CN115562160A - Right angle head indexing automatic compensation method, equipment, medium and product - Google Patents
Right angle head indexing automatic compensation method, equipment, medium and product Download PDFInfo
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- CN115562160A CN115562160A CN202211133186.9A CN202211133186A CN115562160A CN 115562160 A CN115562160 A CN 115562160A CN 202211133186 A CN202211133186 A CN 202211133186A CN 115562160 A CN115562160 A CN 115562160A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35408—Calculate new position data from actual data to compensate for contour error
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Abstract
The invention relates to a method, a device, a medium and a product for automatically compensating the indexing of a right angle head, wherein the method comprises the following steps: acquiring a target angle value, judging whether the target angle value is an integral multiple of the preset graduation of the right angle head, and if so, skipping to angle deviation compensation; compensating the angle deviation, and performing target angle compensation through the current angle of the right-angle head, the target angle value and the compensation value; and position deviation compensation, namely acquiring a position deviation value of the current angle and a position deviation value of the target angle value, and performing target position compensation through the position deviation value of the current angle and the position deviation value of the target angle value. When a user performs indexing, the program automatically executes an indexing program only by setting a target angle to complete the indexing of the right angle head; in the process of executing the indexing program, the angle deviation compensation program and the position deviation compensation program are automatically called, a user does not need to greatly change the machining program, the operation is simple, and the machining efficiency and the machining precision are improved.
Description
Technical Field
The invention relates to the technical field of image target area extraction, in particular to a method, equipment, a medium and a product for automatically compensating the indexing of a right angle head.
Background
The right-angle head is suitable for processing work such as boring and milling, end face finishing, inclined plane chamfering, complex parts and the like in the slotted hole. Due to factors such as part machining tolerance and assembly tolerance in production, axis deviation exists in a right-angle head finished product, and angle and position deviation is caused. The traditional compensation method of the right angle head comprises the following steps: the deviation between the right angle head and the target position after indexing is measured by an operator, and then the machining program is changed to perform XYZ axis compensation, so that the operation is complex, and the efficiency is low. Therefore, an automatic compensation method for indexing of the crosshead is urgently needed to improve the machining efficiency and the machining precision.
Disclosure of Invention
To achieve the above objects and other advantages and in accordance with the purpose of the invention, a first object of the present invention is to provide an automatic compensation method for indexing of a square head, comprising the steps of:
acquiring a target angle value, judging whether the target angle value is an integral multiple of the preset graduation of the right angle head, and if so, skipping to the step of angle deviation compensation;
compensating the angle deviation, and performing target angle compensation through the current angle of the right-angle head, the target angle value and the compensation value;
and position deviation compensation, namely acquiring a position deviation value of the current angle and a position deviation value of the target angle value, and performing target position compensation according to the position deviation value of the current angle and the position deviation value of the target angle value.
Further, the angular deviation compensation comprises the steps of:
obtaining a compensation value corresponding to the current angle value and the target angle value;
calculating an actual rotation angle according to the target angle value, the current angle value and a compensation value corresponding to the target angle value;
performing target angle compensation through the actual rotation angle;
updating the current angle value by the target angle value.
Further, the positional deviation compensation includes the steps of:
acquiring a deviation value of the current angle in a preset direction;
acquiring a deviation value of the target angle value in a preset direction;
and compensating the position of the target angle value in the preset direction through the deviation value of the current angle in the preset direction and the deviation value of the target angle value in the preset direction.
Further, the obtaining of the deviation value of the target angle value in the preset direction is specifically to calculate the deviation value of the target angle value in the preset direction by using a linear interpolation method.
Further, the calculating the deviation value of the target angle value in the preset direction by using a linear interpolation method comprises the following steps:
judging an angle interval where the target angle value is located;
if the target angle value is (theta) 0 ，θ 1 ]Within the range, the deviation value of the target angle value in the preset direction is
Wherein, the first and the second end of the pipe are connected with each other,
is theta 1 The value of the deviation in the current direction,
is theta 0 And the deviation value in the current direction is theta, which is the current angle value.
