CN220105560U

CN220105560U - Five-axis linkage calibration system

Info

Publication number: CN220105560U
Application number: CN202321461640.3U
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Jiangsu Lidao Technology Co ltd
Current assignee: Jiangsu Lidao Technology Co ltd
Priority date: 2023-06-08
Filing date: 2023-06-08
Publication date: 2023-11-28
Anticipated expiration: 2033-06-08

Abstract

The utility model discloses a five-axis linkage calibration system, which comprises a base, wherein the base is provided with a base; the Y-axis module is arranged on the base and is provided with a Y-axis output end; the device comprises a V-axis module and a U-axis module, wherein the V-axis module is arranged at a Y-axis output end and provided with a V-axis output end, the U-axis module is arranged at a V-axis output end and provided with a U-axis output end, and the U-axis output end is used for setting a calibration element; the X-axis module is arranged on the base and provided with an X-axis output end, the Z-axis module is arranged on the X-axis output end and provided with a Z-axis output end, and the Z-axis output end is used for setting a measuring piece for measuring the actual coordinates of the calibration element; and the controller is used for controlling each output end to act respectively according to the theoretical coordinates of the calibration element so as to drive the calibration element and the measuring piece to act, and also used for confirming the comprehensive deviation according to the theoretical coordinates and the actual coordinates. The utility model effectively solves the problem that in the prior art, the theoretical coordinates and the actual coordinates of the workpiece are inconsistent due to the accumulation of deviation of five-axis linkage.

Description

Five-axis linkage calibration system

Technical Field

The utility model relates to the technical field of five-axis linkage processing equipment, in particular to a five-axis linkage calibration system.

Background

At present, five-axis linkage processing equipment is applied to a dispensing system, for example, a five-axis linkage multipurpose dispensing platform is disclosed in Chinese patent application with the application publication number of CN 112705416A. However, when the existing five-axis linkage processing equipment is used for calibrating space coordinates, as the five-axis linkage has deviation accumulation and the five-axis deviation accumulation forms comprehensive deviation, the theoretical coordinates and the actual coordinates of the workpiece are inconsistent during processing under the action of the comprehensive deviation, the workpiece cannot be calibrated effectively, and the processing precision of the workpiece can be affected.

Disclosure of Invention

Aiming at the defects in the prior art, the utility model provides a five-axis linkage calibration system, which aims to solve the problem that in the prior art, the theoretical coordinates and the actual coordinates of a workpiece are inconsistent due to deviation accumulation of five-axis linkage.

In order to solve the technical problem, in a first aspect, the present utility model provides a five-axis linkage calibration system, which includes:

a base;

the Y-axis module is arranged on the base and is provided with a Y-axis output end capable of outputting motion along the Y-axis direction;

the device comprises a V-axis module and a U-axis module, wherein the V-axis module is arranged at the Y-axis output end, the V-axis module is provided with a V-axis output end capable of outputting rotary motion around the V-axis direction, the U-axis module is arranged at the V-axis output end, the U-axis module is provided with a U-axis output end capable of outputting rotary motion around the U-axis direction, and the U-axis output end is used for arranging a calibration element or a workpiece; the V-axis direction and the U-axis direction are different from each other;

the X-axis module is arranged on the base, the X-axis module is provided with an X-axis output end capable of outputting motion along the X-axis direction, the Z-axis module is arranged on the X-axis output end, the Z-axis module is provided with a Z-axis output end capable of outputting motion along the Z-axis direction, and the Z-axis output end is used for setting a measuring piece for measuring the actual coordinates of the calibration element or a workpiece for processing the workpiece; the X-axis direction, the Y-axis direction and the Z-axis direction are different from each other;

the controller is used for controlling the X-axis output end, the Y-axis output end, the Z-axis output end, the V-axis output end and the U-axis output end to act respectively according to the theoretical coordinates of the calibration element so as to drive the calibration element and the measuring element to act, and the controller is also used for confirming the comprehensive deviation according to the theoretical coordinates and the actual coordinates after the calibration element acts.

In a possible implementation manner of the first aspect, the V-axis module and the U-axis module together form a carrier, at least two carriers are arranged at intervals in the X-axis direction, and at least two Y-axis modules are arranged in the same number and in positions corresponding to the carriers.

In a possible implementation manner of the first aspect, the X-axis output end is provided with a plurality of Z-axis modules that are the same as the carriers and correspond to each other in position.

In a possible implementation manner of the first aspect, the X-axis module and/or the Y-axis module include a displacement detecting member, where the displacement detecting member is configured to measure an action displacement of the X-axis output end and/or the Y-axis output end.

In a possible implementation manner of the first aspect, the X-axis module and/or the Y-axis module further include a zero confirmation element, where the zero confirmation element is configured to confirm that the X-axis output end and/or the Y-axis output end are in a zero position.

In a possible implementation manner of the first aspect, the V-axis direction is a horizontal direction, and the U-axis direction is perpendicular to the V-axis direction;

and/or the number of the groups of groups,

the X-axis direction and the Y-axis direction are both horizontal directions and mutually perpendicular, and the Z-axis direction is a vertical direction.

