TWI405057B - Dynamic path detection method and device for five - axis machine - Google Patents

Abstract

The present invention discloses a dynamic path detection method for five-axis machine tool and a device thereof. A five-axis machine tool under test is disposed with a detection device. The detection device is equipped with a detector and a cat-eye reflector. The detector is installed with a micro-interferometer, a beam splitter and a four-quadrant displacement sensor. While the detector emits a laser beam to focus on the cat-eye reflector, the detector calibrates the detection device to make the detection device and a machine tool without bias. After detection device is calibrated, the detection device detects a moving path through two linear axes with one of a rotation axis or a dual rotation axis, and sequentially samples a fixed position or continuous dynamic in order to detect the dynamic path of the machine tool, thereby providing a detection method and device convenient to assemble, low cost and capable of simultaneously carrying out multi-axis co-moving detection.

Description

Five-axis machine tool dynamic path detecting method and device thereof

The invention relates to a detection method and device, in particular to a method and a device for detecting a dynamic path of a five-axis machine tool.

According to the current industry, there is an urgent need to solve an important problem, that is, to upgrade the technical level and processing precision of the machine tool, which can be improved from two aspects, one is to improve the overall structural precision of the machine tool, and this method is more time-consuming and cost-effective. Another method is to quickly solve the urgent needs of the manufacturer. The other method is to use the detection system to detect the error of the machine tool, and to improve the machining accuracy of the machine tool through the error compensation method. This method is not only fast but relatively simple. Therefore, most of the current industry is to improve the technical level and processing precision of the machine tool by detecting the error of the machine tool; there are several ways to detect the error of the multi-axis machine tool, which can be roughly divided into the following ways: (1) Double Ball Bar: It is equipped with a linear variable differential transformer (LVDT) for measuring the change of the length of the rod. It is a linear axis on the machine tool. Circular measurement, through the change of the radius of the circle to measure a number of errors of each axis, and then adjust the control loop parameters of the drive shaft; (b), Laser interferometer: Using the principle of light wave interference, the motion and positioning error of a single axis of the machine tool can be measured, and then the axes of the machine tool can be detected to improve the positioning accuracy of the machine tool; (3) Grid encoder (Grid) Encoder): It makes a 2D precision depiction of the trajectory of the tool machine tool, and then measures the error value of 2D at the same time; and (4) Laser Double Ball Bar (LDBB): Using a laser interferometer instead of a linear adjustable differential transformer (LVDT), the measurement range is increased to the metric level, not only by measuring the radius of the circle, but also accurately measuring the tool of the three-axis machine tool The volume error in the space when the end point moves; the above-mentioned several multi-axis machine tool detection methods can detect and correct the axes of the machine tool, but the equipment required for the detection is quite complicated and complicated, so it is quite assembled and erected. Intricate, not only will the relative cost and time required for detection be relatively increased, but only the rotation axis of the machine tool (such as the A-axis or the C-axis) can be measured separately, but not simultaneously with the linear axis (X-axis, Y-axis or Z axis) Test, there are improvements.

Therefore, the present inventors have in view of the methods and devices for detecting multi-axis machine tools, the complicated assembly, high cost, and the inability to measure the rotating shaft with the linear axis at the same time, and after continuous research and experiment, finally A invention has been developed which improves the existing deficiency.

The object of the present invention is to provide a five-axis machine tool dynamic path detecting method and a device thereof, which perform non-contact dynamic detection on the five-axis machine tool through mutual cooperation of optical elements, thereby providing a convenient assembly, Low cost and simultaneous multi-axis simultaneous motion detection.

