CN114326586B - Geometric error compensation method, device, terminal and computer readable storage medium - Google Patents
Geometric error compensation method, device, terminal and computer readable storage medium Download PDFInfo
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Abstract
The invention discloses a geometric error compensation method, a device, a terminal and a computer readable storage medium, comprising the following steps: establishing an XYZ error compensation model, and acquiring an XYZ error compensation value of the target point according to the XYZ error compensation model; establishing a first angle error compensation model, and acquiring a first angle error compensation value of the target point on a first rotation axis according to the first angle error compensation model; establishing a second angle error compensation model, and acquiring a second angle error compensation value of the target point on a second rotating shaft according to the second angle error compensation model; and carrying out XYZ linear translation axis and error compensation on two rotation axes on the target point according to the XYZ axis error compensation value, the first angle error compensation value and the second angle error compensation value. The invention realizes effective geometric error compensation for the five-axis linkage laser machine tool so as to improve the machining precision of the machine tool.
Description
Technical Field
The present invention relates to the field of error compensation of laser machine tools, and in particular, to a geometric error compensation method, a device, a terminal, and a computer readable storage medium.
Background
The five-axis linkage laser machine tool is a high-efficiency and high-precision numerical control machine tool, is specially used for machining complex curved surfaces, and is one of the most important machining equipment in the modern manufacturing industry. However, the machining and assembly precision of the parts can bring inherent geometric errors to the five-axis linkage laser machine tool. In recent years, with the wider application of five-axis linkage laser machine tools in the field of complex precision machining, higher and higher requirements are also put on machine tool machining precision and performance detection, but the exposed machine tool error problem becomes a barrier for further development.
Therefore, by measuring and compensating, the influence of geometric errors is reduced, and the improvement of the machining precision of a machine tool is one of important targets pursued by modern manufacturing science and technology. Compared with a three-translation-axis machine tool, the five-axis linkage laser machine tool has more geometric errors due to the fact that two rotating shafts are introduced, and the two rotating shafts and the five-axis linkage laser machine tool present a complex coupling relation in measurement compensation, so that geometric error measurement and compensation of the five-axis linkage laser machine tool are more difficult.
Disclosure of Invention
The invention mainly aims to provide a geometric error compensation method, a geometric error compensation device, a terminal and a computer readable storage medium, and aims to realize effective geometric error compensation for a five-axis linkage laser machine tool so as to improve the machining precision of the machine tool.
In order to achieve the above object, the present invention provides a geometric error compensation method, comprising the following steps:
Establishing an XYZ error compensation model, and acquiring an XYZ error compensation value of the target point according to the XYZ error compensation model;
Establishing a first angle error compensation model, and acquiring a first angle error compensation value of the target point on a first rotation axis according to the first angle error compensation model;
establishing a second angle error compensation model, and acquiring a second angle error compensation value of the target point on a second rotating shaft according to the second angle error compensation model;
And carrying out XYZ linear translation axis and error compensation on two rotation axes on the target point according to the XYZ axis error compensation value, the first angle error compensation value and the second angle error compensation value.
Optionally, in the step of establishing the XYZ error compensation model, the method includes the steps of:
the mechanical zero point of the five-axis linkage laser machine tool corresponds to an original point preset by a laser tracker, and a space rectangular coordinate system is established;
Establishing a space geometrical body in a space rectangular coordinate system, wherein the space geometrical body comprises N x N cubes, and the original coordinates of each vertex of the cubes in the established space rectangular coordinate system are (xi, yi, zi);
acquiring actual position coordinates (xn, yn, zn) when the five-axis linkage laser machine tool moves to each vertex of the cube by using the laser tracker;
And (3) taking a difference value between the original coordinate and the actual position coordinate, and establishing an XYZ error compensation model (delta x, delta y, delta z), wherein delta x=xn-xi, delta y=yn-yi, and delta z=zn-zi.
Optionally, in the step of acquiring XYZ error compensation values of the target point according to the XYZ error compensation model, the method includes the steps of:
acquiring the square to which the target point belongs in the space geometry;
And acquiring the XYZ error compensation value of the target point by using a volume weighted average method.
Optionally, the step of acquiring XYZ error compensation values of the target point by using a volume weighted average method includes:
defining the XYZ error compensation value of the target point as (Px, py, pz), then
Px=V1x*(x2*y2*z2/x*y*z)+V2x*(x2*y1*z2/x*y*z)+V3x*(x2*y2*z1/x*y*z)+V4x*(x2*y1*z1/x*y*z)+V5x*(x1*y2*z2/x*y*z)+V6x*(x1*y1*z2/x*y*z)+ V7x*(x1*y2*z1/x*y*z)+ V8x*(x1*y1*z1/x*y*z);
Py=V1y*(x2*y2*z2/x*y*z)+V2y*(x2*y1*z2/x*y*z)+V3y*(x2*y2*z1/x*y*z)+V4y*(x2*y1*z1/x*y*z)+V5y*(x1*y2*z2/x*y*z)+V6y*(x1*y1*z2/x*y*z)+V7y*(x1*y2*z1/x*y*z)+V8y*(x1*y1*z1/x*y*z);
Pz=V1z*(x2*y2*z2/x*y*z)+V2z*(x2*y1*z2/x*y*z)+V3z*(x2*y2*z1/x*y*z)+V4z*(x2*y1*z1/x*y*z)+V5z*(x1*y2*z2/x*y*z)+V6z*(x1*y1*z2/x*y*z)+ V7z*(x1*y2*z1/x*y*z)+ V8z*(x1*y1*z1/x*y*z);
( Note that the sign of the above "×" represents a multiplier sign, meaning that the two are multiplied. The following is the same as )
Wherein (V1 x, V1y, V1 z), (V2 x, V2y, V2 z),. The term "(V8 x, V8y, V8 z) is a coordinate value corresponding to 8 vertices (V1, V2.. The term" V8 ") of the cube;
X is the distance in the X-axis direction of the cube, Y is the distance in the Y-axis direction of the cube, and Z is the distance in the Z-axis direction of the cube;
X1 and X2 are distances of the target point in the direction of the X axis in the cube, wherein x1+x2=x;
Y1 and Y2 are distances of the target point in the direction of the Y axis in the cube, wherein y1+y2=y;
z1 and Z2 are distances of the target point in the direction of the Z axis in the cube, wherein z1+z2=z.