In a possible implementation manner of the first aspect, the five-axis linkage calibration system further includes:

the Z-axis tool setting gauge is fixed relative to the base in the Z-axis direction and used for calibrating the zero position of the workpiece in the Z-axis direction.

In a possible implementation manner of the first aspect, the X-axis output end, the Y-axis output end, and the Z-axis output end have parallelism and perpendicularity with respect to a horizontal plane;

the parallelism is in the range of 0 to 0.02/300mm, and/or,

the verticality is in the range of 0-0.02/300 mm.

In a possible implementation manner of the first aspect, the X-axis output end, the Y-axis output end, and the Z-axis output end have output motion precision of output motion in respective axial directions, and the output motion precision is in a range of-0.001 to +0.001 mm.

In a possible implementation manner of the first aspect, the V-axis output end and the U-axis output end have a rotation motion precision of outputting rotation motion around respective axes, and the rotation motion precision is in a range of-0.0015 ° to +0.0015°.

Compared with the prior art, the utility model has at least the following beneficial effects:

in the utility model, the U-axis output end of the U-axis module is used for setting the calibration element, the Z-axis output end of the Z-axis module is used for setting the measuring piece for measuring the actual coordinates of the calibration element, and the controller is used for controlling the X-axis output end, the Y-axis output end, the Z-axis output end, the V-axis output end and the U-axis output end to respectively act according to the theoretical coordinates of the calibration element so as to drive the calibration element and the measuring piece to act; when the space coordinates of the calibration element are calibrated, the controller can not only acquire the theoretical coordinates of the calibration element, but also control the X-axis output end, the Y-axis output end, the Z-axis output end, the V-axis output end and the U-axis output end to act respectively according to the theoretical coordinates of the calibration element so as to drive the measuring piece and the calibration element to act towards the theoretical coordinates of the calibration element respectively.

When the measuring piece and the calibration element are respectively acted in place, the measuring piece can measure and obtain the actual coordinates of the calibration element after the calibration element acts, and then the controller can obtain the actual coordinates of the calibration element after the calibration element acts, meanwhile, the controller is also used for confirming the comprehensive deviation according to the theoretical coordinates and the actual coordinates of the calibration element after the calibration element acts, so that the controller can confirm the comprehensive deviation of the five-axis linkage system through the deviation value between the theoretical coordinates and the actual coordinates of the calibration element, and can effectively compensate the errors generated by the actions of the output ends of all axes of the five-axis linkage system through the comprehensive deviation, so that the error accumulation generated by the five-axis linkage can be effectively avoided, the action precision of all the output ends of all the axes can be effectively improved, the consistency of the theoretical coordinates and the actual coordinates of the calibration element can be effectively ensured, and the machining precision of a workpiece can be effectively improved when the workpiece is machined.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and 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 five-axis linkage calibration system according to an embodiment of the present utility model;

FIG. 2 is a second schematic diagram of a five-axis linkage calibration system according to an embodiment of the present utility model;

FIG. 3 is a top view of FIG. 2;

FIG. 4 is a side view of FIG. 2;

FIG. 5 is a third schematic diagram of a five-axis linkage calibration system according to an embodiment of the present utility model;

FIG. 6 is one of the flowcharts of the five-axis linkage calibration method provided by the embodiment of the utility model;

FIG. 7 is a second flowchart of a five-axis linkage calibration method according to an embodiment of the present utility model.

Reference numerals illustrate:

1-a base; 11-a fixed seat; 12-mounting frame;

a 2-X axis module; a 3-Y axis module; a 4-Z axis module; a 5-U axis module; a 6-V axis module; 7-calibrating the element; 8-measuring member; 9-dial gauge; 10-a carrier; 20-machining a workpiece; 30-Z axis tool setting gauge.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the present utility model, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate an azimuth or a positional relationship based on that shown in the drawings. These terms are only used to better describe the present utility model and its embodiments and are not intended to limit the scope of the indicated devices, elements or components to the particular orientations or to configure and operate in the particular orientations.

Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in the present utility model will be understood by those of ordinary skill in the art according to the specific circumstances.

Furthermore, the terms "mounted," "configured," "provided," "connected," and "connected" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

Furthermore, the terms "first," "second," and the like, are used primarily to distinguish between different devices, elements, or components (the particular species and configurations may be the same or different), and are not used to indicate or imply the relative importance and number of devices, elements, or components indicated. Unless otherwise indicated, the meaning of "a plurality" is two or more.

As described in the background art of the present utility model, when the spatial coordinates are calibrated, the five-axis linkage is accumulated, and the accumulation of the five-axis deviation forms a comprehensive deviation, so that the theoretical coordinates and the actual coordinates of the workpiece are inconsistent during processing under the action of the comprehensive deviation, the workpiece cannot be calibrated effectively, and the processing precision of the workpiece is affected.

