deviation data _{c} Radius of fit representing Caxis motion data, where r _{c} ＝a _{c} L _{1} sinθ，a _{c} Is represented by CMagnitude of axis motion data fit.
Specifically, in step 1, the detection instrument is any one of an Rtest measuring instrument, a laser tracker, and a laser displacement sensor, and the measurement method is simple and various, and certainly not limited to the above detection instruments.
The invention respectively drives the C shaft and the main shaft to rotate for at least one circle according to a certain movement interval, and then combines the acquired measurement data to complete the solution of the main shaft installation error of the fiveaxis numerical control machine tool with the C shaft and the coaxiality error of the main shaft and the C shaft by utilizing a least square fitting mode, so that the ball head detection rod does not need to be adjusted in advance during subsequent detection, and the quick detection of the deviation data of the ball center position of the detection rod can be completed by subtracting the components of the error provided by the invention under different angles.
The identification method can still effectively realize the separation and identification of the deviation value of the measuring position under the condition of considering more error sources, thereby conveniently and accurately obtaining the Caxis coaxiality and the main shaft installation error of the fiveaxis numerical control machine tool with the Caxis, and providing a data source for the assembly debugging and the precision compensation of the machine tool; the automatic detection and identification are easy to carry out in the whole implementation process, namely, the detection instrument is arranged at a fixed position of a workbench, and the ball head detection rod is placed in a tool magazine, so that the detection method can realize automatic detection by compiling a measurement cycle; the software tool is developed by utilizing the identification algorithm to realize automatic identification, and the applicability is stronger.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (5)
1. A method for detecting and identifying a main shaft installation error and coaxiality of a main shaft and a C shaft is characterized by comprising the following steps:
step 1: collecting measurement data: measuring and recording the position deviation (delta x, delta y) of the ball center of the ball head check rod when the C shaft and the main shaft are at different corner positions by using a detection instrument;
step 2: identifying the mounting inclination error of the main shaft: extracting the measurement data of the C axis rotating for at least one circle in the step 1, obtaining the sphere center motion radius by utilizing a least square fitting circle, and calculating the installation inclination error of the main shaft by combining different rod lengths of the ball head detection rod;
and step 3: identifying the mounting translation error of the main shaft and the coaxiality error of the main shaft and the C shaft: extracting the measurement data of the C axis and the main axis rotating for at least one circle in the step 1, and performing sine function fitting to obtain a main axis installation translation error and a main axis and C axis coaxiality error;
and 4, step 4: and (3) multiple identification and averaging: repeating the steps 1 to 3, carrying out multiple measurements, and taking the average value of the identification results;
the specific steps of the step 2 are as follows:
step 21: the positional deviation generated in the Caxis rotation in the step 1 is (Δ x) _{ci} ,Δy _{ci} ) I =1,2, \8230, the leastsquares fit circular curve equation formed by the deviation points is as follows:
R ^{2} ＝(xA) ^{2} +(yB) ^{2} (1)
in the formula, R is the radius of a fitting circle, A and B represent coordinate values of a circle center coordinate on an XY plane, and x and y represent coordinate values of points on the fitting circle curve;
step 22: let a = 2A, b = 2B, k =A ^{2} +B ^{2} R ^{2} Another form of least squares fit circular curve equation can be obtained:
x ^{2} +y ^{2} +ax+by+k＝0 (2)
step 23: calculating the distance from the position deviation point to the center of a circleIs separated as _{i} ：
l _{i} ^{2} ＝(Δx _{ci} A) ^{2} +(Δy _{ci} B) ^{2} (3)
Step 24: calculating the square sum of the difference between the radius of the fitting circle and the distance of the deviation point:
Q _{i} ＝∑(l _{i} ^{2} R ^{2} ) ^{2} ＝∑(Δx _{ci} ^{2} +Δy _{ci} ^{2} +aΔx _{ci} +bΔy _{ci} +k) ^{2} (4)
substituting the measurement data to solve the formula, and obtaining a fitting circle radius R when the square sum is minimum;
step 25: finally, obtaining a main shaft installation inclination error:
wherein θ represents a spindle mounting inclination error, L _{1} 、L _{2} Respectively representing the lengths, R, of two ballend check rods with different rod lengths _{1} 、R _{2} Respectively represent L _{1} 、L _{2} Rod length ball head checking rod the resulting fitted circle radius.
