WO2021189298A1 - Swing head position error detection and identification method for ca double-swing-head five-axis numerically controlled machine tool - Google Patents

Abstract

A swing head position error detection and identification method for a CA double-swing-head five-axis numerically controlled machine tool, comprising: step S1: measuring a comprehensive position deviation of a ball center of a ball-probe test arbor (10) for a swing head at different positions by using a detection instrument; step S2: establishing, according to a kinematic model of a CA double-swing-head five-axis machine tool and in combination with the properties of a position error term of the swing head, a mathematical relation between the position deviation of the ball center of the ball-probe test arbor (10) and the position error term; step S3: obtaining nine position error identification results of the swing head by means of an identification process on the basis of the measurement data collected in step S1 and the kinematics error relation in step S2; and step S4: repeating step S1 and step S3, carrying out multiple measurements, and taking an average value of the position error identification results. According to the method, the separation of the comprehensive position deviation value of the swing head of the machine tool can be effectively and quickly completed, and automatic detection and automatic identification can be achieved by compiling a measurement cycle, thereby providing technical support for precise control and quick assessment of machine tool precision.

Description

A CA double swing head five-axis CNC machine tool swing head position error detection and identification method Technical field

The invention relates to the field of error identification of five-axis numerical control machine tools, in particular to a method for detecting and identifying the position error of the swing head of a CA double-swing head five-axis numerical control machine tool.

Background technique

Aerospace structural parts have the characteristics of large size, complex configuration, and high surface quality requirements. Large-scale bridge type, gantry five-axis CNC machine tools are often used for large-size parts processing. The bridge type (gantry) five-axis machine tool contains two rotary axes and three linear axes. The function of the rotary axis is to adjust the tool posture in the process stage to adapt to the complex surface shape of the aviation structure, so that the five-axis machining has a high cutting rate. , Less processing time and other advantages.

However, due to the impact of the assembly accuracy of the swing head, the machine tool has introduced more geometric error items. When the RTCP function is turned on to realize the five-axis linkage, the position of the tool center point in the workpiece coordinate system will change, which will lead to the surface quality of the aviation structure parts. Deterioration ultimately affects the quality and performance of aerospace products.

The position-independent geometric errors (PIGEs) in the geometric error of the swing head are the key error factors that determine the accuracy of the machine tool RTCP, and are often referred to as the position error of the swing head. In order to realize the RTCP precision compensation of the five-axis machine tool and improve the machining accuracy, the detection and identification of the position error of the swing head is particularly important. For the measurement and identification method of the position error of the machine tool swing head, the traditional manual measurement method uses the inspection rod, the dial indicator and other instruments. The disadvantage is that it is easy to introduce human operation errors and the degree of automation is low. The accuracy of the results depends on the technical level of the operators. In terms of automated measurement, ballbars, trigger probes, R-tests and other equipment are widely used. The patent document with the application number CN 201810520517.1 proposes a ballbar-based measurement path and identification method. It is only sensitive to axial error changes, and the installation position needs to be changed many times during the measurement process, which makes the measurement process more time-consuming and less automated; the patent document with the application number CN 201510856867.1 uses a trigger probe and a high-precision ball to complete Measurement and identification of 4 position errors, but the influence of spindle installation error and rotation axis angle error is not considered.

In summary, the prior art method for detecting swing head errors of CNC machine tools mainly includes the following defects: the number of error items measured is low, and multiple types of error identification cannot be realized at the same time; in addition, the detection automation is low and the detection efficiency is low. Low.

Summary of the invention

The technical problem to be solved by the present invention is to provide a CA double-swing head five-axis numerical control machine tool swing head position error detection and identification method in view of the above existing problems.

The technical scheme adopted by the present invention is as follows: a CA double-swing head five-axis numerical control machine tool swing head position error detection and identification method, including:

Step S1, measurement data collection: use a testing instrument to measure the comprehensive position deviation of the ball head and the center of the baseball at different positions of the swing head;

Step S2, based on the kinematics model of the CA double-swing head five-axis machine tool, combined with the nature of the swing head position error term, establish a mathematical relationship between the ball head check baseball center position deviation and the position error term;

Step S3, position error identification: based on the measurement data collected in step S1 and the kinematic error relationship in step S2, nine position errors of the swing head are obtained through the identification process;

Step S4: Repeat the above steps S1 and S3, perform multiple measurements, and take the average value of the position error identification results.