Optionally, the step of establishing the first angle error compensation model includes the following steps:
the center of a positioning ball of a first rotating shaft of the five-axis linkage laser machine tool corresponds to a zero point preset by an eccentric error detector;
Splitting the rotation range of the first rotation shaft into N equally divided sector areas, and acquiring eccentric errors (delta xj, delta yj, delta zj) of the first rotation shaft at the boundary of each sector area from the eccentric error detector when the first rotation shaft rotates to traverse all the sector areas;
An eccentric angle error value Deltaθaj of the boundary of each sector is obtained by using an inverse trigonometric function, wherein Deltaθaj=atan2 (Deltayj, deltazj),
And establishing a first angle error compensation model by using bilinear interpolation according to the delta theta aj.
Optionally, the step of acquiring the first angle error compensation value of the target point according to the first angle error compensation model includes the following steps:
acquiring a sector area of the target point in a first rotation axis, wherein the sector area belongs to the first angle error compensation model;
And acquiring a first angle error compensation value of the target point by using a fan-shaped area ratio method.
Optionally, the step of obtaining the first angle error compensation value of the target point by using a fan-shaped area ratio method includes:
defining the first angle error compensation value of the target point as delta theta p, then,
Δ θp = Δ（θaj）*(L2/L)+Δ（θaj+1）*(L1/L)；
Wherein L is the arc length in the sector formed by thetaj to thetaj+1;
l1 and L2 are arc length distances θaj and θaj+1, respectively, of the arc length of the target point in the sector, wherein l1+l2=l;
Delta (thetaj) and delta (thetaj+1) are eccentric angle error values of the front and rear boundaries in the sector to which the target point belongs, respectively.
In order to achieve the above object, the present invention further provides a geometric error compensation device, configured to execute the geometric error compensation method, including:
The XYZ error compensation module is used for processing and establishing an XYZ error compensation model and acquiring XYZ error compensation values of the target point according to the XYZ error compensation model;
The first angle error compensation module is used for processing and establishing a first angle error compensation model, and acquiring a first angle error compensation value of the target point on a first rotation axis according to the first angle error compensation model;
The second angle error compensation module is used for processing and establishing a second angle error compensation model and acquiring a second angle error compensation value of the target point on a second rotating shaft according to the second angle error compensation model;
and the target compensation module is used for processing the XYZ linear translation axis and the error compensation on two rotation axes of the target point according to the XYZ axis error compensation value, the first angle error compensation value and the second angle error compensation value.
In order to achieve the above object, the present invention also proposes a terminal comprising: the device comprises a processor, a memory and a geometric error compensation program stored in the memory and capable of running on the processor, wherein the geometric error compensation program realizes the steps of the geometric error compensation method when being executed by the processor.
To achieve the above object, the present invention also proposes a computer-readable storage medium having stored thereon a geometric error compensation program which, when executed by a processor, implements the steps of the geometric error compensation method described above.
Compared with the prior art, the invention has the beneficial effects that:
According to the method, an XYZ error compensation model is established, and the XYZ error compensation value of the target point is obtained according to the XYZ error compensation model; establishing a first angle error compensation model, and acquiring a first angle error compensation value of the target point on a first rotation axis according to the first angle error compensation model; establishing a second angle error compensation model, and acquiring a second angle error compensation value of the target point on a second rotating shaft according to the second angle error compensation model; and finally, carrying out the error compensation on the XYZ linear translation axes and the two rotation axes on the target point according to the XYZ axis error compensation value, the first angle error compensation value and the second angle error compensation value. Therefore, the five-axis linkage laser machine tool can be subjected to effective geometric error compensation, and the machining precision of the machine tool is improved.
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In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a hardware structure of an embodiment of a mobile terminal;
FIG. 2 is a schematic diagram of a wireless communication device of the mobile terminal of FIG. 1;
FIG. 3 is a flow chart of a first embodiment of the geometric error compensation method of the present invention;
FIG. 4 is a flow chart of a second embodiment of the geometric error compensation method of the present invention;
FIG. 5 is an auxiliary diagram of step S12 in a second embodiment of the geometric error compensation method of the present invention;
FIG. 6 is an auxiliary diagram of step S16 in a second embodiment of the geometric error compensation method of the present invention;
FIG. 7 is a flow chart of a third embodiment of the geometric error compensation method of the present invention;
FIG. 8 is an auxiliary schematic diagram of step 26 in a third embodiment of the geometric error compensation method of the present invention;
fig. 9 is a flowchart of a geometric error compensation method according to a fourth embodiment of the present invention.
