CN109759896A - A cradle-type five-axis machine tool rotating axis geometric error detection device and identification method - Google Patents
A cradle-type five-axis machine tool rotating axis geometric error detection device and identification method Download PDFInfo
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Abstract
本发明公开了一种摇篮式五轴机床旋转轴联动误差检测装置及辨识方法，假定X、Y和Z直线轴误差相对于旋转轴的误差可以忽略不计或已得到补偿。五轴机床两旋转轴联动过程中的几何误差随着两旋转角度组合的变化而变化，不同的旋转角度组合对应着不同的空间几何误差。本发明提出了一种通过安装在机床主轴上的接触式触发探头，对装卡在“十”字导轨上成圆形排列的四个特定设计测试柱进行三个不同档位的在机测量来检测旋转轴几何误差的方法。步骤1．定位装卡测试装置；步骤2．划分A、C轴运动角度并进行组合；步骤3．确定每个组合角度下测试柱上测试点的数量和探针探测方向；步骤4．检测测试柱的空间综合误差；步骤5．辨识分离得到AC几何误差。
The invention discloses a cradle-type five-axis machine tool rotation axis linkage error detection device and identification method. It is assumed that the X, Y and Z linear axis errors are negligible or compensated relative to the errors of the rotation axis. The geometric error during the linkage process of the two rotating axes of the five-axis machine tool changes with the change of the combination of the two rotation angles, and different rotation angle combinations correspond to different spatial geometric errors. The invention proposes an on-machine measurement of three different gears on four specially designed test columns that are mounted on a "cross" guide and are arranged in a circle through a contact trigger probe installed on the main shaft of a machine tool. A method for detecting geometric errors of rotary axes. step 1. Position the card test device; step 2. Divide the movement angles of A and C axes and combine them; Step 3. Determine the number of test points on the test column and the direction of probe detection at each combined angle; step 4. Detect the spatial comprehensive error of the test column; step 5. The identification separation yields the AC geometric error.
Description
Technical field
The present invention relates to Five-axis NC Machining Center error-detecting fields more particularly to a kind of cradle-type five-axis machine tool rotary shaft to join
Dynamic geometric error detection device and discrimination method.
Background technique
Demand of the China to high-end numerical control machine is continuously increased at present, however the precision deficiency of numerically-controlled machine tool restricts always
The development of China's five-axle number control machine tool, therefore seek a kind of convenient reliably distinguish especially for the error of five-axis machine tool rotary shaft
Knowledge method becomes the hot spot studied instantly and difficult point.The error-detecting of five-axle number control machine tool rotary shaft is to carry out error compensation
Premise, international and domestic researcher have set foot in the field, and achieve good achievement, at present International Organization for standardization
It has formulated ISO230-1~ISO230-11 series standard to be used to that machine tool error is instructed to detect, the tradition being directed to is accidentally
Difference detecting instrument device has laser interferometer, ball bar, plane grating, laser tracker etc..
Summarize international and domestic invention achievement, it has been found that related invention is mainly unfolded along two thinkings, and one is research
The detection device of the multinomial error of one-time detection is capable of in exploitation, such as Agilent two-frequency laser interferometer is able to detect single straight line
Five the upper and lower of axis, left and right straightness and position error and deflection angle, pitch angle etc. error elements, the exploitation of JENAer company
Multi-axis and multi-DOF error detecting facility can measure multiple error parameters in the case where multi-axial Simultaneous moves.This research is thought
Apparatus measures range involved in road is big, and full accuracy can reach 1 nanometer, but measurement parameter is still limited, and measuring device is high
Expensive and measurement process is complicated and changeable.Another Research Thinking be intended to using convenient and fast instrument and equipment in conjunction with distinctive measurement method come
The calibrating to machine tool error is completed, for example, Chinese patent CN105945649A, which discloses one kind, " examines test specimen based on serpentine
The error identification method of 5-shaft linkage numerical control lathe " propose by the composition error after detection one serpentine exemplar processing come
Tracing to the source influences the discrimination method of machine tool accuracy principal element, which establishes serpentine test specimen normal error and influence lathe and miss
BP neural network has been applied to the quantification treatment of machine tool error factor by the corresponding relation database of poor factor.This method
The precision of lathe can be evaluated, provide the prioritization scheme to match with machine tool accuracy, but do not known in the processing of " S " part
Factor is too many, especially the chatter phenomenon of process on mismachining tolerance influence it is higher, in this way to the inspection of machine tool accuracy
Survey is not very ideal.