In view of the above problems, the utility model provides a five-axis linkage calibration system to solve the problem that in the prior art, due to deviation accumulation of five-axis linkage, the theoretical coordinates and the actual coordinates of a workpiece are inconsistent during processing.

The utility model is illustrated in detail below by means of specific examples:

as shown in fig. 1, the five-axis linkage calibration system includes a base 1, an X-axis module 2, a Y-axis module 3, a Z-axis module 4, a U-axis module 5, a V-axis module 6, and a controller (not shown). The Y-axis module 3 is disposed on the base 1, and the Y-axis module 3 has a Y-axis output end capable of outputting motion along the Y-axis direction. The V-axis module 6 is disposed at the Y-axis output end, and the V-axis module 6 has a V-axis output end capable of outputting a rotation motion about the V-axis direction. The U-axis module 5 is arranged at the output end of the V-axis, and the U-axis module 5 is provided with a U-axis output end which can output rotary motion around the U-axis direction and is used for setting the calibration element 7. The V-axis direction and the U-axis direction are different from each other.

As shown in fig. 1, the X-axis module 2 is disposed on the base 1, and the X-axis module 2 has an X-axis output end capable of outputting motion in the X-axis direction. The Z-axis module 4 is arranged at the X-axis output end, the Z-axis module 4 is provided with a Z-axis output end which can output motion along the Z-axis direction, and the Z-axis output end is used for setting a measuring piece 8 for measuring the actual coordinates of the calibration element 7. The X-axis direction, the Y-axis direction, and the Z-axis direction are different from each other.

The controller is used for controlling the X-axis output end, the Y-axis output end, the Z-axis output end, the V-axis output end and the U-axis output end to respectively act according to the theoretical coordinates of the calibration element 7 so as to drive the calibration element 7 and the measuring piece 8 to act, and is also used for confirming the comprehensive deviation according to the theoretical coordinates and the actual coordinates after the calibration element 7 acts.

According to the above, when the spatial coordinate calibration of the calibration element 7 is performed, the controller may not only obtain the theoretical coordinate of the calibration element 7, but also control the respective actions of the X-axis output end, the Y-axis output end, the Z-axis output end, the V-axis output end, and the U-axis output end according to the theoretical coordinate of the calibration element 7, so as to drive the measuring element 8 and the calibration element 7 to act toward the theoretical coordinate of the calibration element 7. Specifically, the measuring element 8 is driven to act by controlling the X-axis output end and the Z-axis output end to act, and the calibration element 7 is driven to act by controlling the Y-axis output end, the V-axis output end and the U-axis output end to act, i.e., the actions of the Y-axis output end, the V-axis output end and the U-axis output end can directly affect the actual coordinates of the calibration element 7.

When the measuring piece 8 and the calibration element 7 respectively move in place, the measuring piece 8 can measure and obtain the actual coordinates of the calibration element 7 after moving, and then the controller can obtain the actual coordinates of the calibration element 7 after moving.

In the process of driving the measuring element 8 to act on the theoretical coordinates of the calibration element 7 by controlling the actions of the X-axis output end and the Z-axis output end, if errors exist in the actions of the X-axis output end and the Z-axis output end, the difference exists between the actual position of the measuring element 8 after the actions and the theoretical position which should be reached, and the difference can influence the measuring precision of the measuring element 8 on the actual coordinates of the calibration element 7, so that the action errors of the X-axis output end and the Z-axis output end are introduced into the actual coordinates measured by the measuring element 8.

Since the action errors of the X-axis output end and the Z-axis output end affect the actual coordinates of the calibration element 7 measured by the measuring element 8, and the controller obtains the integrated error according to the actual coordinates measured by the measuring element 8 and the theoretical coordinates of the calibration element 7, the integrated error obtained by the method includes the deviation of the five axes of XYZUV. The controller not only can effectively compensate errors generated by actions of the Y-axis output end, the V-axis output end and the U-axis output end through comprehensive deviation, but also can effectively compensate errors generated by actions of the X-axis output end and the Z-axis output end through comprehensive deviation. And the error generated by the action of the output ends of the five-axis linkage system is effectively compensated through the comprehensive deviation, so that the error accumulation generated by the five-axis linkage can be effectively avoided, the action precision of the output ends of the five-axis linkage system is favorably improved, the consistency of the theoretical coordinates and the actual coordinates of the calibration element 7 is favorably ensured, and the effective calibration of the space coordinates of the calibration element 7 is favorably realized. And when the workpiece is machined, the consistency of the theoretical coordinates and the actual coordinates of the workpiece is ensured, and the machining precision of the workpiece is improved.

Further, for the calibration element 7 and the measuring element 8, in this embodiment, the calibration element 7 is a calibration sphere (in other embodiments, the calibration element 7 may also be a tower-shaped calibration block or a film map calibration, etc.), the measuring element 8 is a profile profiler, and alternatively, the measuring element 8 may be a contact profiler or an optical profiler. The actual coordinates of the calibration element 7 are measured through the profile profiler, so that the measurement accuracy of the actual coordinates can be effectively improved, the accuracy of comprehensive deviation can be further improved, the effective compensation of the action errors of the output ends of all shafts can be further realized, and the consistency of the actual coordinates and the theoretical coordinates of the calibration element 7 can be further ensured.