Further, the measurement data collection in the step S1 includes the following processes:

Step S1.1, the measuring instrument is installed on the workbench, the machine tool is driven to make the center of the ball head inspection rod contact the measuring instrument, and the RTCP function of the five-axis CNC machine tool is turned on;

Step S1.2. Set the A-axis position and C-axis position in 7 different detection modes, the A-axis position of detection mode 1 is -90°, the C-axis position is 0°, and the A-axis position of detection mode 2 is -90° , C-axis position is 90°, A-axis position of detection mode 3 is -90°, C-axis position is 270°, A-axis position of detection mode 4 is 0°, C-axis position is 180°, A of detection mode 5 The axis position is 90°, the C axis position is 90°, the A-axis position of the detection mode 6 is 90°, the C-axis position is 180°, the A-axis position of the detection mode 6 is 90°, and the C-axis position is 270°. Measure the position deviation of the ball head to detect the center of the baseball under 7 detection modes.

Further, in step S2, establishing the mathematical relationship between the position deviation and the position error of the ball head check baseball includes the following process:

Step S2.1. According to the topological structure of the CA double-swing head machine tool, the function of the center position of the ball head in the ideal case is obtained:

P _ideal ＝trans(X,Y,Z)·Rot(C)·Rot(A)·P _t

In the formula, P _ideal represents the ideal coordinate of the center point of the ball head inspection bar in the workpiece coordinate system, trans(X,Y,Z) represents the translation matrix of the X, Y, Z translational coordinate axes of the CNC machine tool, and Rot(C) represents the rotation The homogeneous matrix of the axis C rotating around the Z axis, Rot(A) represents the homogeneous matrix of the rotating axis A rotating around the X axis, and P _t represents the initial coordinate value of the center point of the ball nose rod;

Step S2.2. Add the 9 position errors of the swing head in the case of two rotating shafts to obtain the function of the ball head check baseball center position under actual conditions:

Where P _real represents the actual coordinates of the center point of the ball inspection bar in the workpiece coordinate system, trans(X, Y, Z) represents the translation matrix of the X, Y, Z translational coordinate axes of the CNC machine tool,

Represents the error homogeneous matrix of the C axis rotating around the Z axis,

Represents the error homogeneous matrix of the rotation of the A axis around the X axis, and P _t represents the initial coordinate value of the center point of the ball nose rod;

Step S2.3. Take the difference between the actual sphere center position and the ideal sphere center position P _error = P _real- P _ideal , and expand the matrix, that is, the sphere center position deviation is:

Where Δx, Δy, Δz respectively represent the error values of the ball nose rod in the X, Y, and Z directions of the machine tool coordinate system, A represents the rotation angle of the A axis, C represents the rotation angle of the C axis, δ _xCZ , δ _yCZ , δ _zCZ respectively represents the displacement deviation error of the C axis relative to the Z axis in the X, Y, and Z directions, α _CZ , β _CZ represent the perpendicularity error between the C axis, the Y axis, and the X axis, respectively, and γ _CZ represents the C axis The positioning angle error, δ _yAC represents the displacement deviation error of the A axis relative to the C axis in the Y direction, β _AC represents the perpendicularity error between the A axis and the Z axis, and β _AS represents the spindle relative to the A axis around the Y axis Angle error, L represents the length of the ball head check rod.

Further, in the step S2.2,

in,

Further, the step S3 includes the following process:

To make it easier to understand the subsequent identification process, the three-way error value (Δx, Δy, Δz) is rewritten as Δk(A, C, L), where k = x, y, z, A and C represent the rotation angle, and L represents The length of the ball head.

Step 3.1, calculation mode one:

Wherein _{Δx 1 (-90,90, L),} Δx 2 (90,270, L) denotes an error value X direction in two detection mode, a mode may be deduced from the _{δ xCZ,} δ yAC;

Step 3.2, calculation mode two:

Among them, Δy ₁ (-90,0,L) and Δy ₂ (90,180,L) represent the error values in the Y direction in the two detection modes, and δ _yCZ can be calculated from the second mode;

Step 3.3, calculation mode three:

Among them, Δy ₁ (-90,90,L) and Δy ₂ (90,90,L) represent the error values in the Y direction in the two detection modes, and γ _CZ can be calculated from mode three;

Step 3.4, calculation mode four:

Among them, Δz ₁ (-90,0,L), Δz ₂ (-90,90,L), Δz ₃ (-90,270,L) represent the error measurement values in the Z direction in the three detection modes, which can be calculated from mode four α _CZ , β _CZ , δ _zCZ ;

Step 3.5, calculation mode five:

Among them, Δx ₁ (-90,0,L), Δx ₂ (0,180,L), Δx ₃ (90,180,L) represent the error measurement values in the X direction in the three detection modes. Mode 5 combines calculation mode 1 and calculation mode 4 _{Β AC} and β _AS can be calculated.