The above research achievement and invention have certain representativeness in machine tool error fields of measurement, however most inventions all collect
In by tracking a single point athletic posture and motion profile measure positioning and the angular errors of five-axis machine tool rotary shaft, this
Invention can detecte workbench geometric error of multiple measuring points under AC different rotary angle combinations.Detection dress of the present invention
It sets innovation to be: (1) being by main shaft gauge head, " ten " word guide rail, four sliding blocks, four test poles, receiver and control
The AC linkage geometric error on-line detecting system of system composition is compared to other traditional on-line measurements and three-dimensional coordinates measurement, measurement
The convenient and efficient generation for avoiding resetting error of process；Test point of the main shaft gauge head directly to different AC linkage spatial position
It measures, measuring point is movably distributed in each position of working space, and measurement data is abundant, comprehensive, accurate, reliable；(2) originally
Device is suitable for more different types and different size of lathe, and miniature numerical control lathe has compact-sized and working space narrow
The features such as, traditional detection device is difficult arrangement installation, and the present apparatus is simple and reliable for structure, test device fitted and removed easily
It better reflects to come when equal predominant faces are to junior machine.
Detection method innovation of the present invention is: (1) geometric error for considering C axis is derived partly from A axis
Acceleration and Gravity changer influence, that is, consider in AC linkage process and link between geometric error and lathe geometric error
Difference；Previous invention specifies the error in AC linkage process to the machine tool error ambiguity in definition of AC linkage process, the present invention
Element, and accurately solved by the geometric error model that links；(2) when the position error and angular errors for only needing to identify rotary shaft
When, can by measure two symmetrical test blocks location track come solve C axis 8 rotate angle average localization error with
Average angular errors.
Summary of the invention
The invention proposes a kind of cradle-type five-axis machine tool rotary shaft linkage geometric error detection devices and error elements to distinguish
Knowledge method, linkage geometric error detection device provided by the invention, which is characterized in that the device includes that touch trigger probes exist
Line measuring system, triggering probe are mounted on machine tool chief axis, can carry out tri- directions x, y and z to the contact point on test block
Real-time measurement simultaneously records.The test pole of four identical sizes with circular distribution on guide rail, the center at round center and workbench
It is overlapped, four test poles can follow sliding block to be moved at the different circle position of three diameters, the volumetric position error of test pole
The linkage geometric error of two rotary shafts is reflected, the test pole and track-type facilities that the present invention uses are in face of compact-sized small
It is easier to play a role when type numerically controlled machine.
Rotation is detected by the motion profile of a single point in tracking workpiece coordinate system compared in laser and ball bar test
The angular errors of shaft, the present invention can detecte positioning and rotating angle movement error of multiple points in different rotary angle, the party
Method specifies the error elements in AC linkage process, and the mathematical model of foundation considers the rotation of A axis to the shadow of C axis kinematic error
It rings.
The technical scheme is that a kind of cradle-type five-axis machine tool rotary shaft geometric error detection device and identification side
Method includes the following steps:
Step 1. location and installation test device: by four sliding blocks of the test pole installation of four identical sizes at different locations
On, there are three shift position I, II, III on guide rail for sliding block, and guide rail lower section can be adsorbed on the table equipped with magnet, mobile
The center of guide rail is overlapped by guide rail with the center of workbench.
Step 2. divides A, C axis movement angle and is combined: the present invention is directed to VMC-C50 Five-axis NC Machining Center for A axis
Movement is divided into four angle C axis movements and is divided into eight angles, and space geometry error of two axis under different angle combination can be seen
At AC linkage geometric error.Four angles of A axis, eight angles of C axis.Workbench rotates angle combinations in different AC
Under spatial positionShared 4*8=32.
Step 3. determines the quantity and probe detection direction of test point on test pole under each combination angle: the spy of contact point
It surveyed range request and on-line measurement is carried out to n contact point on four test poles, fromStart, successively detects
Workbench is in each spatial positionLocate n test point on four test poles, such as whenWhen, altogether
HaveA test point, 32 work space positions need to measure 298 measurement points.In order to avoid detecting head and test block it
Between interfere with each other, the test point quantity under each combination is different.The detection direction of probe is perpendicular to its close test
Block surface, this direction are similar to direction of error.
The spatial synthesis error of step 4. detection test block.Utilize the sensing point actual coordinate measured
, minimization problem is solved to calculate the space line error of turntableAnd angular errors。
Step 5. recognizes isolated AC linkage geometric error.By establishing turntable composition error and AC axis geometric error member
Relational model between element, recognizes two-axle interlocking geometric error element in AC rotary course, and error elements are as shown in table 1.