Further, the method also comprises the following steps: and judging whether the position deviation value exceeds a set compensation value range, if so, giving a system alarm, and otherwise, skipping to the position deviation compensation step.
Further, the angle interval includes (0, 90 ° ], (90 °,180 ° ], (180 °,270 ° ], (270 °,360 ° ]).
A second object of the present invention is to provide an electronic apparatus, comprising: a memory having program code stored thereon; a processor coupled to the memory and when the program code is executed by the processor, implementing a method for orthogonal head indexing auto-compensation.
A third object of the present invention is to provide a computer-readable storage medium having stored thereon program instructions that, when executed, implement a method of automatic compensation of indexing of a crosshead.
It is a fourth object of the present invention to provide a computer program product comprising computer programs/instructions which, when executed by a processor, implement a method for automatic compensation of squaring head indexing.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a method for automatically compensating the indexing of a rectangular head, wherein when a user indexes, only a target angle needs to be given, and a program automatically executes an indexing program to complete the indexing of the rectangular head; meanwhile, in the process of executing the indexing program, an angle deviation compensation program and a position deviation compensation program are automatically called, namely, the angle deviation and the position deviation are automatically compensated after each indexing; the automatic compensation of the angle deviation and the position deviation in the indexing process is realized through the macro program and the PMC, the machining efficiency is improved, the machining precision is improved, a user does not need to change the machining program greatly, the operation is simple and easy, and the efficiency is high; by setting the compensation value range, overcompensation can be avoided.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention and do not constitute a limitation of the invention. In the drawings:
fig. 1 is a flow chart of a method for automatically compensating for indexing of a crosshead in embodiment 1;
FIG. 2 is a first schematic diagram of the deviation measurement of embodiment 1;
FIG. 3 is a second schematic diagram of the measurement of the deviation in example 1;
FIG. 4 is a schematic view of an electronic apparatus according to embodiment 2;
fig. 5 is a schematic diagram of a computer-readable storage medium of embodiment 3.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
Example 1
A dividing automatic compensation method for a rectangular head carries out automatic compensation of angle deviation and position deviation through a macro program and a PMC so as to improve machining efficiency and machining precision. As shown in fig. 1, the method comprises the following steps:
when a user performs indexing, the program automatically executes an indexing program only by setting a target angle to complete the indexing of the right angle head; meanwhile, in the process of executing the indexing program, the angle deviation compensation program and the position deviation compensation program are automatically called, namely, the angle deviation and the position deviation are automatically compensated at the end of each indexing.
Acquiring a target angle value, judging whether the target angle value is an integral multiple of the preset graduation of the right angle head, and if so, skipping to the step of angle deviation compensation; otherwise, the system alarms. In the case of a quarter-angle head of 90 °,360 °/90 ° =4 compensation angles can be set, and usually, the compensation is not performed with reference to 0 ° of the quarter-angle head, and the angle compensation is performed at 90 °,180 °, and 270 °. If refinement is required, macro variables and statement judgment can be added. Taking a right angle head of 5 degrees and one minute as an example, 360 degrees/5 degrees =72 compensation angles can be set, and angle compensation is carried out at 5 degrees, 10 degrees, 8230DEG and 355 degrees by taking the right angle head of 0 degrees as a reference.
The power of indexing of the right-angle head is supported on the ram main shaft, and the ram main shaft drives the right-angle head to index through the spline.
And angle deviation compensation, namely performing target angle compensation through the current angle of the right-angle head, the target angle value and the compensation value. Specifically, the method comprises the following steps:
obtaining a compensation value corresponding to the current angle value and the target angle value; taking the current angle value as 0 degrees and the target angle value as 90 degrees as an example, theoretically, the distance of the right angle head required to move is as follows: target angle value-current angle value =90 °. Because of the existence of clearance, assembly tolerance and other factors in the machine, part of the angle is offset during movement, the default of the system is advanced by 90 degrees, the actual right-angle head is only advanced by 89 degrees, and therefore compensation of 1 degree is needed, namely the compensation value corresponding to the target angle value is 1 degree.