Detailed Description
The following description of the present invention will be made more fully hereinafter with reference to the accompanying drawings, in which it is shown, however, some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In the following description, suffixes such as "module", "component", or "unit" for representing elements are used only for facilitating the description of the present invention, and have no specific meaning per se. Thus, "module," "component," or "unit" may be used in combination.
The terminal may be implemented in various forms. For example, the terminals described in the present invention may include mobile terminals such as a mobile phone, a tablet computer, a notebook computer, a palm computer, a Personal digital assistant (Personal DIGITAL ASSISTANT, PDA), a Portable media player (Portable MEDIA PLAYER, PMP), a navigation device, a wearable device, a smart bracelet, a pedometer, and the like, as well as fixed terminals such as a digital TV, a desktop computer, and the like.
The following description will be given taking a mobile terminal as an example, and those skilled in the art will understand that the configuration according to the embodiment of the present invention can be applied to a fixed type terminal in addition to elements particularly used for a moving purpose.
Referring to fig. 1, which is a schematic diagram of a hardware structure of a mobile terminal implementing various embodiments of the present invention, the mobile terminal 100 may include: an RF (Radio Frequency) unit 101, a WiFi module 102, an audio output unit 103, an a/V (audio/video) input unit 104, a sensor 105, a display unit 106, a user input unit 107, an interface unit 108, a memory 109, a processor 110, and a power supply 111. Those skilled in the art will appreciate that the mobile terminal structure shown in fig. 1 is not limiting of the mobile terminal and that the mobile terminal may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
The following describes the components of the mobile terminal in detail with reference to fig. 1:
The radio frequency unit 101 may be used for receiving and transmitting signals during the information receiving or communication process, specifically, after receiving downlink information of the base station, processing the downlink information by the processor 110; and, the uplink data is transmitted to the base station. Typically, the radio frequency unit 101 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, and the like. In addition, the radio frequency unit 101 may also communicate with networks and other devices via wireless communications. The wireless communication may use any communication standard or protocol, including but not limited to GSM (Global System of Mobile communication, global System for Mobile communications), GPRS (GENERAL PACKET Radio Service), CDMA2000 (Code Division Multiple Access, code Division multiple Access 2000), WCDMA (Wideband Code Division Multiple Access ), TD-SCDMA (Time Division-Synchronous Code Division Multiple Access, time Division synchronous code Division multiple Access), FDD-LTE (Frequency Division Duplexing-Long Term Evolution, frequency Division Duplex Long term evolution) and TDD-LTE (Time Division Duplexing-Long Term Evolution, time Division Duplex Long term evolution), etc.
WiFi belongs to a short-distance wireless transmission technology, and a mobile terminal can help a user to send and receive e-mails, browse web pages, access streaming media and the like through the WiFi module 102, so that wireless broadband Internet access is provided for the user. Although fig. 1 shows a WiFi module 102, it is understood that it does not belong to the necessary constitution of a mobile terminal, and can be omitted entirely as required within a range that does not change the essence of the invention.
The audio output unit 103 may convert audio data received by the radio frequency unit 101 or the WiFi module 102 or stored in the memory 109 into an audio signal and output as sound when the mobile terminal 100 is in a call signal reception mode, a talk mode, a recording mode, a voice recognition mode, a broadcast reception mode, or the like. Also, the audio output unit 103 may also provide audio output (e.g., a call signal reception sound, a message reception sound, etc.) related to a specific function performed by the mobile terminal 100. The audio output unit 103 may include a speaker, a buzzer, and the like.
The a/V input unit 104 is used to receive an audio or video signal. The a/V input unit 104 may include a graphics processor (Graphics Processing Unit, GPU) 1041 and a microphone 1042, the graphics processor 1041 processing image data of still pictures or video obtained by an image capturing device (e.g. a camera) in a video capturing mode or an image capturing mode. The processed image frames may be displayed on the display unit 106. The image frames processed by the graphics processor 1041 may be stored in the memory 109 (or other storage medium) or transmitted via the radio frequency unit 101 or the WiFi module 102. The microphone 1042 can receive sound (audio data) via the microphone 1042 in a phone call mode, a recording mode, a voice recognition mode, and the like, and can process such sound into audio data. The processed audio (voice) data may be converted into a format output that can be transmitted to the mobile communication base station via the radio frequency unit 101 in the case of a telephone call mode. The microphone 1042 may implement various types of noise cancellation (or suppression) algorithms to cancel (or suppress) noise or interference generated in the course of receiving and transmitting the audio signal.
The mobile terminal 100 also includes at least one sensor 105, such as a light sensor, a motion sensor, and other sensors. Specifically, the light sensor includes an ambient light sensor and a proximity sensor, wherein the ambient light sensor can adjust the brightness of the display panel 1061 according to the brightness of ambient light, and the proximity sensor can turn off the display panel 1061 and/or the backlight when the mobile terminal 100 moves to the ear. The accelerometer sensor can detect the acceleration in all directions (generally three axes), can detect the gravity and the direction when the accelerometer sensor is static, can be used for identifying the gesture of a mobile phone (such as transverse and vertical screen switching, related games, magnetometer gesture calibration), vibration identification related functions (such as pedometer and knocking), and the like, and can be configured as other sensors such as fingerprint sensors, pressure sensors, iris sensors, molecular sensors, gyroscopes, barometers, hygrometers, thermometers, infrared sensors and the like, which are not repeated herein.