Using the ball head check rod with known length, and through the identification of the above five calculation modes, a total of 9 position error items of the machine swing head can be obtained.

Further, the detection instrument includes but is not limited to R-test measuring instrument, laser tracker, ball bar and so on.

Compared with the prior art, the beneficial effects of adopting the above technical solution are:

(1) The present invention takes into account the 9 errors of the dual rotation axis, and can quickly obtain the 9 position errors of the CA double swing head five-axis numerical control machine tool, which can be used for machine tool assembly debugging and machine tool error compensation, and has strong practicability.

(2) When acquiring measurement data, the present invention installs the detection instrument at a fixed position on the workbench, and places the ball head inspection rod in the tool magazine, which makes it easy to automatically acquire measurement data, and realize automatic detection by writing measurement cycles; in addition, based on this solution The identification algorithm development software tool realizes automatic identification; therefore, the calculation scheme of the present invention is easy to realize automatic detection and identification.

(3) The identification method used in the present invention is simple and accurate, and can effectively realize the separation and identification of the measurement integrated error value.

(4) Compared with the existing identification method, the present invention can not only identify the position error of the AC axis of the rotating shaft, but also identify the installation angle error of the main shaft at the same time, and can realize various types of error identification.

Description of the drawings

Fig. 1 is a schematic diagram of the structure of a five-axis CNC machine tool of the CA double swing head type in the present invention.

Fig. 2 is a schematic diagram of the ball-end inspection rod used for inspection purposes in the present invention.

Fig. 3 is a schematic diagram of the position error of the swing head under the establishment of the machine tool coordinate system according to the present invention.

Fig. 4 is a schematic diagram of the CA rotary axis linkage detection process of the five-axis numerical control machine tool of the present invention.

Fig. 5 is a schematic flow chart of the method for detecting and identifying the position error of the swing head of the CA double swing head five-axis numerical control machine tool according to the present invention.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings. Examples of the embodiments are shown in the accompanying drawings and are not used to limit the present invention.

Fig. 5 shows a flow chart of the position error detection and identification method of the CA double-swing head five-axis numerical control machine tool of the present invention. The first step of the identification process is the measurement data acquisition stage. Therefore, referring to FIG. 2, according to the embodiment of the present invention, it is necessary to complete the measurement and data collection of the deviation of the center of the sphere with the aid of a ball head check rod.

Step S1, measurement data collection: use the detection instrument to measure the comprehensive position deviation (Δx, Δy, Δz) of the ball head to detect the center of the baseball at different positions.

Step S1.1, the measuring instrument is installed on the workbench, the machine tool is driven to make the center of the ball head mandrel contact the measuring instrument, and the RTCP function of the five-axis CNC machine tool is turned on;

Step S1.2, when the A-axis and the C-axis are in the following positions, measure the position deviation of the ball head and the center of the baseball in a total of 7 detection modes.

Record position deviation data, record it as (Δx, Δy, Δz) and save it to provide data support for subsequent error identification.

Step S2, based on the kinematics model of the CA double-swing head five-axis machine tool, combined with the nature of the swing head position error term, establish a mathematical relationship between the ball head check baseball center position deviation and the position error term. The specific implementation process is as follows:

Step S2.1. As shown in Figure 1, the topological structure of the five-axis CNC machine tool is: machine bed 110—X-direction translational coordinate axis 120—Y-direction translational coordinate axis 130—Z-direction translational coordinate axis 140—rotational axis C Axis 150—rotation axis A axis 160. The rotation axis C axis 150 is rotatably connected to the Z-direction translational coordinate axis 140, the rotation axis A axis 160 is rotatably connected to the rotation axis C axis 150, and the rotation axis A axis 160 is mounted with the ball head gauge rod 10.