Calculating an actual rotation angle according to the target angle value, the current angle value and the compensation value corresponding to the target angle value; the actual movement distance of the crosshead is therefore: target angle value-current angle value + compensation value =90 ° -0 ° +1 ° =91 °.
Carrying out target angle compensation through the actual rotation angle;
and updating the current angle value through the target angle value. Such as updating the current angle value to 90.
A standard 3-axis machine tool has established a coordinate relationship with the workpiece. After the right-angle head is added, the position deviation is shown in a three-dimensional space under the influence of factors such as assembly tolerance and the like without additionally increasing a coordinate system by using the coordinate relation of the 3 axes. The spatial position needs to be compensated to compensate for the deviation from the 3-axis position.
And position deviation compensation, namely acquiring a position deviation value of the current angle and a position deviation value of the target angle value, and performing target position compensation through the position deviation value of the current angle and the position deviation value of the target angle value.
Specifically, the method comprises the following steps:
acquiring a deviation value of the current angle in a preset direction;
acquiring a deviation value of the target angle value in a preset direction;
and compensating the position of the target angle value in the preset direction through the deviation value of the current angle in the preset direction and the deviation value of the target angle value in the preset direction.
In this embodiment, each position compensation data of the right angle head is set according to the position of the C axis, and is divided into four groups, which are respectively 0 °,90 °,180 ° and 270 °, each group is divided into three axis directions of X/Y/Z, and the input unit of the compensation data is mm.
In one embodiment, the position deviation compensation of the target angle value of 90 ° is taken as an example, and the measurement deviation is performed in a tangential manner, as shown in fig. 2 and 3. The milling surfaces and the milling method are shown in table 1.
TABLE 1 milling surface and milling method
| Serial number | Milled surface | Milling method |
| 1 | A | Ram spindle forward milling machine |
| 2 | B | Right angle head main shaft side milling |
| 3 | C | Ram spindle side milling |
| 4 | D | Right-angle head main shaft forward milling machine |
| 5 | G | Ram spindle side milling |
| 6 | H | Right-angle head main shaft side milling machine |
A. And B, surface comparison: the influencing factor is the axis deviation of the crosshead in the Z direction. If the surface A is higher than the surface B, the fact that the axis of the right-angle head is inclined downwards in the Z direction is indicated, and in the compensation variable from the positive value to the Z direction, half of the difference value of the height of the step is the deviation value in the Z direction;
C. d, surface comparison: the influencing factor is the axis deviation of the crosshead in the Y direction. If the C surface is higher than the D surface, the fact that the axis of the right-angle head is deviated in the Y direction is shown, in a compensation variable from a negative value to the Y direction, half of the difference value of the height of the step is the deviation value in the Y direction;
G. h-plane comparison: the influencing factor is the deviation of the axis of the right angle head in the X direction. If the G surface is higher than the H surface, the fact that the axis of the right-angle head deviates in the X direction is indicated, and in the compensation variable from a negative value to the X direction, half of the difference value of the height of the step is the deviation in the X direction;
similarly, the deviation values in the other directions can be tested.
At the rest of the tilt angles, the spatial deviation values are difficult to measure. Namely, when the target angle value does not belong to 0 degrees, 90 degrees, 180 degrees and 270 degrees, in order to facilitate the calculation of the deviation value of the target angle value in the preset direction, a linear interpolation method is adopted to calculate the deviation value of the target angle value in the preset direction. For uniform calculation, linear functions were constructed by using deviation values of 0 degrees and 90 degrees, 90 degrees and 180 degrees, 180 degrees and 270 degrees, 270 and 0 degrees. Specifically, the method comprises the following steps:
judging an angle interval where the target angle value is located; in this embodiment, the angle interval includes (0, 90 ° ], (90 °,180 ° ], (180 °,270 ° ], (270 °,360 ° ]).