The display unit 106 is used to display information input by a user or information provided to the user. The display unit 106 may include a display panel 1061, and the display panel 1061 may be configured in the form of a Liquid crystal display (Liquid CRYSTAL DISPLAY, LCD), an Organic Light-Emitting Diode (OLED), or the like.
The user input unit 107 may be used to receive input numeric or character information and to generate key signal inputs related to user settings and function control of the mobile terminal. In particular, the user input unit 107 may include a touch panel 1071 and other input devices 1072. The touch panel 1071, also referred to as a touch screen, may collect touch operations thereon or thereabout by a user (e.g., operations of the user on the touch panel 1071 or thereabout by using any suitable object or accessory such as a finger, a stylus, etc.) and drive the corresponding connection device according to a predetermined program. The touch panel 1071 may include two parts of a touch detection device and a touch controller. The touch detection device detects the touch azimuth of a user, detects a signal brought by touch operation and transmits the signal to the touch controller; the touch controller receives touch information from the touch detection device, converts it into touch point coordinates, and sends the touch point coordinates to the processor 110, and can receive and execute commands sent from the processor 110. Further, the touch panel 1071 may be implemented in various types such as resistive, capacitive, infrared, and surface acoustic wave. The user input unit 107 may include other input devices 1072 in addition to the touch panel 1071. In particular, other input devices 1072 may include, but are not limited to, one or more of a physical keyboard, function keys (e.g., volume control keys, switch keys, etc.), a trackball, mouse, joystick, etc., as specifically not limited herein.
Further, the touch panel 1071 may overlay the display panel 1061, and when the touch panel 1071 detects a touch operation thereon or thereabout, the touch panel 1071 is transferred to the processor 110 to determine the type of touch event, and then the processor 110 provides a corresponding visual output on the display panel 1061 according to the type of touch event. Although in fig. 1, the touch panel 1071 and the display panel 1061 are two independent components for implementing the input and output functions of the mobile terminal, in some embodiments, the touch panel 1071 may be integrated with the display panel 1061 to implement the input and output functions of the mobile terminal, which is not limited herein.
The interface unit 108 serves as an interface through which at least one external device can be connected with the mobile terminal 100. For example, the external devices may include a wired or wireless headset port, an external power (or battery charger) port, a wired or wireless data port, a memory card port, a port for connecting a device having an identification module, an audio input/output (I/O) port, a video I/O port, an earphone port, and the like. The interface unit 108 may be used to receive input (e.g., data information, power, etc.) from an external device and transmit the received input to one or more elements within the mobile terminal 100 or may be used to transmit data between the mobile terminal 100 and an external device.
Memory 109 may be used to store software programs as well as various data, and memory 109 may be a computer storage medium, with memory 109 storing the message alert program of the present invention. The memory 109 may mainly include a storage program area that may store an operating system, application programs required for at least one function (such as a sound playing function, an image playing function, etc.), and a storage data area; the storage data area may store data (such as audio data, phonebook, etc.) created according to the use of the handset, etc. In addition, memory 109 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.
The processor 110 is a control center of the mobile terminal, connects various parts of the entire mobile terminal using various interfaces and lines, and performs various functions of the mobile terminal and processes data by running or executing software programs and/or modules stored in the memory 109 and calling data stored in the memory 109, thereby performing overall monitoring of the mobile terminal. Such as processor 110, executes the message alert program in memory 109 to implement the steps of the message alert method embodiments of the present invention.
Processor 110 may include one or more processing units; alternatively, the processor 110 may integrate an application processor that primarily handles operating systems, user interfaces, applications, etc., with a modem processor that primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 110.
The mobile terminal 100 may further include a power supply 111 (e.g., a battery) for supplying power to the respective components, and optionally, the power supply 111 may be logically connected to the processor 110 through a power management system, so as to perform functions of managing charging, discharging, and power consumption management through the power management system.
Although not shown in fig. 1, the mobile terminal 100 may further include a bluetooth module or the like, which is not described herein.
In order to facilitate understanding of the embodiments of the present invention, a communication network system on which the mobile terminal of the present invention is based will be described below.
Referring to fig. 2, fig. 2 is a schematic diagram of a communication network system according to an embodiment of the present invention, where the communication network system is an LTE system of a general mobile communication technology, and the LTE system includes a UE (User Equipment) 201, an E-UTRAN (Evolved UMTS Terrestrial Radio Access Network ) 202, an epc (Evolved Packet Core, evolved packet core) 203, and an IP service 204 of an operator that are sequentially connected in communication.
Specifically, the UE201 may be the terminal 100 described above, and will not be described herein.
The E-UTRAN202 includes eNodeB2021 and other eNodeB2022, etc. The eNodeB2021 may be connected with other eNodeB2022 by a backhaul (e.g., an X2 interface), the eNodeB2021 is connected to the EPC203, and the eNodeB2021 may provide access from the UE201 to the EPC 203.