Further, for the X-axis direction, the Y-axis direction, the Z-axis direction, the U-axis direction, and the V-axis direction, as shown in fig. 1, wherein the V-axis direction is a horizontal direction, specifically in this embodiment, the V-axis direction is a lateral direction, that is, the X-direction in fig. 1, the U-axis direction is perpendicular to the V-axis direction, and the initial direction of the U-axis direction is a vertical direction, that is, the Z-direction in fig. 1. The X-axis direction and the Y-axis direction are both horizontal directions and mutually perpendicular, the Z-axis direction is a vertical direction, wherein the X-axis direction is the X direction in fig. 1, the Y-axis direction is the direction perpendicular to the paper surface in fig. 1, and the Z-axis direction is the Z direction in fig. 1.

Through setting up above-mentioned each direction, optimized the output direction of each axle output, not only made things convenient for the setting of each axle module on base 1, also made things convenient for measuring part 8 to the measurement of calibration element 7 actual coordinates to a certain extent.

Further, for the base 1, the base 1 includes a fixing base 11 and a mounting frame 12 fixed on a top surface of the fixing base 11, and for the X-axis module 2 and the Y-axis module 3, the X-axis module is disposed on the mounting frame 12, and the Y-axis module 3 is disposed on a top surface of the fixing base 11. Through fixing base 11 and mounting bracket 12's setting, not only can optimize the structure of base 1, be favorable to alleviateing the weight of base 1, also made things convenient for the setting of X axle module 2 and Y axle module 3 on base 1 moreover, and then also made things convenient for the setting between Z axle module 4 and U axle module 5 and the V axle module 6, can make the setting position of Z axle module 4 be higher than U axle module 5 and V axle module 6, be favorable to making things convenient for measuring 8 to the measurement of demarcation element 7 actual coordinates.

Further, for the X-axis module 2 and the Y-axis module 3, the X-axis module 2 and the Y-axis module 3 each include a displacement detecting member (not shown in the figure) for measuring the motion displacement of the X-axis output end and the Y-axis output end, and in this embodiment, the displacement detecting member is a grating ruler. The displacement detection piece is used for measuring the motion displacement of the X-axis output end and the Y-axis output end, so that the control of the motion displacement of the X-axis output end and the Y-axis output end is facilitated, the accuracy of the motion of the X-axis output end and the Y-axis output end is further facilitated to be improved, and the grating ruler is higher in measurement accuracy, so that the accuracy of the motion of the X-axis output end and the Y-axis output end can be further improved by taking the grating ruler as the displacement detection piece.

The X-axis module 2 and the Y-axis module 3 each further include a zero-point confirmation member (not shown in the figure) for confirming that the X-axis output end and the Y-axis output end are at zero-point positions, and in this embodiment, the zero-point confirmation members are zero-point magnets. The zero point confirmation piece can be used for more accurately confirming the zero point positions of the X-axis output end and the Y-axis output end, namely, whether the initial positions of the X-axis output end and the Y-axis output end before the action are at the zero point positions or not can be confirmed, the measurement precision of the action displacement of the X-axis output end and the Y-axis output end can be improved, and further the action precision of the X-axis output end and the Y-axis output end can be improved. The zero-point magnet is used as the zero-point confirmation piece, so that the zero-point confirmation piece is convenient to set, and the zero-point positions of the X-axis output end and the Y-axis output end are confirmed to a certain extent.

The X-axis output end and the Y-axis output end have output operation accuracy of output operation in the respective axial directions, and the output operation accuracy of the X-axis output end and the Y-axis output end is made to be within a range of-0.001 to +0.001mm by the functions of the displacement detection member and the zero point confirmation member, and the Z-axis output end also has output operation accuracy of output operation in the own axial direction, and the output operation accuracy of the Z-axis output end is also made to be within a range of-0.001 to +0.001mm, specifically, in the present embodiment, the output operation accuracy of the X-axis output end, the Y-axis output end, and the Z-axis output end is made to be within a range of-0.0001 to +0.0001mm (in other embodiments, the output operation accuracy of the X-axis output end, the Y-axis output end, and the Z-axis output end may be within a range of-0.0002 to +0.0002mm, or within other ranges of-0.001 to +0.001 mm). The output motion precision of the X-axis output end, the Y-axis output end and the Z-axis output end is controlled within the range of minus 0.001 to +0.001mm, so that the motion precision of the X-axis output end, the Y-axis output end and the Z-axis output end is higher, errors of the output motions of the X-axis output end, the Y-axis output end and the Z-axis output end are reduced, the influence on the actual coordinates of the calibration element 7 is further reduced, and the effective calibration of the calibration element 7 is facilitated.