2. The method for detecting and identifying the installation error of the spindle and the coaxiality of the spindle and the C axis as claimed in claim 1, wherein the specific steps of the step 1 are as follows:
step 11: the measuring instrument is arranged on the workbench, and the machine tool is driven to enable the center of the ball head check rod to be in contact with the measuring instrument;
step 12: according to the stroke of the C axis and the main shaft, the movement position points are divided at certain intervals, the ballhead detection rods with different lengths are installed on the main shaft, and the position deviation of the ball center of the ballhead detection rod is measured after the main shaft rotates at least one circle.
3. The method for detecting and identifying the installation error of the spindle and the coaxiality of the spindle and the C axis as claimed in claim 2, wherein the following experimental scheme is specifically adopted in the steps 12:
Wherein, C represents the motion position angle of the C axis, S represents the motion position angle of the main shaft, Δ C and Δ S respectively represent the motion intervals of the C axis and the main shaft, and i and j represent the serial numbers of the measurement angles.
4. The method for detecting and identifying the installation error of the spindle and the coaxiality of the spindle and the C axis as claimed in claim 3, wherein the specific steps of the step 3 are as follows:
step 31: extracting Deltax of position deviation generated when C axis rotates in step 1 _{ci} Or Δ y _{ci} Δ x of positional deviation of spindle rotation _{sj} Or Δ y _{sj} I = j =1,2, \ 8230, positive with Ydirectional deviationThe chordal curve equation is as follows:
y＝asin(bφ+c)+d (6)
in the formula, y represents the ordinate of a point on a fitting curve, phi represents the abscissa of the point on the fitting curve, and a, b, c and d respectively represent the amplitude, angular frequency, initial phase and offset of a sinusoidal curve;
fitting the sinusoidal equation to a series of deviation points (φ, Δ y) results in:
Q＝∑(asin(bΔx+c)+dΔy) ^{2} (7)
to minimize Q, it should satisfy:
solving the formula (8) to obtain each coefficient result of the sinusoidal equation;
step 32: calculating the installation and translation error of the main shaft by using the position deviation data measured by the rotation motion of the main shaft:
r _{s} ＝a _{s} L _{1} sinθ (9)
in the formula, a _{s} Amplitude, L, representing a fit to the spindle motion data _{1} Represents the length of the ball center checking rod, theta represents the mounting inclination error of the cutter, and r _{s} Representing the mounting and translation error of the spindle, and calculating the projection on X and Y coordinate axes by combining the initial phase;
step 33: substituting the position deviation data measured by the C axis and the main axis into calculation to obtain the coaxiality of the main axis and the C axis in the X direction and the Y direction as follows:
m _{x} ＝r _{c} cosc _{c} +r _{s} cosc _{s}
m _{y} ＝r _{c} sinc _{c} +r _{s} sinc _{s} (10)
in the formula, m _{x} 、m _{y} Respectively shows the coaxiality error of the main shaft and the C shaft in the X direction and the Y direction, C _{s} 、c _{c} Respectively representing the phase of the sine fit of the spindle deviation data and the Caxis deviation data, r _{c} Radius of fit representing Caxis motion data, where r _{c} ＝a _{c} L _{1} sinθ，a _{c} Representing the magnitude of the Caxis motion data fit.
5. The method for detecting and identifying the installation error of the spindle and the coaxiality of the spindle and the C axis as claimed in claim 1, wherein in the step 1, the detecting instrument is any one of an Rtest measuring instrument, a laser tracker and a laser displacement sensor.
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