According to the topological structure, the position function of the center point of the ball head inspection rod relative to the integral R-test workpiece coordinate system is obtained under ideal conditions:

P _ideal ＝trans(X,Y,Z)·Rot(C)·Rot(A)·P _t

In the formula, P _ideal represents the coordinates of the center point of the ball head inspection bar in the workpiece coordinate system;

Represents the translation matrix of the X, Y, Z translational coordinate axes of the machine tool;

Represents the homogeneous matrix of the rotation axis C axis rotating around the Z axis;

Represents the homogeneous matrix of the rotation axis A axis rotating around the X axis;

P _t =[0,0,-L,1] represents the initial coordinate value of the center point of the ball nose gauge.

Step S2.2, however, affected by the rotating shaft assembly precision of the rotary shaft will produce two position error of the total of 9, as shown in _{FIG, δ xCZ, δ yCZ, δ} zCZ 3 with respect to the C-axis represent the Z axis X , Y, Z direction displacement deviation error, α _CZ , β _CZ represent the perpendicularity error between the C axis and the Y axis, X axis respectively, γ _CZ represents the positioning angle error of the C axis, δ _yAC represents the A axis relative to the The displacement deviation error of the C axis in the Y direction, β _AC represents the perpendicularity error between the A axis and the Z axis, and β _AS represents the perpendicularity error of the main axis relative to the A axis around the Y axis. At this time, the rotation axis C axis 150 is opposite On the Z-direction translational coordinate axis 140, the rotation axis A axis 160 is relative to the rotation axis C axis 150, and the error source of the ball nose rod 10 relative to the rotation axis A axis 160 is comprehensively expressed by a homogeneous coordinate transformation matrix, as follows:

In the actual situation of error, the position of the center point of the ball head inspection rod is relative to the position function of the integral R-test workpiece coordinate system:

P _real ＝trans(X,Y,Z)· ^Z PI _C ·Rot(C)· ^C PI _A ·Rot(A)· ^A PI _t ·P _t

When the integral R-test is used to detect the position error of the center point of the ball head mandrel, the position error of the center point can be expressed as:

P _error ＝P _real -P _ideal

Bring the homogeneous matrices into the above-mentioned position error model, and establish the mathematical relationship between the three-way error value of the ball head inspection rod space and the position error term under actual conditions:

Where Δx, Δy, Δz respectively represent the error values of the ball head inspection rod in the X, Y, and Z directions of the machine tool coordinate system, A represents the rotation angle of the A axis, C represents the rotation angle of the C axis, and L represents the ball inspection rod length.

Step S3. Error identification: Based on the measurement data collected in step S1 and the kinematic error relationship in step S2, nine position errors of the swing head are obtained through the identification process. The specific implementation process is as follows:

Figure 4 is a schematic diagram of the linkage test of the rotary axis of a five-axis machine tool. Figure 4 shows the three-dimensional orientation and two lateral orientations. To make it easier to understand the subsequent identification process, the three-dimensional error value (Δx, Δy, Δz) is rewritten as Δk (A, C, L), where k = x, y, z, A and C represent the rotation angle, and L represents the length of the ball nose rod.

Step S3.1, calculation mode 1:

Wherein Δx _1, Δx ₂ denotes an error value X direction in two detection patterns above, it may be deduced from the formula _{δ xCZ,} δ yAC;

Step S3.2, calculation mode 2:

Among them, Δy ₁ and Δy ₂ represent the error values in the Y direction in the above two detection modes, and δ _yCZ can be calculated from the above formula;

Step S3.3, calculation mode three:

Among them, Δy ₁ and Δy ₂ represent the error values in the Y direction in the above two detection modes, and γ _CZ can be calculated from the above formula;

Step S3.4, calculation mode 4:

Among them, Δz ₁ , Δz ₂ , and Δz ₃ represent the error values in the Z direction in the above three detection modes. From the above formula, α _CZ , β _CZ , and δ _zCZ can be calculated;

Step S3.5, calculation mode five:

Among them, Δx ₁ , Δx ₂ , and Δx ₃ represent the error measurement values in the X direction in the above three detection modes, and combined with calculation mode 1 and calculation mode 4, β _{AC and β AS} can be calculated.

Using the ball head check rod with known length, and through the identification of the above five calculation modes, a total of 9 position error items of the machine swing head can be obtained.

Step S4: Repeat the above steps S1 and S3, perform multiple measurements, and take the average value of the position error identification results.