In order to achieve the above object, the present invention provides a method for detecting the size parameter of an engraving tool, and the operation flow thereof comprises: an instrument setting: a five-axis machine tool to be tested (which is provided with an X-axis, a Y-axis, a Z-axis, and a C) A detecting device is disposed on the shaft and the A-axis. The coordinate system of the detecting device is in the same direction as the right-angle coordinate system of the five-axis machine tool. The detecting device comprises a detector disposed on the spindle of the five-axis machine tool and a detector. a cat's eye mirror disposed on the C-axis turntable of the five-axis machine tool, the detector is internally provided a micro-interferometer, a beam splitter and a four-quadrant displacement sensor, the micro-interferometer emits a laser beam toward the cat's eye mirror, so that the laser beam is reflected by the cat's eye mirror, and the reflected thunder The beam is split into two beams through the beam splitter and respectively injected into the four-quadrant displacement sensor and the micro-interferometer; the instrument corrects: when the laser beam emitted by the detector is aligned with the cat's eye mirror, The spindle of the five-axis machine tool is rotated 360° and fixed. During the rotation process, the signal reflected by the laser beam reflected by the cat's eye mirror is detected, and the micro-interferometer and the four-quadrant displacement sensor can be detected. Deviating the amount of eccentricity between the detecting device and the spindle of the five-axis machine tool, and further correcting the detecting device so that there is no eccentricity between the detecting device and the five-axis machine tool; and performing detection: when the detecting device is corrected After that, the two linear axes (X-axis, Y-axis or Z-axis) are matched with the travel path of one of the rotating axes (C-axis or A-axis), and the fixed position or continuous dynamic sampling is sequentially performed. The five-axis machine tool for detecting dynamic path.

Preferably, in the process of detecting, the two types of bilinear axes are combined with a rotating shaft and a trilinear matching two-axis traveling path is detected.

Preferably, in the process of detecting, the first bilinear axis (X axis and Y axis) cooperates with a type of rotating axis (C axis), which rotates the C axis to the Z axis, and follows the circle. The path moves the X-axis and the Y-axis of the five-axis machine tool such that the laser beam remains perpendicular to the center of the cat's eye mirror, sequentially sampling for a fixed position or continuous dynamics.

Preferably, in the process of detecting, the second bilinear axis (Y axis and Z axis) is matched with a type of rotating axis (A axis), which is to align the A axis with the X axis. Rotating, moving the Y-axis and the Z-axis of the machine tool according to the circular path, keeping the laser beam and the cat's eye mirror at a fixed radius and aligning with the center of the cat's eye mirror, sequentially sampling the fixed position or continuous dynamics .

Preferably, in the process of detecting, the trilinear axis cooperates with a type of biaxial rotation, wherein the C axis is rotated in alignment with the Z axis, and the A axis is rotated in alignment with the X axis, wherein the X axis is rotated. The C-axis path is moved according to the circular path, the Z-axis is moved along with the circular path according to the A-axis path, and the Y-axis is moved along with the A-axis and the C-axis according to the double-circular path, thereby making the laser The beam remains incident at the center of the cat's eye mirror and maintains a fixed distance radius, sequentially sampling for a fixed position or continuous dynamics.

The invention further provides a five-axis machine tool dynamic path detecting device, which comprises a detector and a cat's eye mirror, wherein: the detector is provided with an outer casing, a micro interferometer, a beam splitter and a four-quadrant displacement a sensor, the micro interferometer is disposed in the outer casing and emits a laser beam toward the outer casing, and after the laser beam is incident on the cat's eye mirror, the laser beam is reflected back into the outer casing, so that The reflected laser beam passes through the beam splitter, and the beam splitter is disposed in the outer casing and splits the reflected laser beam into two. One of the laser beams is incident on the outer casing. And the four-quadrant displacement sensor is disposed in the outer casing and receives another laser beam split by the spectroscope; and the cat's eye mirror receives the laser beam of the detector, and the thunder beam The beam is reflected by the beam splitter into the outer casing, so that the micro-interferometer and the four-quadrant displacement sensor respectively receive the laser light split by the beam splitter The signal is received by the bundle.

Further, the housing system is composed of a box body and a cover plate. The box body is provided with a rod body coupled with a five-axis machine tool main shaft on one side, and the other side of the box body is provided with a plurality of perforations. The cover plate is combined with the casing to form a receiving space, and the micro interferometer is disposed in the receiving space of the outer casing, and the beam splitter is disposed in the casing and interposed between the micro interferometer And a middle of the perforation, wherein the laser beam of the micro interferometer is ejected through the outer casing through another perforation.