The V-axis output end and the U-axis output end have rotation motion precision of rotation motion around respective axial output, and the rotation motion precision of the V-axis output end and the U-axis output end is in the range of-0.0015 degrees to +0.0015 degrees. Specifically, the U-axis module 5 and the V-axis module 6 each include a high-precision DD motor, and output ends of the high-precision DD motors in the respective modules respectively form a V-axis output end and a U-axis output end. By setting the rotation motion precision of the V-axis output end and the U-axis output end within the range of-0.0015 ° to +0.0015°, the rotation motion precision of the V-axis output end and the U-axis output end can be improved, the error of the rotation motion of the V-axis output end and the U-axis output end can be reduced, and further the influence of the motion of the V-axis output end and the U-axis output end on the actual coordinates of the calibration element 7 can be reduced. The high-precision DD motor is adopted, so that the control of the rotation motion precision of the V-axis output end and the U-axis output end is facilitated.

Further, for the X-axis output end, the Y-axis output end, the Z-axis output end, the U-axis output end, and the V-axis output end, the X-axis output end, the Y-axis output end, the Z-axis output end, the U-axis output end, and the V-axis output end have parallelism and perpendicularity with respect to a horizontal plane, specifically, the parallelism of each axis output end is in the range of 0 to 0.02/300mm, and the perpendicularity is in the range of 0 to 0.02/300 mm. Before the calibration element 7 is calibrated, the parallelism and the perpendicularity of the output ends of the shafts are adjusted to be within the ranges, so that the accuracy of the action output direction of the output ends of the shafts can be ensured, and the action accuracy of the output ends of the shafts can be further ensured.

In order to conveniently realize the adjustment of the parallelism and the perpendicularity of each shaft, as shown in fig. 1, the five-shaft linkage calibration system further comprises a dial indicator 9, wherein the dial indicator 9 is used for realizing the adjustment of the parallelism and the perpendicularity of each shaft output end by taking the horizontal top surface of the fixing seat 11 as a reference surface, and the parallelism and the perpendicularity of each shaft are adjusted by utilizing the dial indicator as the prior art, so that detailed description is omitted in the embodiment. Because the dial indicator 9 is convenient to use, parallelism and perpendicularity of each shaft output end are adjusted through the dial indicator 9, so that adjustment accuracy of parallelism and perpendicularity of each shaft output end can be guaranteed, and adjustment of parallelism and perpendicularity can be facilitated.

Further, for the U-axis module 5 and the V-axis module 6, the U-axis module 5 and the V-axis module 6 together form a carrier 10, and in this embodiment, only one carrier 10 is provided, and one X-axis module 2, one Y-axis module 3 and one Z-axis module 4 are also provided, and the carrier 10 is used for carrying the calibration element 7 when calibrating, and the carrier 10 is used for carrying a workpiece (not shown) when processing the workpiece. By means of one carrier 10, not only can the support of the calibration element 7 be achieved, but the arrangement range of the carrier can also be reduced, so that the overall system takes up a relatively smaller area.

For processing a workpiece, specifically, as shown in fig. 1, the U-axis output end is used for setting the workpiece, and the Z-axis output end is also used for setting the workpiece 20 for processing the workpiece, and in this embodiment, since the five-axis linkage is used for dispensing processing, the workpiece 20 is a dispensing needle in this embodiment. Because the dispensing needle needs to be replaced frequently, after the workpiece 20 is replaced, in order to enable the workpiece 20 to be at the zero position in the Z-axis direction, the five-axis linkage calibration system further comprises a Z-axis tool setting gauge 30, the Z-axis tool setting gauge 30 is fixed relative to the base 1 in the Z-axis direction, and the Z-axis tool setting gauge 30 is used for calibrating the zero position of the workpiece 20 in the Z-axis direction, so that the calibration of the zero position of the workpiece 20 in the Z-axis direction is facilitated through the Z-axis tool setting gauge 30.

For the Z-axis tool setting gauge 30, in this embodiment, the Z-axis tool setting gauge 30 is fixedly mounted on the V-axis module 6, and since the V-axis module 6 is higher in the Z-axis direction, the Z-axis tool setting gauge 30 is fixedly mounted on the V-axis module 6, which facilitates the setting of the Z-axis tool setting gauge 30 in the Z-axis direction. In other embodiments, Z-axis tool setting gauge 30 may also be provided on Y-axis module 3, U-axis module 5, or base 1.

In one possible embodiment, as shown in fig. 2, 3 and 4, only one X-axis module 2 and only one Z-axis module 4 are provided, two carriers 10 are formed by the U-axis module 5 and the V-axis module 6 together, and the two carriers 10 are disposed at intervals in the X-axis direction (X-direction in fig. 3), and the Y-axis module 3 is provided with two carriers 10 in the same number and corresponding positions. Thus, after the workpiece 20 on the output end of the Z axis is machined, the workpiece on the other carrier 10 can be directly machined without waiting for the disassembly of the workpiece, thereby being beneficial to improving the machining efficiency of the workpiece.