Beneficial effects of the present invention: the detection method traditional compared to laser and ball bar etc., it is provided by the present invention
Detection device structure while reaching detection accuracy and requiring is simple and economical and practical.In face of the compact work of miniature numerical control machine tool structure
The characteristics of making platform narrow space, the laser detection equipment of complex and expensive cannot good mounting arrangements, brought to detection very big
Difficulty, the test pole and track-type facilities that the present invention designs can install easily and fast in working space not of uniform size
In place, detection process is substantially reduced, detection efficiency is improved.The present invention carries out four test poles being installed on the workbench
On-line measurement, the actual detection point coordinate that on-line measurement obtainsWith desired detection point coordinateDifference be error vector.Compared to the measurement of other measurement rotary shaft geometric errors
Method, the present invention, can from different perspectives and position by the measurement to each work space position different number sensing point
React rotary shaft positioning and angular errors.It, can be symmetrical by measurement two when only needing to identify the position error of rotary shaft
The location track of test block rotates the average localization error of angle to calculate C axis at 8.The present invention rotates model for different A axis
The lathe enclosed can set different detection composite sequences.
Detailed description of the invention
Fig. 1 is that linkage geometric error testing process leads figure；
Fig. 2 is the mounting arrangements and on-line measurement system space schematic diagram of four test poles and guide rail；
Fig. 3 is that workbench existsWhen, exploring sequence and sensing point space layout schematic diagram；
Fig. 4 is that workbench existsWhen, quantity, position and the detection direction of probe contact point, to being applied to
The size of four test poles on VMC-C50 five-axis NC machine center workbench is labeled；
Fig. 5 is that workbench existsWhen, quantity, position and the detection direction of sensing point；
Fig. 6 is that workbench existsWhen, quantity, position and the detection direction of sensing point；
Fig. 7 is C axis position error in rotary courseInstrumentation plan；
Fig. 8 is that workbench existsWhen, the angular error that is rotated around Y-axisInstrumentation plan.
Specific embodiment
The present invention utilizes touch trigger probes on-line measurement system, measures workbench first in different A, C axis rotation angles
Spend the actual coordinate of n sensing point on lower four test poles, each secondly by solvingThe minimization problem at place obtains
Exist to rotary axis of machine toolWithThree location errors of workbench at place , , With three angular errors , , .Finally establish workbench composition error...,Between rotary shaft error elements
Relational model solves the error elements of A axis and C axis shown in table 1, completes error identification process.
The implementation steps of the invention is described further with reference to the accompanying drawing: as shown in Figure 1, one kind provided by the invention is shaken
Basket five-axis machine tool rotary shaft linkage geometric error discrimination method includes standard testing column 1,2,3 and 4, sliding block 5, guide rail 6, contact
Formula triggering probe 7, on-line measurement system 8.
For the detection for opening up uncut jade VMC-C50 five-axis NC machine center rotary shaft kinematic error, four test column dimensions with
And their position location is as shown in Figure 4.
A kind of cradle-type numerically-controlled machine tool rotary shaft linkage geometric error detection method provided by the invention and error elements are distinguished
Knowledge method, the method mainly comprise the steps that
Step 1. is installed the test pole of four identical sizes on four sliding blocks at different locations, and sliding block has three on guide rail
A shift position I, II, III can be adsorbed on the table equipped with magnet below guide rail, moving guide rail by the center of guide rail with
The center of workbench is overlapped.
As shown in Figure 1, touch trigger probes are fixedly mounted on machine tool chief axis, the on-line measurement system 8 in Fig. 2 includes
Receiver, converter and machine tool control system, when test point of the probe contacts to test block surface, machine tool numerical control system is received
The external interrupt instruction sent to probe 5, by the reception to interrupt instruction, controlling positioning system will pop one's head in machine tool control system
The coordinate record of the centre of sphere and preservation.
Step 2. divides A, C axis movement angle and is combined, and the movement of A axis is divided into four angle C axis movements and is divided into eight
A angle, space geometry error of two axis under different angle combination can regard AC linkage geometric error as.Four angles of A axis, eight angles of C axis。
The detection process of step 3. contact point requires to carry out on-line measurement to n contact point on four test poles, fromStart, successively detection operations platform is in each spatial positionThe n test point at place, wherein。
Work as shown in Figure 4When, the quantity of probe contact point, 1 upper center position of test pole
A test point and four test points of its surrounding the spatial position of test pole 1,8 test points of test pole 2 and 3 have been determined
It is symmetrical, can not only reaction test block physical location, moreover it is possible to workbench is calculated by position between symmetrical test point
Rotational positioning error and angular errors, as shown in Figure 7,8.