Further, the laser beam reflected by the cat's eye mirror is reflected by one of the perforations of the outer casing and the beam splitter, and is reflected into the micro-interferometer and the four-quadrant displacement sensor of the outer casing.

According to the above technical means, the five-axis machine tool dynamic path detecting method and device thereof are mainly composed of the micro-interferometer and the four-quadrant displacement sensor to form a three-linear displacement measuring system, which is only assembled during assembly. The detector is mounted on the spindle of the five-axis machine tool, and the cat's eye reflector is mounted on the C-axis turntable, so that the laser beam of the micro-interferometer is injected into the cat's eye mirror and maintains a fixed distance. After the laser beam is reflected by the cat's eye mirror, the linear interferometer can be measured through the micro interferometer, and the bilinear straightness error is measured through the four quadrant displacement sensor, thereby generating a common trilinearity. The displacement signal, and then the five-axis machining simulation, can be divided into two kinds of bilinear axes with a rotating axis travel route and a trilinear axis with a double rotary axis travel path, and the three linear displacement measurement system detects the machine tool five. The error caused by the axial displacement, and the trilinear displacement accuracy of the five-axis machine tool are simultaneously detected. It is suitable for testing on various five-axis machine tools, and the existing interferometer detection technology does not. Same, through non-contact, streamlined The structure configuration and high resolution feature provide a convenient detection, low cost and simultaneous detection method and device for multi-axis simultaneous motion detection.

In order to understand the technical features and practical functions of the present invention in detail, and in accordance with the contents of the specification, the preferred embodiments shown in the drawings (as shown in the first and second figures) are described in detail as follows: The invention provides a five-axis machine tool dynamic path detecting method and a device thereof through optical digital image processing and image measuring method, wherein the method for detecting the size parameter of the engraving tool comprises: A, instrument setting : a detection device is arranged on a five-axis machine tool (40) to be tested (which is provided with an X-axis, a Y-axis, a Z-axis, a C-axis and an A-axis), the coordinate system of the detection device and the five-axis machine tool The right angle coordinate system has the same direction, wherein the detecting device is as shown in the third to fifth figures, and includes a detector (10) disposed on the main shaft (41) of the five-axis machine tool (40) and one of the five axes Tool machine (40) A cat's eye mirror (20) on a C-axis turntable (42). The detector (10) is provided with a micro interferometer (12), a beam splitter (13) and a four-quadrant displacement sensing. a micro-interferometer (12) that emits a laser beam (121) toward the cat's eye mirror (20), The beam (121) is reflected by the cat's eye mirror (20) and reflected back into the micro-interferometer (12), and passes through the beam splitter (13) before being injected into the micro-interferometer (12). The beam splitter (13) divides the reflected laser beam (121) into two beams and respectively injects into the four-quadrant displacement sensor (14) and the micro interferometer (12); B, instrument calibration: In the third figure, after the laser beam (121) emitted by the detector is aligned with the cat's eye mirror (20), the main shaft (41) of the five-axis machine tool (40) is rotated by 360°, and then fixed and rotated. During the process, the laser beam (121) is detected by the cat's eye mirror (20) and transmitted to the detector (10), and the micro-interferometer (12) and the four-quadrant displacement sensor (14) are transmitted through the micro-interferometer (12). Detecting an eccentricity between the detecting device and the spindle (41) of the five-axis machine tool (40) (ie, eccentricity with respect to the X-axis and the Y-axis), and further correcting the detecting device to make the detecting device and the five-axis There is no eccentricity between the machine tools (40); in the correction, it can be divided into two correction modes, one of which is to obtain the three linear displacement signals after moving the X axis: X _wr , Y _wr , Z _wr , first For the X axis After the correction is made and the rotation angle θ of the X-axis is obtained, the rotation angle θ' of the Y-axis can be known from the corrected data, and the Y-axis movement can be performed by correcting the measurement data after the X-axis and the Y-axis, and the Z-axis can be known. The rotation angle θ" can be corrected by the matrix of the homogeneous coordinate system shown in equation (1) to obtain the corrected linear displacement signals X, Y, Z: another correction method is to obtain a trilinear displacement signal after moving the Y-axis. :X _wr , Y _wr , Z _wr , first correct for the Y axis, and after obtaining the rotation angle θ of the Y axis, the rotation angle θ' of the Y axis can be known from the corrected data, after correcting the X axis and the Y axis The measured data is moved by the axis, and the rotation angle θ" of the Z-axis can be known, and the corrected linear displacement signals X, Y, Z can be obtained by correcting the matrix of the homogeneous coordinate system shown in the equation (2);