EPC203 may include MME (Mobility MANAGEMENT ENTITY ) 2031, HSS (Home Subscriber Server, home subscriber server) 2032, other MMEs 2033, SGW (SERVING GATE WAY ) 2034, PGW (PDN GATE WAY, packet data network gateway) 2035, PCRF (Policy AND CHARGING Rules Function) 2036, and the like. The MME2031 is a control node that handles signaling between the UE201 and EPC203, providing bearer and connection management. HSS2032 is used to provide registers to manage functions such as home location registers (not shown) and to hold user specific information about service characteristics, data rates, etc. All user data may be sent through SGW2034 and PGW2035 may provide IP address allocation and other functions for UE201, PCRF2036 is a policy and charging control policy decision point for traffic data flows and IP bearer resources, which selects and provides available policy and charging control decisions for a policy and charging enforcement function (not shown).
IP services 204 may include the internet, intranets, IMS (IP Multimedia Subsystem ), or other IP services, etc.
Although the LTE system is described above as an example, it should be understood by those skilled in the art that the present invention is not limited to LTE systems, but may be applied to other wireless communication systems, such as GSM, CDMA2000, WCDMA, TD-SCDMA, and future new network systems.
Based on the above mobile terminal hardware structure and the communication network system, various embodiments of the method of the present invention are provided.
The invention provides a geometric error compensation method applied to a five-axis linkage laser machine tool, and in a first embodiment of the geometric error compensation method, referring to fig. 3, the method comprises the following steps:
step S10: establishing an XYZ error compensation model, and acquiring an XYZ error compensation value of the target point according to the XYZ error compensation model;
step S20: establishing a first angle error compensation model, and acquiring a first angle error compensation value of the target point on a first rotation axis according to the first angle error compensation model;
step S30: establishing a second angle error compensation model, and acquiring a second angle error compensation value of the target point on a second rotating shaft according to the second angle error compensation model;
Step S40: and carrying out XYZ linear translation axis and error compensation on two rotation axes on the target point according to the XYZ axis error compensation value, the first angle error compensation value and the second angle error compensation value.
Compared with a three-translation-axis machine tool in the background art, the five-axis linkage laser machine tool has more geometric errors due to the introduction of two rotating shafts, and the two rotating shafts show complex coupling relations in measurement compensation, so that the geometric errors of the five-axis linkage laser machine tool are more difficult to measure and compensate.
Based on the above, in the present embodiment, an XYZ error compensation model is established in the application, and an XYZ error compensation value of the target point is obtained according to the XYZ error compensation model; establishing a first angle error compensation model, and acquiring a first angle error compensation value of the target point on a first rotation axis according to the first angle error compensation model; establishing a second angle error compensation model, and acquiring a second angle error compensation value of the target point on a second rotating shaft according to the second angle error compensation model; and finally, carrying out the error compensation on the XYZ linear translation axes and the two rotation axes on the target point according to the XYZ axis error compensation value, the first angle error compensation value and the second angle error compensation value. Therefore, the five-axis linkage laser machine tool can be subjected to effective geometric error compensation, and the machining precision of the machine tool is improved.
In addition, the processing system of the five-axis linkage laser machine tool applied in the embodiment comprises a laser, a water cooling machine, a cutting head or a welding head, a motion module, software control, an electric control system and the like. Wherein the laser is used for generating laser used in cutting/welding; each shaft in the motion module is connected with a servo motor and used for controlling the gesture of the workpiece during cutting/welding, so that the cutting/welding path of the surface of the workpiece is positioned on a laser focus. The software is mainly used for controlling the output of laser power and the generation of NC codes. The electronic control system provides necessary hardware interfaces and electrical control for the laser board card and the motion control card.
Further, a second embodiment of the geometric error compensation method is proposed based on the first embodiment, and referring to fig. 4, in step S10, the method includes the steps of:
step S11: the mechanical zero point of the five-axis linkage laser machine tool corresponds to an original point preset by a laser tracker, and a space rectangular coordinate system is established;
Step S12: establishing a space geometrical body in a space rectangular coordinate system, wherein the space geometrical body comprises N x N cubes (shown in figure 5), and the original coordinates of each vertex of the cubes in the space rectangular coordinate system are (xi, yi, zi);
step S13: acquiring actual position coordinates (xn, yn, zn) when the five-axis linkage laser machine tool moves to each vertex of the cube by using the laser tracker;
Step S14: the original coordinates and the actual position coordinates are subjected to difference value, and an XYZ error compensation model (delta x, delta y, delta z) is built, wherein delta x=xn-xi, delta y=yn-yi, and delta z=zn-zi;
step S15: acquiring the square to which the target point belongs in the space geometry;
step S16: and acquiring the XYZ error compensation value of the target point by using a volume weighted average method.
When the embodiment is applied, the mechanical zero point of the five-axis linkage laser machine tool corresponds to an original point preset by a laser tracker, and a space rectangular coordinate system is established; establishing a space geometrical body in a space rectangular coordinate system, wherein the space geometrical body comprises N x N cubes, and the original coordinates of each vertex of the cubes in the established space rectangular coordinate system are (xi, yi, zi); acquiring actual position coordinates (xn, yn, zn) when the five-axis linkage laser machine tool moves to each vertex of the cube by using the laser tracker; the original coordinates and the actual position coordinates are subjected to difference value, and an XYZ error compensation model (delta x, delta y, delta z) is built, wherein delta x=xn-xi, delta y=yn-yi, and delta z=zn-zi; then acquiring the square to which the target point belongs in the space geometry; and acquiring the XYZ error compensation value of the target point by using a volume weighted average method. The XYZ error compensation value of the target point can be accurately and effectively obtained through the technical means.
