CN114193008B - RTCP parameter calibration method for five-axis linkage laser processing equipment - Google Patents
RTCP parameter calibration method for five-axis linkage laser processing equipment Download PDFInfo
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Abstract
The invention provides a method for calibrating RTCP parameters of five-axis linkage laser processing equipment, which can solve the problems of limited RTCP parameter calibration precision and the like in the existing method by optimizing the RTCP parameters of the five-axis linkage laser processing equipment, realizes the precise calibration and compensation of the RTCP parameters and has important significance for improving the five-axis interpolation precision of the five-axis linkage laser processing equipment.
Description
Technical Field
The invention belongs to the field of laser precision manufacturing, and particularly relates to a method for calibrating RTCP parameters of five-axis linkage laser processing equipment.
Background
At present, in laser processing of a complex curved surface part, a five-axis linkage laser processing method is a common technology for realizing the part, in a typical five-axis linkage device adopting a laser double-pendulum-axis processing head (generally comprising two motors which are vertically arranged, and can realize rotation of laser in a horizontal plane and swing of the laser in a vertical plane), in order to realize high-efficiency and high-precision movement and positioning of the laser in space, an RTCP (real time protocol) five-axis linkage technology must be adopted, and each vector related to the double-pendulum-axis processing head needs to be accurately calibrated, so that a control system automatically corrects a laser focus point when the five-axis laser device rotates, and the focus point is ensured to move according to a set track of an instruction.
Chinese patent 2018106993942 discloses an RTCP precision compensation method for five-axis laser processing equipment, which discusses the calibration method of each vector in fig. 1 in detail, however, the method is used on the premise that the zero position of the laser double pendulum axis processing head needs to be calibrated accurately, if the zero position calibration is not accurate, calibration deviation occurs in each vector in the calibration process, thereby reducing the interpolation precision of the laser five axis. Furthermore, this method is also not applicable if the axis of the focused spot and the wobble axis do not coincide.
Disclosure of Invention
The invention provides an RTCP parameter calibration method for five-axis linkage laser processing equipment, which can solve the problems of limited RTCP parameter calibration precision and the like in the existing method by optimizing RTCP parameters of the five-axis linkage laser processing equipment, realizes accurate calibration and compensation of RTCP parameters, and has important significance for improving the five-axis interpolation precision of the five-axis linkage laser processing equipment.
In order to realize the purpose, the invention adopts the following technical scheme:
a RTCP parameter calibration method for five-axis linkage laser processing equipment comprises the following steps:
step one, taking a mechanical end surface vertical to the axis of the shaft A as a reference, rotating a shaft C to enable the mechanical end surface to be vertical to the X axis of the machine tool, and setting the position of the shaft C at the moment as a zero position of the shaft C;
calibrating RTCP parameters of an RTCP function;
the RTCP parameters comprise an offset vector between an axis A and an axis C, an offset vector between the axis C and a central axis of the laser beam, an offset vector between the axis A and the central axis of the laser beam, an offset vector between a laser focus and the axis A, and a vector between the axis C and the laser focus;
step three, the control system starts the RTCP function of the five-axis linkage laser processing equipment, rotates the A axis to + P degrees, starts the fiber laser, enables the laser beam to act on the processed test piece, and processes the mark symbol;
rotating the axis A to-P degrees, starting the fiber laser, acting the laser beam on the processed test piece, and processing the mark symbol again;
observing the two processed mark symbols of the third step and the fourth step on the processed test piece through a microscope, observing whether the central points of the two mark symbols have deviation or not, and simultaneously observing the deviation directions of the two mark symbols; if no deviation exists, executing a step eight, and if the deviation exists along the X direction, correcting zero position data of the C axis in the control system according to the deviation direction;
step six, repeating the step three to the step five until the two mark symbols do not have deviation along the X direction, and finishing zero position correction of the C axis;
step seven, calibrating the RTCP parameters of the RTCP function again according to the modified zero position of the C axis;
moving the Z axis to enable the laser focus to move to the position above the processed test piece, wherein the laser focus is in a defocused state and can be processed on the processed test piece;
the control system starts the RTCP function of the five-axis linkage laser processing equipment, positions the A axis to 0 degrees, +/-Q degrees and-Q degrees respectively, and processes the mark symbol on the processed test piece again;
tenthly, observing and comparing the position relationship among the three mark symbols processed in the step nine through a microscope, and if the two mark symbols processed at the angles of +/-Q degrees and-Q degrees are not symmetrical left and right relative to the mark symbol of 0 degrees, adjusting an offset vector n between an axis A and the central axis of the laser beam in the RTCP parameter;
and eleventh, repeating the ninth step to the tenth step until the two processed signs + Q DEG and-Q DEG are in bilateral symmetry relative to the 0 DEG sign, correcting the offset vector m of the axis of the A-axis and the axis of the C-axis at the moment to ensure that the equation m + n is established, wherein k is the offset vector from the axis of the C-axis to the central axis of the laser beam, and calibrating the RTCP parameter at the moment.
Further, in step three, the A axis is rotated to +30 °, and in step four, the A axis is rotated to-30 °.