C. Performing detection: When the detecting device is calibrated, it is detected by two kinds of bilinear shafts combined with a rotating shaft and a trilinear matching biaxial traveling route, wherein the first type is bilinear as shown in the sixth figure. The axis (X-axis and Y-axis) cooperates with a type of rotating shaft (C-axis), which rotates the C-axis with respect to the Z-axis, and moves the X-axis and the Y-axis of the five-axis machine tool (40) according to a circular path. The laser beam (121) can be kept perpendicularly incident on the center of the cat's eye mirror (20), and sequentially sample the fixed position or continuous dynamic; please refer to the second double line as shown in the seventh figure. The linear axis (Y-axis and Z-axis) cooperates with a type of rotating shaft (A-axis), which rotates the A-axis with respect to the X-axis, and moves the Y-axis and Z of the five-axis machine tool (40) according to the circular path. a shaft that maintains a fixed beam length of the laser beam (121) on the main shaft machine (40) main shaft (41) and the cat's eye mirror (20) and is aligned with the center of the cat's eye mirror (20), Sampling for a fixed position or continuous dynamics; and as shown in the eighth figure, the trilinear axis cooperates with a type of biaxial rotation, wherein the C axis is aligned with the Z axis The row rotates, and the A axis rotates in alignment with the X axis. The X axis is moved along with the circular path along with the C axis path, and the Z axis moves along the circular path with the A axis path, and the Y axis needs to cooperate. The A-axis and the C-axis move in a double-circular path, so that the laser beam (121) remains incident at the center of the cat's eye mirror (20) and maintains a fixed distance radius, sequentially for a fixed position or continuous Dynamic sampling, the dynamic path of the five-axis machine tool can be detected, through the optical components The non-contact dynamic detection is performed on the five-axis machine tool (40) in a mutual cooperation manner, thereby providing a machine tool detecting method which is convenient to assemble, low in cost, and capable of simultaneous multi-axis simultaneous motion detection.

Please refer to the third to fifth figures. The five-axis machine tool dynamic path detecting device of the present invention is provided with a detector (10) and a cat's eye mirror (20), wherein: the detector (10) is The main shaft (41) of the five-axis machine tool (40) is provided with an outer casing (11), a micro interferometer (12), a beam splitter (13) and a four-quadrant displacement sensor (14), wherein The outer casing (11) is composed of a box body (111) and a cover plate (112). The box body (111) is provided on one side with a rod coupled with the main shaft (41) of the machine tool (40). a plurality of perforations (114) are formed in the other side of the casing (111), and the cover plate (112) is combined with the casing (111) to form a receiving space. The micro interferometer (12) is disposed in the receiving space of the outer casing (11) and emits a laser beam (121) toward the outer casing (11) and exits the outer casing through one of the perforations (114) ( 11) and directed to the cat's eye mirror (20), the cat's eye mirror (20), after receiving the laser beam (121) of the detector (10), passes the laser beam (121) through the outer casing Another perforation (114) of the body (11) reflects the micro-dry into the outer casing (11) In the instrument (12), before entering the micro-interferometer (12), a spectroscope (13) is disposed, and the beam splitter (13) is disposed in the box (111) and interposed between the micro-interferometer (12) and a middle of the perforation (114), which further divides the laser beam (121) incident on the micro interferometer (12) into two, and a laser beam (121) is incident on the micro interferometer ( 12), the four-quadrant displacement sensor (14) is disposed in the casing (111) and receives another laser beam (121) split by the beam splitter (13); The cat's eye mirror (20) is disposed on a C-axis turntable (42) of the five-axis machine tool (40) and receives a laser beam (121) of the detector (10), and the laser beam (121) A splitter (13) that is reflected into the outer casing (11) through one of the perforations (114) of the outer casing (11), so that the micro interferometer (12) and the four quadrant displacement sensor (14) receive respectively The signal is received via the split laser beam (121).