If the target angle value is (theta) 0 ，θ 1 ]Within the range, the deviation value of the target angle value in the preset direction is
Wherein, the first and the second end of the pipe are connected with each other,
is theta 1 The value of the deviation in the current direction,
is theta 0 And the deviation value in the current direction is theta, which is the current angle value.
If the deviation of the target angle value of 45 ° in the X direction is calculated, since 45 ° is between 0 ° and 90 °, the deviation value of 0 ° in the X direction is X 0° Deviation value of 90 DEG in X direction is X 90° To obtain two coordinates (0 degree, X) 0° ) And (90, X) 90° ) The deviation of the target angle value of 45 ° in the X direction is then: (X) 90° -X 0° )*(45°-0°)/(90°-0°)+X 0° And the deviations in other directions are calculated by the same method.
And informing the compensation value to the system by using a mode that the PMC reads the macro variable, and sending a compensation instruction by the system to finally realize the offset of the coordinate axis. The extended external origin offset is output in superposition with error compensation functions such as pitch error compensation and straightness compensation, and the coordinate values are not updated.
In order to avoid excessive compensation, the method also comprises the following steps: and judging whether the position deviation value exceeds a set compensation value range, if so, carrying out system alarm, and otherwise, skipping to the position deviation compensation step.
Example 2
An electronic device 200, as shown in FIG. 4, includes but is not limited to: a memory 201 having program code stored thereon; a processor 202 coupled to the memory and when the program code is executed by the processor, implementing a method for auto-compensation of a crosshead index. For the detailed description of the method, reference may be made to the corresponding description in the foregoing method embodiments, and details are not repeated here.
Example 3
A computer readable storage medium, as shown in fig. 5, having stored thereon program instructions which, when executed, implement a method for automatic compensation of a crosshead index. For the detailed description of the method, reference may be made to the corresponding description in the above method embodiments, which is not repeated herein.
Example 4
A computer program product comprising computer programs/instructions which when executed by a processor implement a method of auto-compensation of a crosshead index. For the detailed description of the method, reference may be made to the corresponding description in the foregoing method embodiments, and details are not repeated here.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.
All the embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from other embodiments.
The foregoing is merely an example of the present specification and is not intended to limit one or more embodiments of the present specification. Various modifications and alterations to one or more embodiments described herein will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of one or more embodiments of the present specification should be included in the scope of claims of one or more embodiments of the present specification. One or more embodiments of this specification.
Claims (10)
1. The automatic compensation method for indexing of the right angle head is characterized by comprising the following steps of:
acquiring a target angle value, judging whether the target angle value is an integral multiple of the preset graduation of the right angle head, and if so, skipping to the step of compensating the angle deviation;
compensating the angle deviation, and performing target angle compensation through the current angle of the right-angle head, the target angle value and the compensation value;
and position deviation compensation, namely acquiring a position deviation value of the current angle and a position deviation value of the target angle value, and performing target position compensation according to the position deviation value of the current angle and the position deviation value of the target angle value.
2. A crosshead index automatic compensation method according to claim 1, wherein said angular deviation compensation includes the steps of:
obtaining a current angle value and a compensation value corresponding to the target angle value;
calculating an actual rotation angle according to the target angle value, the current angle value and a compensation value corresponding to the target angle value;
performing target angle compensation through the actual rotation angle;
updating the current angle value by the target angle value.
3. A method for the automatic compensation of the indexing of a square head according to claim 2, wherein the compensation of the position deviation comprises the following steps:
acquiring a deviation value of the current angle in a preset direction;
acquiring a deviation value of the target angle value in a preset direction;
and compensating the position of the target angle value in the preset direction through the deviation value of the current angle in the preset direction and the deviation value of the target angle value in the preset direction.