As shown in fig. 3, when the workpiece 20 is processed on one carrier 10, the other carrier 10 is located at the other side of the X-axis module 2 in the Y-axis direction (Y-axis direction in fig. 3), that is, the two carriers 10 are respectively located at two sides of the X-axis output end in the Y-axis direction, and the two carriers 10 are arranged at intervals in the X-axis direction, so that interference of the other carrier 10 on the workpiece processing can be avoided, and convenience in workpiece processing is facilitated.

In other embodiments, when the workpiece 20 is processed on one carrier 10, the two carriers 10 may also be located on the same side of the X-axis module 2 in the Y-axis direction, so as to reduce the steps of controlling the motion of the carriers 10, thereby facilitating the simplification of the control process and further facilitating the improvement of the working efficiency.

In other embodiments, the carrier 10 and the Y-axis module 3 may be disposed with three, four or more intervals in the X-axis direction, which is beneficial to further improving the processing efficiency of the workpiece.

In one possible embodiment, as shown in fig. 5, only one X-axis module 2 is provided, two carriers 10 composed of a U-axis module 5 and a V-axis module 6 are provided, the two carriers 10 are arranged at intervals in the X-axis direction (X-direction in fig. 5), the Y-axis module 3 is provided with two Z-axis modules 4 corresponding to the carriers 10 in number and positions, and the X-axis output end is provided with two Z-axis modules 4 corresponding to the carriers 10 in number and positions. The simultaneous processing of the workpieces on each carrier 10 can be realized through each carrier 10 and the corresponding Z-axis module 4, so that the processing efficiency of the workpieces is further improved.

As shown in fig. 5, the two carriers 10 are respectively disposed on two sides of the X-axis module 2 in the Y-axis direction (Y-axis direction in fig. 5), that is, the two carriers 10 are respectively disposed on two sides of the X-axis output end in the Y-axis direction, and since the two carriers 10 are disposed at intervals in the X-axis direction, interference of the other carrier 10 on workpiece processing can be avoided, which is beneficial to workpiece processing.

In other embodiments, the two carriers 10 may also be located on the same side of the X-axis module 2 in the Y-axis direction, so as to reduce the steps of controlling the motion of the carriers 10, thereby facilitating the simplification of the working process and further facilitating the improvement of the working efficiency.

In other embodiments, the carrier 10, the Y-axis module 3 and the Z-axis module 4 may be three, four or more in the X-axis direction, which is beneficial to further improving the processing efficiency of the workpiece.

The embodiment also provides a five-axis linkage calibration method which can be applied to any of the five-axis linkage calibration systems in the embodiments, and the method is executed by a controller in any of the five-axis linkage calibration systems in the embodiments.

Fig. 6 is a flowchart of a five-axis linkage calibration method provided by an embodiment of the present utility model, referring to fig. 6, the method includes:

step 601: the theoretical coordinates of the calibration element 7 are obtained.

Step 602: and controlling the X-axis output end, the Y-axis output end, the Z-axis output end, the V-axis output end and the U-axis output end to act respectively according to the theoretical coordinates of the calibration element 7 so as to drive the calibration element 7 and the measuring piece 8 to act.

Step 603: the actual coordinates of the calibration element 7 after actuation are obtained.

Step 604: and confirming the comprehensive deviation according to the actual coordinates of the calibration element 7 after the action and the theoretical coordinates of the calibration element 7.

According to the above method, when the spatial coordinate of the calibration element 7 is calibrated, the controller not only can obtain the theoretical coordinate of the calibration element 7, but also can control the respective actions of the X-axis output end, the Y-axis output end, the Z-axis output end, the V-axis output end and the U-axis output end according to the theoretical coordinate of the calibration element 7, so as to drive the measuring element 8 and the calibration element 7 to act towards the theoretical coordinate of the calibration element 7 respectively. Specifically, the measuring element 8 is driven to act by controlling the X-axis output end and the Z-axis output end to act, and the calibration element 7 is driven to act by controlling the Y-axis output end, the V-axis output end and the U-axis output end to act, i.e., the actions of the Y-axis output end, the V-axis output end and the U-axis output end can directly affect the actual coordinates of the calibration element 7.

Optionally, controlling the X-axis output end, the Y-axis output end, the Z-axis output end, the V-axis output end, and the U-axis output end to act respectively according to the theoretical coordinates to drive the calibration element 7 and the measurement element 8 to act, including:

the controller controls the Y-axis output end, the V-axis output end and the U-axis output end to act respectively according to the theoretical coordinates so as to drive the calibration element 7 to move to the position of the theoretical coordinates.

The controller controls the X-axis output end and the Z-axis output end to act respectively according to the theoretical coordinates, so that the measuring piece 8 is positioned right above the theoretical coordinate position of the calibration element 7.

Optionally, the obtaining the actual coordinates of the calibration element 7 after the action includes:

the controller controls the measuring member 8 to measure the actual coordinates after the movement of the calibration member 7, and obtains the actual coordinates after the movement of the calibration member 7 from the measuring member 8.