According to the above technical means, the five-axis machine tool dynamic path detecting method and device thereof are mainly composed of the micro-interferometer (12) and the four-quadrant displacement sensor (14) to form a three-linear displacement measurement. The system only needs to mount the detector (10) on the spindle (41) of the five-axis machine tool (40) during assembly, and the cat-eye mirror frame (20) is disposed on the C-axis turntable (42). The laser beam (121) of the micro interferometer (12) is incident on the cat's eye mirror (20) and maintained at a fixed distance, and the laser beam (121) is reflected by the cat's eye mirror (20) and transmitted through The micro-interferometer (12) can measure the linear positioning error, and measure the bilinear straightness error through the four-quadrant displacement sensor (14), thereby generating a signal of the common trilinear displacement; The five-axis machining simulation of the five-axis machine tool (40) can be divided into two kinds of bilinear shafts with one rotating shaft travel route and one trilinear shaft with two rotating shafts. Detecting the error caused by the five-axis machine tool (40) during five-axis displacement, and detecting the five-axis machine tool (40) Trilinear displacement accuracy, suitable for testing on various five-axis machine tools (40), different from existing interferometer detection technology, providing a convenient assembly through non-contact method, streamlined structure configuration and high resolution. The detection method and device with low cost and simultaneous multi-axis simultaneous detection.

The above is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any one of ordinary skill in the art can use the present invention without departing from the scope of the present invention. Equivalent embodiments of the invention may be made without departing from the technical scope of the present invention.

(10)‧‧‧Detector

(11) ‧‧‧ outer casing

(111)‧‧‧Box

(112)‧‧‧ Cover

(113)‧‧‧ rod body

(114)‧‧‧Perforation

(12)‧‧‧Micro Interferometer

(121)‧‧‧Laser beam

(13) ‧‧‧beam splitter

(14) ‧‧‧ four-quadrant displacement sensor

(20)‧‧‧cat eye mirror

(40)‧‧‧Tool Machine

(41)‧‧‧ Spindle

(42)‧‧‧ Turntable

The first figure is a block diagram showing the operation of the five-axis machine tool dynamic path detecting method of the present invention.

The second figure is a schematic view of the three-axis machine tool installed in the five-axis machine tool.

The third figure is a partial enlarged stereoscopic appearance diagram of the detecting device of the present invention installed on a five-axis machine tool.

The fourth figure is a schematic enlarged view of the detector of the present invention.

The fifth drawing is a partially exploded perspective view of the detector of the present invention.

The sixth figure is a schematic diagram of the operation flow of the first bilinear shaft (X-axis and Y-axis) of the present invention in cooperation with a rotating shaft (C-axis).

The seventh figure is a schematic diagram of the operation flow of the second bilinear shaft (Y axis and Z axis) of the present invention with a rotating shaft (A axis).

The eighth figure is a schematic diagram of the operation flow of the trilinear shaft and the two-axis rotation type of the present invention.

Claims (8)