The invention can effectively realize the separation and identification of the measurement comprehensive error value, achieve convenient and accurate acquisition of 9 position errors of the CA double swing head five-axis CNC machine tool swing head, and can provide a data source for machine tool assembly and debugging and RTCP accuracy compensation; and It is easy to realize automatic detection and identification, that is, install the detection instrument on a fixed position of the workbench, and place the ball head inspection rod in the tool magazine, and then the above detection method can be realized by writing a measurement cycle to achieve automatic detection; using the above identification algorithm to develop software tools to achieve Automatic identification, stronger applicability.

The present invention is not limited to the foregoing specific embodiments. The present invention extends to any new feature or any new combination disclosed in this specification, and any new method or process step or any new combination disclosed. Any insubstantial changes or improvements made by those skilled in the art without departing from the spirit of the present invention should fall within the protection scope of the claims of the present invention.

Claims (7)

1. A CA double-swing head five-axis numerical control machine tool swing head position error detection and identification method, which is characterized in that it includes:

   Step S1, measurement data collection: use a testing instrument to measure the comprehensive position deviation of the ball head and the center of the baseball at different positions of the swing head;

   Step S2, based on the kinematics model of the CA double-swing head five-axis machine tool, combined with the nature of the swing head position error term, establish a mathematical relationship between the ball head check baseball center position deviation and the position error term;

   Step S3, position error identification: based on the measurement data collected in step S1 and the kinematic error relationship in step S2, nine position errors of the swing head are obtained through the identification process;

   Step S4: Repeat the above steps S1 and S3, perform multiple measurements, and take the average value of the position error identification results.
2. The CA dual-swing head five-axis numerical control machine tool swing head position error detection and identification method according to claim 1, wherein the measurement data acquisition in step S1 includes the following processes:

   Step S1.1, the measuring instrument is installed on the workbench, the machine tool is driven to make the center of the ball head inspection rod contact the measuring instrument, and the RTCP function of the five-axis CNC machine tool is turned on;

   Step S1.2. Set the A-axis position and C-axis position in 7 different detection modes, the A-axis position of detection mode 1 is -90°, the C-axis position is 0°, and the A-axis position of detection mode 2 is -90° , C-axis position is 90°, A-axis position of detection mode 3 is -90°, C-axis position is 270°, A-axis position of detection mode 4 is 0°, C-axis position is 180°, A of detection mode 5 The axis position is 90°, the C axis position is 90°, the A-axis position of the detection mode 6 is 90°, the C-axis position is 180°, the A-axis position of the detection mode 6 is 90°, and the C-axis position is 270°. Measure the position deviation of the ball head to detect the center of the baseball under 7 detection modes.
3. The CA dual-swing head five-axis numerical control machine tool swing head position error detection and identification method according to claim 1 or 2, characterized in that, in step S2, a mathematical relationship between the ball head check baseball center position deviation and the position error term is established The formula includes the following processes:

   Step S2.1. According to the topological structure of the CA double-swing head machine tool, the function of the center position of the ball head in the ideal case is obtained:

   P _ideal ＝trans(X,Y,Z)·Rot(C)·Rot(A)·P _t

   In the formula, P _ideal represents the ideal coordinate of the center point of the ball head inspection bar in the workpiece coordinate system, trans(X,Y,Z) represents the translation matrix of the X, Y, Z translational coordinate axes of the CNC machine tool, and Rot(C) represents the rotation The homogeneous matrix of the axis C rotating around the Z axis, Rot(A) represents the homogeneous matrix of the rotating axis A rotating around the X axis, and P _t represents the initial coordinate value of the center point of the ball nose rod;

   Step S2.2. Add the 9 position errors of the swing head in the case of two rotating shafts to obtain the function of the ball head check baseball center position under actual conditions:

   

   Where P _real represents the actual coordinates of the center point of the ball inspection bar in the workpiece coordinate system, trans(X, Y, Z) represents the translation matrix of the X, Y, Z translational coordinate axes of the CNC machine tool,

   

   Represents the error homogeneous matrix of the C axis rotating around the Z axis,

   

   Represents the error homogeneous matrix of the rotation of the A axis around the X axis, and P _t represents the initial coordinate value of the center point of the ball nose rod;

   Step S2.3. Take the difference between the actual sphere center position and the ideal sphere center position P _error = P _real- P _ideal , and expand the matrix, that is, the sphere center position deviation is:

   