Further, in the ninth step, the value range of Q is 5-60.
Further, in the ninth step, the axis a is respectively positioned to 0 °, +30 °.
Further, the mark symbol is a cross.
Compared with the prior art, the invention has the following beneficial effects:
the calibration of the RTCP parameters is easily influenced by links such as the initial zero calibration precision of the processing head, mechanical assembly errors and the like, so that the calibration of the RTCP of the high-precision five-axis linkage laser processing equipment cannot be realized.
Drawings
FIG. 1 is a schematic diagram of a RTCP precision compensation method of a conventional five-axis laser processing device;
fig. 2 is a diagram of a laser processing system for carrying out the method of the present invention.
Reference numerals: 1-fiber laser, 2-Y axis, 3-Z axis, 4-C axis, 5-A axis, 6-processed test piece, 7-X axis, 8-microscope, 9-control system and 10-side surface of laser processing head.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention and are not intended to limit the scope of the present invention.
Because the prior method mainly describes how to calibrate the vector parameters of the double-swing-axis processing head, the situations that how to determine the initial state of the C axis of the double-swing-axis processing head and the offset distance between the AC axes exist are not explained, the initial state of the C axis and the offset distance between the AC axes are critical to the calibration of the RTCP parameters, and if the parameters are incorrect, the calibration of the RTCP parameters is necessarily wrong. Therefore, according to the RTCP parameter calibration method for the five-axis linkage laser processing equipment, the RTCP parameters of the five-axis linkage laser processing equipment are accurately calibrated by determining the initial state of the C axis and the offset distance between the AC axes of the double-swing-axis processing head. The method can accurately calibrate the zero position of the laser double-pendulum-axis machining head and optimize the RTCP parameter calibration result, thereby ensuring the accurate calibration of each axis vector in the RTCP five-axis linkage function and having important significance for improving the interpolation precision of laser machining equipment using the laser double-pendulum-axis machining head.
As shown in fig. 2, the processing system for implementing the method of the present invention comprises a fiber laser 1, a Y-axis 2, a Z-axis 3, a C-axis 4, an a-axis 5, a sample to be processed 6, an X-axis 7, a microscope 8 and a control system 9, wherein the forward movement directions of the axes are shown by arrows in fig. 2. The optical fiber laser 1 transmits laser to an A axis 5 through an optical fiber and focuses through a 200mm focusing mirror; the linear motion of the machine tool can be realized by the motion axes X-axis 7, Y-axis 2 and Z-axis 3; the rotating shaft A shaft 5 and the rotating shaft C shaft 4 are used for realizing the rotating motion of the machine tool; the microscope 8 is used for detecting the processed test piece 6 after laser processing, and the control system 9 is used for controlling five-axis movement and positioning.
The RTCP parameter calibration method of the five-axis linkage laser processing equipment comprises the following specific steps:
step one, taking a mechanical end surface vertical to the axis of an A shaft 5 as a reference, rotating a C shaft 4 to ensure that the mechanical end surface is vertical to an X shaft 7 of a machine tool, and setting the position of the C shaft 4 at the moment as a zero position of the C shaft 4;
as shown in fig. 2, the machine end face may be a side face 10 of a laser processing head;
calibrating RTCP parameters required by the RTCP function;
the RTCP parameters are respectively: the offset vector between the axis of the A shaft and the axis of the C shaft, the offset vector between the axis of the C shaft and the central axis of the laser beam, the offset vector between the axis of the A shaft and the central axis of the laser beam, the offset vector between the laser focus and the axis of the A shaft and the vector between the axis of the C shaft and the laser focus; the five vectors form a vector closed loop, and the last vector can be calculated by calibrating the first 4 vectors, so that the vector from the C axis to the laser focus is not calibrated generally;
step three, the control system 9 starts the RTCP function of the five-axis linkage laser processing equipment, rotates the A axis by 5 to +30 degrees, starts the optical fiber laser 1, acts the laser beam on the processed test piece 6 and processes the cross;
rotating the A shaft by 5-30 degrees, starting the optical fiber laser 1, acting laser on the processed test piece 6, and processing the cross again;
observing two crosses respectively processed in the third step and the fourth step on the processed test piece 6 through a microscope 8, observing whether the central points of the two crosses have deviation, and simultaneously observing the deviation directions of the two crosses; if no deviation exists, executing step eight, if deviation exists along the X direction, correcting zero position data of the C shaft 4 in the control system 9 according to the deviation direction;
step six, repeating the step three to the step five until the front cross character and the rear cross character do not have deviation along the X direction, and finishing zero position correction of the C shaft 4 at the moment;
step seven, calibrating each RTCP parameter required by the RTCP function again according to the modified zero position of the C axis 4;
the calibration process of the step is similar to that of the step two;
moving the Z shaft 3 to enable the laser focus to move to a position 10mm above the processed test piece 6, enabling the laser focus to be in a defocused state, and processing the processed test piece 6;
ninthly, the control system 9 starts the RTCP function of the five-axis linkage laser processing equipment, positions the A axis 5 to 0 degrees, +/-30 degrees and-30 degrees respectively, and processes a cross on the processed test piece 6;
step ten, observing and comparing the position relation among the three cross characters processed in the step ten through a microscope 8, and if the two cross characters processed at minus 30 degrees and minus 30 degrees are not symmetrical relative to the cross character at 0 degree, adjusting an offset vector n between an A axis 5 and the central axis of the laser beam in the RTCP parameter;
eleventh, repeating the ninth step to the tenth step until the two cross characters processed at +/-30 degrees and-30 degrees are bilaterally symmetrical relative to the cross character at 0 degrees, correcting an offset vector m between the axis of the A shaft 5 and the axis of the C shaft 4 at the moment to ensure that an equation m + n is established, k is the offset vector between the axis of the C shaft 4 and the central axis of the laser beam, and calibrating the RTCP parameters at the moment;
moving the Z axis 3, acting the laser focus on the surface of the processed test piece 6, rotating the A axis by 50 degrees, plus-60 degrees and minus-60 degrees, and respectively marking the cross; and observing through the microscope 8, and if the cross-shaped characters are not overlapped, adjusting the offset vector of the laser focus to the axis of the A shaft 5 in the control system 9 until the three cross-shaped characters are overlapped.