The specific operation steps of step S16 are as follows: as shown in fig. 6, the XYZ error compensation value of the target point P is defined as (Px, py, pz), then
Px=V1x*(x2*y2*z2/x*y*z)+V2x*(x2*y1*z2/x*y*z)+V3x*(x2*y2*z1/x*y*z)+V4x*(x2*y1*z1/x*y*z)+V5x*(x1*y2*z2/x*y*z)+V6x*(x1*y1*z2/x*y*z)+ V7x*(x1*y2*z1/x*y*z)+ V8x*(x1*y1*z1/x*y*z);
Py=V1y*(x2*y2*z2/x*y*z)+V2y*(x2*y1*z2/x*y*z)+V3y*(x2*y2*z1/x*y*z)+V4y*(x2*y1*z1/x*y*z)+V5y*(x1*y2*z2/x*y*z)+V6y*(x1*y1*z2/x*y*z)+V7y*(x1*y2*z1/x*y*z)+V8y*(x1*y1*z1/x*y*z);
Pz=V1z*(x2*y2*z2/x*y*z)+V2z*(x2*y1*z2/x*y*z)+V3z*(x2*y2*z1/x*y*z)+V4z*(x2*y1*z1/x*y*z)+V5z*(x1*y2*z2/x*y*z)+V6z*(x1*y1*z2/x*y*z)+ V7z*(x1*y2*z1/x*y*z)+ V8z*(x1*y1*z1/x*y*z);
Wherein (V1 x, V1y, V1 z), (V2 x, V2y, V2 z),. The term "(V8 x, V8y, V8 z) is a coordinate value corresponding to 8 vertices (V1, V2.. The term" V8 ") of the cube;
X is the distance in the X-axis direction of the cube, Y is the distance in the Y-axis direction of the cube, and Z is the distance in the Z-axis direction of the cube;
x1 and X2 are distances of the target point P in the direction of the X axis in the cube, wherein x1+x2=x;
Y1 and Y2 are distances of the target point P in the direction of the Y axis in the cube, wherein y1+y2=y;
Z1 and Z2 are distances of the target point P in the direction of the Z axis in the cube, wherein z1+z2=z.
Further, a third embodiment of the geometric error compensation method is proposed based on the first embodiment, and referring to fig. 5, in step S20, the method includes the steps of:
Step S21: the center of a positioning ball of a first rotating shaft of the five-axis linkage laser machine tool corresponds to a zero point preset by an eccentric error detector;
Step S22: splitting the rotation range of the first rotation shaft into N equally divided sector areas, and acquiring eccentric errors (delta xj, delta yj, delta zj) of the first rotation shaft at the boundary of each sector area from the eccentric error detector when the first rotation shaft rotates to traverse all the sector areas;
step S23: an eccentric angle error value Deltaθaj of the boundary of each sector is obtained by using an inverse trigonometric function, wherein Deltaθaj=atan2 (Deltayj, deltazj),
Step S24: establishing a first angle error compensation model by utilizing bilinear interpolation according to the delta theta aj;
step S25: acquiring a sector area of the target point in a first rotation axis, wherein the sector area belongs to the first angle error compensation model;
Step S26: and acquiring a first angle error compensation value of the target point by using a fan-shaped area ratio method.
The eccentric error detector is a non-contact R-test measuring instrument of the Netherlands IBS company, can accurately measure the eccentric error and is generally applied to a five-axis linkage laser machine tool.
When the method is applied, the center of the positioning ball of the first rotating shaft of the five-axis linkage laser machine tool corresponds to a zero point preset by the eccentric error detector; splitting the rotation range of the first rotation shaft into N equally divided sector areas, and acquiring eccentric errors (delta xj, delta yj, delta zj) of the first rotation shaft at the boundary of each sector area from the eccentric error detector when the first rotation shaft rotates to traverse all the sector areas; obtaining an eccentric angle error value delta theta aj of the boundary of each sector area by using an inverse trigonometric function, wherein delta theta aj=atan2 (delta yj, delta zj), and establishing a first angle error compensation model by using bilinear interpolation according to delta theta aj; then acquiring a sector area of the target point in a first rotation axis, wherein the sector area belongs to the first angle error compensation model; and acquiring a first angle error compensation value of the target point by using a fan-shaped area ratio method. The first angle error compensation value of the target point can be accurately and effectively obtained through the technical means.
The specific operation steps of step S26 are as follows: as shown in fig. 8, the first angle error compensation value of the target point P is defined as Δθp, then,
Δ θp = Δ（θaj）*(L2/L)+Δ（θaj+1）*(L1/L)；
Wherein L is the arc length in the sector formed by thetaj to thetaj+1;
L1 and L2 are arc length distances θaj and θaj+1, respectively, in the arc length of the target point P in the sector, where l1+l2=l;
delta (thetaj) and delta (thetaj+1) are eccentric angle error values of the front and rear boundaries in the sector area to which the target point P belongs, respectively;
The rotation radius R of the first rotation axis is known, and can be obtained by measuring the first rotation axis of the five-axis linkage laser machine tool.
In addition, the specific steps for obtaining the second angle error compensation value in step S30 are substantially the same as those in the present embodiment, so the present application will not be described in detail. Those skilled in the art can understand that the specific step of obtaining the second angle error compensation value in step S30 is not necessary for the inventive step of deducing after the specific step of obtaining the first angle error compensation value in this embodiment. This is also within the scope of the present application.