Optionally, determining the integrated deviation according to the actual coordinates and the theoretical coordinates includes:

the controller confirms at least two deviation values according to the difference value between at least two theoretical coordinates and corresponding actual coordinates, and confirms the average value of the at least two deviation values as the comprehensive deviation.

Optionally, after confirming the integrated deviation according to the actual coordinates and the theoretical coordinates, the method further includes:

the controller respectively controls the X-axis output end, the Y-axis output end, the Z-axis output end, the V-axis output end and the U-axis output end to respectively act according to the comprehensive deviation so as to compensate the deviation of the calibration element 7, so that the actual coordinate is equal to the theoretical coordinate.

All the above optional technical solutions may be combined according to any choice to form an optional embodiment of the present utility model, and the embodiments of the present utility model will not be described in detail.

FIG. 7 is a flow chart of another five-axis linkage calibration method provided by an embodiment of the utility model. Referring to fig. 7, the method includes:

step 701: the theoretical coordinates of the calibration element 7 are obtained.

Specifically, the theoretical coordinates of the calibration element 7 are set before calibration is performed, and in this embodiment, three theoretical coordinates of the calibration element 7 are set, that is, a first theoretical coordinate, a second theoretical coordinate, and a third theoretical coordinate, respectively (in other embodiments, the calibration element 7 may have one, two, four, or more theoretical coordinates). After the theoretical coordinates of the calibration element 7 are set, each theoretical coordinate is input into the controller, so that the controller can acquire the theoretical coordinates of the calibration element 7, and accordingly, the acquisition of the theoretical coordinates is also facilitated.

In other embodiments, the theoretical coordinates of the calibration element 7 are pre-stored in the controller, and the controller can directly select from the pre-stored theoretical coordinates for calibration when performing calibration. This further facilitates the setting of the theoretical coordinates without the need to additionally set the theoretical coordinates of the calibration element 7 in advance.

Step 702: and controlling the X-axis output end, the Y-axis output end, the Z-axis output end, the V-axis output end and the U-axis output end to act respectively according to the theoretical coordinates of the calibration element 7 so as to drive the calibration element 7 and the measuring piece 8 to act.

The method for controlling the X-axis output end, the Y-axis output end, the Z-axis output end, the V-axis output end and the U-axis output end to respectively act according to the theoretical coordinates of the calibration element 7 so as to drive the calibration element 7 and the measuring piece 8 to act comprises the following steps:

step 7021: the controller controls the Y-axis output end, the V-axis output end and the U-axis output end to act respectively according to the theoretical coordinates so as to drive the calibration element 7 to move to the position of the theoretical coordinates.

Specifically, after the calibration element 7 is disposed on the U-axis output end, the controller controls the Y-axis output end, the V-axis output end, and the U-axis output end to act respectively, so as to drive the calibration element 7 to act toward the first theoretical coordinate, and after the act, the calibration element 7 has the first position.

Then, the controller controls the V-axis output end and the U-axis output end to rotate for 45 degrees respectively, and controls the Y-axis output end to act so as to drive the calibration element 7 to act towards a second theoretical coordinate, and after the action, the calibration element 7 has a second position. In other implementations, the output end of the V shaft and the output end of the U shaft can be controlled to rotate by other angles respectively, such as 30 degrees or 60 degrees, and the like, so that the device is flexible and convenient, and can be adjusted according to actual conditions.

Finally, the controller controls the V-axis output end and the U-axis output end to reversely rotate by 90 degrees respectively, and controls the Y-axis output end to act so as to drive the calibration element 7 to act towards a third theoretical coordinate, and after the action, the calibration element 7 has a third position. In other implementations, the V-axis output end and the U-axis output end can be controlled to rotate in opposite directions by other angles, for example, 60 degrees or 120 degrees, or the V-axis output end and the U-axis output end can be controlled to rotate in forward directions by other angles, so that the device is flexible and convenient, and can be adjusted according to actual conditions as required.

Step 7022: the controller controls the X-axis output end and the Z-axis output end to act respectively according to the theoretical coordinates, so that the measuring piece 8 is positioned right above the theoretical coordinate position of the calibration element 7.

Specifically, the controller controls the X-axis output end and the Z-axis output end to act respectively, so as to drive the measuring element 8 to move to a position right above the first theoretical coordinate.

Then, the controller controls the X-axis output end and the Z-axis output end to act respectively so as to drive the measuring piece 8 to move to the position right above the second theoretical coordinate.

Finally, the controller controls the X-axis output end and the Z-axis output end to act respectively so as to drive the measuring piece 8 to move to the position right above the third theoretical coordinate.

Because the reference target of the motion of the measuring piece 8 is also the theoretical coordinate of the calibration element 7, the measuring piece 8 is driven to move right above the theoretical coordinate of the calibration element 7, so that the measurement of the measuring piece 8 is facilitated, the position error of the measuring piece 8 after the motion can be reduced to a certain extent, and the accurate measurement of the actual coordinate of the calibration element 7 is further facilitated.

In the above steps, the motion of the calibration element 7 and the motion of the measuring piece 8 are conveniently driven by the motion of the output ends of the shafts, so that the calibration of the calibration element 7 is also facilitated.