Claims (5)
1. A RTCP parameter calibration method for five-axis linkage laser processing equipment is characterized by comprising the following steps:
step one, taking a mechanical end surface vertical to the axis of the shaft A as a reference, rotating the shaft C to enable the mechanical end surface to be vertical to the X axis of the machine tool, and setting the position of the shaft C at the moment as a zero position of the shaft C;
calibrating RTCP parameters of an RTCP function;
the RTCP parameters comprise an offset vector between an axis A and an axis C, an offset vector between the axis C and a central axis of the laser beam, an offset vector between the axis A and the central axis of the laser beam, an offset vector between a laser focus and the axis A, and a vector between the axis C and the laser focus;
step three, the control system starts the RTCP function of the five-axis linkage laser processing equipment, rotates the A axis to + P degrees, starts the fiber laser, acts the laser beam on the processed test piece, and processes the mark symbol;
rotating the A axis to-P degrees, starting the fiber laser, enabling the laser beam to act on the processed test piece, and processing the mark symbol again;
observing the two processed mark symbols on the processed test piece in the third step and the fourth step through a microscope, observing whether the center points of the two mark symbols have deviation or not, and simultaneously observing the deviation directions of the two mark symbols; if no deviation exists, executing a step eight, if the deviation exists along the X direction, correcting zero position data of the C axis in the control system according to the deviation direction;
step six, repeating the step three to the step five until the two mark symbols do not have deviation along the X direction, and finishing zero position correction of the C axis;
step seven, calibrating the RTCP parameters of the RTCP function again according to the modified zero position of the C axis;
moving the Z axis to enable the laser focus to move to the position above the processed test piece, wherein the laser focus is in a defocused state and can be processed on the processed test piece;
the control system starts the RTCP function of the five-axis linkage laser processing equipment, positions the A axis to 0 degrees, +/-Q degrees and-Q degrees respectively, and processes the mark symbol on the processed test piece again;
tenthly, observing and comparing the position relationship among the three mark symbols processed in the step nine through a microscope, and if the two mark symbols processed at the angles of +/-Q degrees and-Q degrees are not symmetrical left and right relative to the mark symbol of 0 degrees, adjusting an offset vector n between an axis A and the central axis of the laser beam in the RTCP parameter;
and eleventh, repeating the ninth step to the tenth step until the two processed signs of +/-Q degrees and-Q degrees are in bilateral symmetry relative to the 0-degree sign, correcting an offset vector m between the axis of the a axis and the axis of the C axis at the moment to ensure that an equation m + n is established, wherein k is the offset vector between the axis of the C axis and the central axis of the laser beam, and calibrating the RTCP parameters at the moment.
2. The RTCP parameter calibration method for the five-axis linkage laser processing equipment as claimed in claim 1, characterized in that: in the third step, the A axis is rotated to +30 degrees, and in the fourth step, the A axis is rotated to-30 degrees.
3. The RTCP parameter calibration method for the five-axis linkage laser processing equipment as claimed in claim 1, characterized in that: in the ninth step, the value range of Q is 5-60.
4. The RTCP parameter calibration method for the five-axis linkage laser processing equipment according to claim 1, characterized in that: in the ninth step, the axis A is respectively positioned to 0 °, + -30 °.
5. The RTCP parameter calibration method for the five-axis linkage laser processing equipment according to claim 1, characterized in that: the mark symbol is a cross word.
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| CN100468038C (en) * | 2007-01-16 | 2009-03-11 | 成都飞机工业（集团）有限责任公司 | S-shaped test piece for integrated detecting precision of numerical control milling machine and its detecting method |
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| CN107717219A (en) * | 2017-11-28 | 2018-02-23 | 上海航天精密机械研究所 | Five axle three-dimensional laser cutting machine RTCP trueness error compensation methodes |
| CN108334030A (en) * | 2017-12-19 | 2018-07-27 | 成都飞机工业（集团）有限责任公司 | A kind of double pendulum header structure five-axle number control machine tool RTCP calibration and compensation method |
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