4. The automatic compensation method for the indexing of the square head according to claim 3, wherein: the step of obtaining the deviation value of the target angle value in the preset direction is specifically to calculate the deviation value of the target angle value in the preset direction by adopting a linear interpolation method.
5. The method for automatically compensating for the indexing of a square head according to claim 4, wherein the step of calculating the deviation value of the target angle value in the preset direction by using a linear interpolation method comprises the following steps:
judging an angle interval where the target angle value is located;
if the target angle value is (theta) 0 ，θ 1 ]Within the range, the deviation value of the target angle value in the preset direction is
Wherein the content of the first and second substances,
is theta 1 The deviation value in the current direction is,
is theta 0 And the deviation value in the current direction is theta, which is the current angle value.
6. The method for automatically compensating for the indexing of a crosshead according to claim 1, further comprising the steps of: and judging whether the position deviation value exceeds a set compensation value range, if so, giving a system alarm, and otherwise, skipping to the position deviation compensation step.
7. The method for automatically compensating the indexing of the square head according to claim 5, wherein: the angle interval includes (0, 90 ° ], (90 °,180 ° ], (180 °,270 ° ], (270 °,360 ° ]).
8. An electronic device, comprising: a memory having program code stored thereon; a processor coupled with the memory and implementing the method of any of claims 1 to 7 when the program code is executed by the processor.
9. A computer-readable storage medium, having stored thereon program instructions which, when executed, implement the method of any one of claims 1 to 7.
10. A computer program product comprising computer program/instructions, characterized in that the computer program/instructions, when executed by a processor, implement the method according to any one of claims 1 to 7.
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| CN202211133186.9A CN115562160A (en) | 2022-09-16 | 2022-09-16 | Right angle head indexing automatic compensation method, equipment, medium and product |
| PCT/CN2022/128524 WO2024055391A1 (en) | 2022-09-16 | 2022-10-31 | Automatic compensation method for right-angle head indexing, and device, medium and product |
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| CN202211133186.9A CN115562160A (en) | 2022-09-16 | 2022-09-16 | Right angle head indexing automatic compensation method, equipment, medium and product |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116543052A (en) * | 2023-06-15 | 2023-08-04 | 深圳荣耀智能机器有限公司 | Alignment deviation processing method and electronic equipment |
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| CN102581705B (en) * | 2012-03-09 | 2014-03-05 | 南京航空航天大学 | Division compensation method for machining error during milling of workpiece |
| DE102013210462B4 (en) * | 2013-02-07 | 2024-05-29 | Deckel Maho Pfronten Gmbh | Method and device for determining a spindle compensation on a numerically controlled machine tool, numerically controlled machine tool and computer program product |
| CN104615082B (en) * | 2014-12-19 | 2017-04-05 | 北京理工大学 | A kind of real-time compensation device in place of working angles middle guide coupling error and method |
| KR20190050019A (en) * | 2017-11-02 | 2019-05-10 | 현대위아 주식회사 | Apparatus for compensating deformation in machine tool and method thereof |
| CN111367237A (en) * | 2020-04-10 | 2020-07-03 | 山东理工大学 | Post-processing method of non-orthogonal five-axis vertical-horizontal conversion numerical control machine tool |
| CN112139855B (en) * | 2020-08-21 | 2022-01-25 | 成都飞机工业（集团）有限责任公司 | Machine tool compensation method |
| CN112846934B (en) * | 2021-01-07 | 2022-01-28 | 宁波天瑞精工机械有限公司 | Full-automatic exchange multidirectional swing head automatic indexing control method and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116543052A (en) * | 2023-06-15 | 2023-08-04 | 深圳荣耀智能机器有限公司 | Alignment deviation processing method and electronic equipment |
| CN116543052B (en) * | 2023-06-15 | 2023-11-10 | 深圳荣耀智能机器有限公司 | Alignment deviation processing method and electronic equipment |
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