A five-axis machine tool dynamic path detecting method, the operating process includes: an instrument setting: setting a one on a five-axis machine tool to be tested (which is provided with an X-axis, a Y-axis, a Z-axis, a C-axis, and an A-axis) a detecting device, the coordinate system of the detecting device is in the same direction as the right-angle coordinate system of the five-axis machine tool, and the detecting device comprises a detector disposed on the spindle of the five-axis machine tool and a C-axis turntable disposed on the machine tool a cat's eye mirror, the detector is provided with a micro-interferometer, a beam splitter and a four-quadrant displacement sensor, and the micro-interferometer emits a laser beam toward the mirror, the laser beam passing through the cat's eye After being reflected by the mirror, the beam splits into two beams and is respectively injected into the four-quadrant displacement sensor and the micro-interferometer; the instrument corrects: when the laser beam emitted by the detector is aligned with the cat's eye mirror, The spindle of the five-axis machine tool is rotated 360° and fixed, and during the rotation process, the signal reflected by the laser beam reflected by the cat's eye mirror to the detector is detected, and the micro-interferometer and the four-quadrant displacement sensor can be transmitted through the micro-interferometer and the four-quadrant displacement sensor. Detected the test The amount of eccentricity between the measuring device and the spindle of the five-axis machine tool, thereby correcting the detecting device so that there is no eccentricity between the detecting device and the five-axis machine tool; and performing detection: when the detecting device is corrected, Detecting the travel path of one of the two axes (X-axis, Y-axis or Z-axis) with one of the rotating axes (C-axis or A-axis) so that the laser beam can remain perpendicular to the center of the cat's eye mirror and remain fixed. The distance radius, which is sequentially sampled for a fixed position or continuous dynamic, can be used to detect the dynamic path of the five-axis machine tool. The five-axis machine tool dynamic path detecting method according to claim 1, wherein the detecting process comprises two kinds of bilinear axes combined with a rotating shaft and a trilinear matching two-axis traveling route for detecting. . The five-axis machine tool dynamic path detecting method according to claim 2, wherein in the detecting process, the first bilinear axis (X-axis and Y-axis) cooperates with a rotating axis (C-axis) Type, which rotates the C axis with respect to the Z axis, and moves the X axis and the Y axis of the five-axis machine tool according to a circular path. The five-axis machine tool dynamic path detecting method according to claim 3, wherein in the process of detecting, the second bilinear axis (Y axis and Z axis) cooperates with a rotating axis (A axis) Type, which rotates the A axis to the X axis, and moves the Y axis and the Z axis of the five-axis machine tool according to the circular path. The five-axis machine tool dynamic path detecting method according to claim 2, wherein in the process of detecting, the trilinear axis cooperates with a type of biaxial rotation, wherein the C axis is rotated in alignment with the Z axis, The A-axis is rotated in alignment with the X-axis, wherein the X-axis is moved along with the C-axis path according to the circular path, the Z-axis is moved along with the A-axis path according to the circular path, and the Y-axis is coordinated with the A-axis and The C axis moves in a double circular path. A five-axis machine tool dynamic path detecting device comprises a detector and a cat's eye mirror, wherein: the detector is provided with an outer casing, a micro-interferometer, a beam splitter and a four-quadrant displacement sensor. The micro interferometer is disposed in the outer casing And emitting a laser beam toward the outer casing, and after entering the cat's eye mirror, the laser beam is reflected back into the outer casing, and the reflected laser beam passes through the beam splitter, and the beam splitter is disposed on the beam Inside the housing and splitting the laser beam of the micro interferometer into two, one of the laser beams is incident on the micro interferometer in the outer casing, and the four quadrant displacement sensor is disposed in the outer casing and receives Another laser beam split by the beam splitter; and the cat's eye mirror receives the laser beam of the detector, and reflects the laser beam into a beam splitter in the outer casing, so that the micro interferometer and the The four-quadrant displacement sensor receives the laser beam and receives the signal. The five-axis machine tool dynamic path detecting device according to claim 6, wherein the outer casing system is composed of a box body and a cover plate, and the box body is provided with a five-axis machine tool spindle on one side The other side of the box body is provided with a plurality of perforations, and the cover plate is combined with the box body to form a receiving space, and the micro interferometer is disposed on the outer casing. In the space, the beam splitter is disposed in the box and interposed between the micro-interferometer and a perforation thereof, and the laser beam is perforated through one of the outer casings. And reflected by the cat's eye mirror and then injected into the outer casing through another perforation. The five-axis machine tool dynamic path detecting device according to claim 6 or 7, wherein the laser beam reflected by the cat's eye mirror passes through the perforation of the outer casing and the beam splitter, and is reflected into the outer casing. Interferometer and four-quadrant displacement sensor.