   Where Δx, Δy, Δz respectively represent the error values of the ball nose rod in the X, Y, and Z directions of the machine tool coordinate system, A represents the rotation angle of the A axis, C represents the rotation angle of the C axis, δ _xCZ , δ _yCZ , δ _zCZ respectively represents the displacement deviation error of the C axis relative to the Z axis in the X, Y, and Z directions, α _CZ , β _CZ represent the perpendicularity error between the C axis, the Y axis, and the X axis, respectively, and γ _CZ represents the C axis The positioning angle error, δ _yAC represents the displacement deviation error of the A axis relative to the C axis in the Y direction, β _AC represents the perpendicularity error between the A axis and the Z axis, and β _AS represents the spindle relative to the A axis around the Y axis Angle error, L represents the length of the ball head check rod.
4. The CA double-swing head five-axis numerical control machine tool swing head position error detection and identification method according to claim 3, characterized in that, in the step S2.2,

   

   in,

   

   
5. The CA double-swing head five-axis numerical control machine tool swing head position error detection and identification method according to claim 1, wherein the step S3 includes the following process:

   Step 3.1, calculation mode one:

   

   Wherein _{Δx 1 (-90,90, L),} Δx 2 (90,270, L) denotes an error value X direction in two detection mode, a mode may be deduced from the _{δ xCZ,} δ yAC;

   Step 3.2, calculation mode two:

   

   Among them, Δy ₁ (-90,0,L) and Δy ₂ (90,180,L) represent the error values in the Y direction in the two detection modes, and δ _yCZ can be calculated from the second mode;

   Step 3.3, calculation mode three:

   

   Among them, Δy ₁ (-90,90,L) and Δy ₂ (90,90,L) represent the error values in the Y direction in the two detection modes, and γ _CZ can be calculated from mode three;

   Step 3.4, calculation mode four:

   

   Among them, Δz ₁ (-90,0,L), Δz ₂ (-90,90,L), Δz ₃ (-90,270,L) represent the error measurement values in the Z direction in the three detection modes, which can be calculated from mode four α _CZ , β _CZ , δ _zCZ ;

   Step 3.5, calculation mode five:

   

   Among them, Δx ₁ (-90,0,L), Δx ₂ (0,180,L), Δx ₃ (90,180,L) represent the error measurement values in the X direction in the three detection modes. Mode 5 combines calculation mode 1 and calculation mode 4 Can calculate β _AC , β _AS ;

   Among them δ _xCZ , δ _yCZ , δ _zCZ respectively represent the displacement deviation error of the C axis relative to the Z axis in the X, Y, and Z directions, and α _CZ , β _CZ represent the perpendicularity between the C axis and the Y axis and the X axis, respectively Error, γ _CZ represents the positioning angle error of the C axis, δ _yAC represents the displacement deviation error of the A axis relative to the C axis in the Y direction, β _AC represents the perpendicularity error between the A axis and the Z axis, and β _AS represents the relative spindle The angle error of the A-axis around the Y-axis, and L represents the length of the ball nose rod.
6. The CA double-swing head five-axis numerical control machine tool swing head position error detection and identification method according to claim 3, wherein the step S3 includes the following process:

   Step 3.1, calculation mode one:

   

   Wherein _{Δx 1 (-90,90, L),} Δx 2 (90,270, L) denotes an error value X direction in two detection mode, a mode may be deduced from the _{δ xCZ,} δ yAC;

   Step 3.2, calculation mode two:

   

   Among them, Δy ₁ (-90,0,L) and Δy ₂ (90,180,L) represent the error values in the Y direction in the two detection modes, and δ _yCZ can be calculated from the second mode;

   Step 3.3, calculation mode three:

   

   Among them, Δy ₁ (-90,90,L) and Δy ₂ (90,90,L) represent the error values in the Y direction in the two detection modes, and γ _CZ can be calculated from mode three;

   Step 3.4, calculation mode four:

   

   Among them, Δz ₁ (-90,0,L), Δz ₂ (-90,90,L), Δz ₃ (-90,270,L) represent the error measurement values in the Z direction in the three detection modes, which can be calculated from mode four α _CZ , β _CZ , δ _zCZ ;

   Step 3.5, calculation mode five:

   

   Among them, Δx ₁ (-90,0,L), Δx ₂ (0,180,L), Δx ₃ (90,180,L) represent the error measurement values in the X direction in the three detection modes. Mode 5 combines calculation mode 1 and calculation mode 4 _{Β AC} and β _AS can be calculated.
7. The method for detecting and identifying the position error of the swing head of a CA double swing head five-axis numerical control machine tool according to claim 1, wherein the detection instrument includes, but is not limited to, an R-test measuring instrument, a laser tracker, and a ballbar. .

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