Further, a fourth embodiment of the geometric error compensation method is proposed based on the first embodiment, and referring to fig. 6, in step S40, the method includes the steps of:
Step S41: acquiring an XYZ original value of a target point on an XYZ linear translation axis, and adding the XYZ original value and an XYZ error compensation value to obtain an XYZ actual value of the target point;
Step S42: acquiring a first angle original value of a target point on a first rotation axis, and adding the first angle original value and a first angle error compensation value to obtain a first angle actual value of the target point;
Step S43: and obtaining a second angle original value of the target point on a second rotation axis, and adding the second angle original value and a second angle error compensation value to obtain a second angle actual value of the target point.
When the embodiment is applied, the XYZ original value of the target point on the XYZ linear translation axis is obtained, and the XYZ original value and the XYZ error compensation value are added to obtain the XYZ actual value of the target point; acquiring a first angle original value of a target point on a first rotation axis, and adding the first angle original value and a first angle error compensation value to obtain a first angle actual value of the target point; and obtaining a second angle original value of the target point on a second rotation axis, and adding the second angle original value and a second angle error compensation value to obtain a second angle actual value of the target point. After geometric error compensation is carried out on the XYZ original value, the first angle original value and the second angle original value, the machining precision of the machine tool can be effectively improved.
In addition, an embodiment of the present invention further provides a geometric error compensation device, configured to execute the geometric error compensation method, including:
The XYZ error compensation module is used for processing and establishing an XYZ error compensation model and acquiring XYZ error compensation values of the target point according to the XYZ error compensation model;
The first angle error compensation module is used for processing and establishing a first angle error compensation model, and acquiring a first angle error compensation value of the target point on a first rotation axis according to the first angle error compensation model;
The second angle error compensation module is used for processing and establishing a second angle error compensation model and acquiring a second angle error compensation value of the target point on a second rotating shaft according to the second angle error compensation model;
and the target compensation module is used for processing the XYZ linear translation axis and the error compensation on two rotation axes of the target point according to the XYZ axis error compensation value, the first angle error compensation value and the second angle error compensation value.
The embodiment of the invention provides a geometric error compensation method, and provides a geometric error compensation device based on the method, wherein an XYZ error compensation model is established, and XYZ error compensation values of the target point are obtained according to the XYZ error compensation model; establishing a first angle error compensation model, and acquiring a first angle error compensation value of the target point on a first rotation axis according to the first angle error compensation model; establishing a second angle error compensation model, and acquiring a second angle error compensation value of the target point on a second rotating shaft according to the second angle error compensation model; and carrying out XYZ linear translation axis and error compensation on two rotation axes on the target point according to the XYZ axis error compensation value, the first angle error compensation value and the second angle error compensation value. Therefore, the five-axis linkage laser machine tool can be subjected to effective geometric error compensation, and the machining precision of the machine tool is improved.
In addition, the embodiment of the invention also provides a terminal, which comprises: a processor, a memory and a geometrical error compensation program stored on the memory and executable on the processor, which when executed by the processor implements the steps of the geometrical error compensation method as described in the above embodiments.
In addition, the embodiment of the present invention also proposes a computer readable storage medium, on which a geometric error compensation program is stored, which when executed by a processor, implements the steps of the geometric error compensation method described in the above embodiment.
It should be noted that, the geometric error compensation method, the device, the terminal and the other contents of the computer readable storage medium disclosed in the present invention are related art, and are not described herein again.
In addition, it should be noted that, if there is a directional indication (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention, the directional indication is merely used to explain the relative positional relationship, movement condition, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indication is correspondingly changed.
Furthermore, it should be noted that the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
The foregoing is merely an alternative embodiment of the present invention, and is not intended to limit the scope of the present invention, and all applications of the present invention directly/indirectly in other related technical fields are included in the scope of the present invention.
Claims (8)
1. A geometric error compensation method, characterized by: the method comprises the following steps:
Establishing an XYZ error compensation model, and acquiring an XYZ error compensation value of a target point according to the XYZ error compensation model;
Establishing a first angle error compensation model, and acquiring a first angle error compensation value of the target point on a first rotation axis according to the first angle error compensation model;
establishing a second angle error compensation model, and acquiring a second angle error compensation value of the target point on a second rotating shaft according to the second angle error compensation model;
Performing XYZ linear translation axes and error compensation on two rotation axes on the target point according to the XYZ error compensation value, the first angle error compensation value and the second angle error compensation value;
The step of establishing the first angle error compensation model comprises the following steps:
the center of a positioning ball of a first rotating shaft of the five-axis linkage laser machine tool corresponds to a zero point preset by an eccentric error detector;
Splitting the rotation range of the first rotation shaft into N equally divided sector areas, and acquiring eccentric errors (delta xj, delta yj, delta zj) of the first rotation shaft at the boundary of each sector area from the eccentric error detector when the first rotation shaft rotates to traverse all the sector areas;
An eccentric angle error value Deltaθaj of the boundary of each sector is obtained by using an inverse trigonometric function, wherein Deltaθaj=atan2 (Deltayj, deltazj),
Establishing a first angle error compensation model by utilizing bilinear interpolation according to the delta theta aj;
the step of obtaining the first angle error compensation value of the target point according to the first angle error compensation model includes the following steps:
acquiring a sector area of the target point in a first rotation axis, wherein the sector area belongs to the first angle error compensation model;
And acquiring a first angle error compensation value of the target point by using a fan-shaped area ratio method.