Step 703: the actual coordinates of the calibration element 7 after actuation are obtained.

The method for acquiring the actual coordinates of the calibration element 7 after the action provided by the embodiment of the utility model comprises the following steps:

Specifically, the measuring element 8 measures the first actual coordinate of the calibration element 7 at the first position, the second actual coordinate of the calibration element 7 at the second position, and the third actual coordinate of the calibration element 7 at the third position, respectively, and accordingly, the controller may also obtain the first actual coordinate, the second actual coordinate, and the third actual coordinate of the calibration element 7 after the action from the measuring element 8.

Through the steps, the controller is convenient to acquire the actual coordinates of the calibration element 7, the working efficiency is improved, and meanwhile, the accuracy of the actual coordinates of the calibration element 7 can be ensured to a certain extent.

Step 704: and confirming the comprehensive deviation according to the actual coordinates of the calibration element 7 after the action and the theoretical coordinates of the calibration element 7.

The method for confirming the comprehensive deviation according to the actual coordinates of the calibration element 7 after the action and the theoretical coordinates of the calibration element 7 provided by the embodiment of the utility model comprises the following steps:

the controller confirms three deviation values according to the differences between the three theoretical coordinates and the corresponding actual coordinates, and confirms the average value of the three deviation values as the comprehensive deviation.

By taking the average value of the three deviation values as the comprehensive deviation, the accuracy of the comprehensive deviation can be improved to a certain extent, and further, the motion errors of the output ends of the shafts can be effectively compensated by utilizing the comprehensive deviation, so that the motion accuracy of the shafts can be effectively improved.

In other embodiments, when the calibration element 7 has a theoretical coordinate and an actual coordinate, the deviation value of the theoretical coordinate and the actual coordinate may be directly used as the integrated deviation, so that the calibration of the calibration element 7 is facilitated.

Step 705: after confirming the comprehensive deviation according to the actual coordinates and the theoretical coordinates, the method further comprises the following steps:

Specifically, after calibration is completed, step 701, step 702 and step 703 are repeated, and by controlling the deviation of the motion compensation calibration element 7 at the output end of each axis, it is verified whether the actual coordinates are equal to the theoretical coordinates, if so, the calibration is completed, and if not, step 701, step 702, step 703, step 704 and step 705 are continuously repeated until the actual coordinates are consistent with the theoretical coordinates.

Through the step, verification of the obtained comprehensive deviation can be realized, and whether the obtained comprehensive deviation is accurate or not is confirmed, so that the accuracy of the motion of the output end of each shaft is guaranteed, and the consistency of the actual coordinate and the theoretical coordinate is guaranteed.

In a possible embodiment, after confirming the integrated deviation, the deviation of the motion compensation calibration element 7 of each shaft output end is not controlled any more, i.e. the obtained integrated deviation is not verified, so that the program steps can be reduced, and the calibration of the calibration element is facilitated.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the same; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the utility model.

Claims

1. A five-axis linkage calibration system, comprising:

a base;

2. The five-axis linkage calibration system according to claim 1, wherein the V-axis module and the U-axis module together form a carrier, at least two carriers are arranged at intervals in the X-axis direction, and at least two Y-axis modules are arranged in the same number and corresponding positions as the carriers.

3. The five-axis linkage calibration system according to claim 2, wherein a plurality of Z-axis modules which are the same as the carriers in number and correspond to each other in position are arranged on the X-axis output end.

4. A five-axis linkage calibration system according to any one of claims 1 to 3 wherein the X-axis and/or Y-axis modules comprise a displacement detector for measuring the movement displacement of the X-axis and/or Y-axis outputs.

5. A five axis linkage calibration system according to any one of claims 1 to 3 wherein the X-axis and/or Y-axis modules further comprise zero confirmation means for confirming that the X-axis and/or Y-axis outputs are in a zero position.

6. A five-axis linkage calibration system according to any one of claims 1-3, wherein:

the V-axis direction is a horizontal direction, and the U-axis direction is perpendicular to the V-axis direction;

and/or the number of the groups of groups,

7. A five-axis linkage calibration system as claimed in any one of claims 1 to 3, further comprising:

8. The five-axis linkage calibration system of any one of claims 1-3, wherein the X-axis output, the Y-axis output, and the Z-axis output have parallelism and perpendicularity with respect to a horizontal plane;

the parallelism is in the range of 0 to 0.02/300mm, and/or,

the verticality is in the range of 0-0.02/300 mm.

9. A five-axis linkage calibration system according to any one of claims 1 to 3, wherein the X-axis output, the Y-axis output and the Z-axis output have output motion accuracies that output motion in the respective axes, the output motion accuracies being in the range of-0.001 to +0.001 mm.

10. A five-axis linkage calibration system according to any one of claims 1 to 3, wherein the V-axis output and the U-axis output have rotational motion accuracy of rotational motion about respective axial outputs, the rotational motion accuracy being in the range of-0.0015 ° to +0.0015°.