2. The geometric error compensation method according to claim 1, wherein: the step of establishing the XYZ error compensation model comprises the following steps:
the mechanical zero point of the five-axis linkage laser machine tool corresponds to an original point preset by a laser tracker, and a space rectangular coordinate system is established;
Establishing a space geometrical body in a space rectangular coordinate system, wherein the space geometrical body comprises N x N cubes, and the original coordinates of each vertex of each cube in the established space rectangular coordinate system are (xi, yi, zi);
acquiring actual position coordinates (xn, yn, zn) when the five-axis linkage laser machine tool moves to each vertex of the cube by using the laser tracker;
And (3) taking a difference value between the original coordinate and the actual position coordinate, and establishing an XYZ error compensation model (delta x, delta y, delta z), wherein delta x=xn-xi, delta y=yn-yi, and delta z=zn-zi.
3. The geometric error compensation method according to claim 2, wherein: the step of acquiring the XYZ error compensation value of the target point according to the XYZ error compensation model includes the steps of:
acquiring the square to which the target point belongs in the space geometry;
And acquiring the XYZ error compensation value of the target point by using a volume weighted average method.
4. A geometric error compensation method according to claim 3, characterized in that: the step of obtaining the XYZ error compensation value of the target point by using the volume weighted average method includes:
defining the XYZ error compensation value of the target point as (Px, py, pz), then
Px=V1x*(x2*y2*z2/x*y*z)+V2x*(x2*y1*z2/x*y*z)+V3x*(x2*y2*z1/x*y*z)+V4x*(x2*y1*z1/x*y*z)+V5x*(x1*y2*z2/x*y*z)+V6x*(x1*y1*z2/x*y*z)+ V7x*(x1*y2*z1/x*y*z)+ V8x*(x1*y1*z1/x*y*z);
Py=V1y*(x2*y2*z2/x*y*z)+V2y*(x2*y1*z2/x*y*z)+V3y*(x2*y2*z1/x*y*z)+V4y*(x2*y1*z1/x*y*z)+V5y*(x1*y2*z2/x*y*z)+V6y*(x1*y1*z2/x*y*z)+V7y*(x1*y2*z1/x*y*z)+V8y*(x1*y1*z1/x*y*z);
Pz=V1z*(x2*y2*z2/x*y*z)+V2z*(x2*y1*z2/x*y*z)+V3z*(x2*y2*z1/x*y*z)+V4z*(x2*y1*z1/x*y*z)+V5z*(x1*y2*z2/x*y*z)+V6z*(x1*y1*z2/x*y*z)+ V7z*(x1*y2*z1/x*y*z)+ V8z*(x1*y1*z1/x*y*z);
Wherein (V1 x, V1y, V1 z), (V2 x, V2y, V2 z),. The term "(V8 x, V8y, V8 z) is a coordinate value corresponding to 8 vertices (V1, V2.. The term" V8 ") of the cube;
X is the distance in the X-axis direction of the cube, Y is the distance in the Y-axis direction of the cube, and Z is the distance in the Z-axis direction of the cube;
X1 and X2 are distances of the target point in the direction of the X axis in the cube, wherein x1+x2=x;
Y1 and Y2 are distances of the target point in the direction of the Y axis in the cube, wherein y1+y2=y;
z1 and Z2 are distances of the target point in the direction of the Z axis in the cube, wherein z1+z2=z.
5. The geometric error compensation method according to claim 1, wherein: the step of obtaining the first angle error compensation value of the target point by using a fan-shaped area ratio method comprises the following steps:
defining the first angle error compensation value of the target point as delta theta p, then,
Δ θp = Δ（θaj）*(L2/L)+Δ（θaj+1）*(L1/L)；
Wherein L is the arc length in the sector formed by thetaj to thetaj+1;
l1 and L2 are arc length distances θaj and θaj+1, respectively, of the arc length of the target point in the sector, wherein l1+l2=l;
Delta (thetaj) and delta (thetaj+1) are eccentric angle error values of the front and rear boundaries in the sector to which the target point belongs, respectively.
6. A geometric error compensation device, characterized by: a method for performing the geometrical error compensation of any of claims 1-5, comprising:
The XYZ error compensation module is used for processing and establishing an XYZ error compensation model and acquiring XYZ error compensation values of the target point according to the XYZ error compensation model;
The first angle error compensation module is used for processing and establishing a first angle error compensation model, and acquiring a first angle error compensation value of the target point on a first rotation axis according to the first angle error compensation model;
The second angle error compensation module is used for processing and establishing a second angle error compensation model and acquiring a second angle error compensation value of the target point on a second rotating shaft according to the second angle error compensation model;
And the target compensation module is used for processing the XYZ linear translation axis and the error compensation on two rotation axes of the target point according to the XYZ error compensation value, the first angle error compensation value and the second angle error compensation value.
7. A terminal, characterized by: the terminal comprises: a processor, a memory and a geometrical error compensation program stored on the memory and executable on the processor, which when executed by the processor implements the steps of the geometrical error compensation method according to any one of claims 1 to 5.
8. A computer-readable storage medium, characterized by: the computer readable storage medium has stored thereon a geometrical error compensation program which, when executed by a processor, implements the steps of the geometrical error compensation method according to any of claims 1 to 5.
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