Step 31. is worked asWhen, in order to avoid the collision between side head and test block, it is convenient for measuring process, 8, C axis
The sensing point of rotational position is further reduced, as shown in fig. 6,Place, the quantity of sensing point。
Step 4. utilizes the sensing point actual coordinate measured, minimization problem is solved to calculate turntable
Position errorAnd angular errors.The theoretical position coordinate of sensing point
It can be obtained by least square method.
Step 31., which minimizes, solves turntable positioning and angular errors model are as follows:
Wherein,For unit vector, direction is probe detection direction.
The rotational positioning error of step 32. calculating workbenchAnd angular errors.As shown in Figure 7,8, right using two
Claim test point in rotary course counterclockwise X, the deviation of position calculates rotational positioning error in Y-directionSize,
It can use two deviations of symmetrical test point in the Y direction at opposite test block end face center equally to detect workbench
Around the angular errors of Y-axis in rotary course, 。
Step 5. recognizes AC connection by the relational model established between turntable composition error and AC axis geometric error element
Two axis error elements shown in table 1 during dynamic.
1 AC of table linkage geometric error element classification and definition
Turntable composition error... ...,With AC rotary shaft error elements relational model are as follows:
。
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110672049A (en) * | 2019-09-27 | 2020-01-10 | 江苏工大博实医用机器人研究发展有限公司 | Method and system for determining the relation between a robot coordinate system and a workpiece coordinate system |
| CN110977613A (en) * | 2019-12-13 | 2020-04-10 | 宁波大学 | Geometric error identification method of five-axis CNC machine tool based on specimen self-calibration |
| CN112001052A (en) * | 2020-08-31 | 2020-11-27 | 郑州轻工业大学 | A quantitative analysis method for precision design of high-precision multi-axis CNC machine tools |
| CN112276674A (en) * | 2020-10-13 | 2021-01-29 | 上海交通大学 | Precise measurement method and system for geometrical motion error of rotary axis of multi-axis CNC machine tool |
| CN112496863A (en) * | 2020-11-23 | 2021-03-16 | 中国航发沈阳黎明航空发动机有限责任公司 | Automatic measuring method for numerical control machining angle |
| CN113478272A (en) * | 2021-07-22 | 2021-10-08 | 重庆理工大学 | Full-working-space thermal error measuring method of five-axis numerical control machine tool based on R-test measuring instrument |
| CN113587870A (en) * | 2021-07-30 | 2021-11-02 | 哈尔滨理工大学 | Five-axis machine tool rotating shaft geometric error on-machine detection device and error field prediction method |
| CN114237153A (en) * | 2021-11-18 | 2022-03-25 | 襄阳华中科技大学先进制造工程研究院 | Five-axis machine tool positioning error acquisition method, processing control method and device |
| CN114485466A (en) * | 2022-01-26 | 2022-05-13 | 哈尔滨理工大学 | Planetary gear tooth profile machining error measuring device and self-adaptive on-machine measuring method |
| CN116673792A (en) * | 2023-08-04 | 2023-09-01 | 成都飞机工业（集团）有限责任公司 | Machining center rotating shaft error source stripping feature and machining evaluation method |
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| CN113587870A (en) * | 2021-07-30 | 2021-11-02 | 哈尔滨理工大学 | Five-axis machine tool rotating shaft geometric error on-machine detection device and error field prediction method |
| CN114237153A (en) * | 2021-11-18 | 2022-03-25 | 襄阳华中科技大学先进制造工程研究院 | Five-axis machine tool positioning error acquisition method, processing control method and device |
| CN114237153B (en) * | 2021-11-18 | 2023-08-29 | 襄阳华中科技大学先进制造工程研究院 | Five-axis machine tool positioning error acquisition method, machining control method and machining control device |
| CN114485466A (en) * | 2022-01-26 | 2022-05-13 | 哈尔滨理工大学 | Planetary gear tooth profile machining error measuring device and self-adaptive on-machine measuring method |
| CN114485466B (en) * | 2022-01-26 | 2023-11-21 | 哈尔滨理工大学 | Planetary gear tooth profile machining error measurement device and adaptive on-machine measurement method |
| CN116673792A (en) * | 2023-08-04 | 2023-09-01 | 成都飞机工业（集团）有限责任公司 | Machining center rotating shaft error source stripping feature and machining evaluation method |
| CN116673792B (en) * | 2023-08-04 | 2023-11-10 | 成都飞机工业（集团）有限责任公司 | Machining center rotating shaft error source stripping feature and machining evaluation method |
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Application publication date: 20190517 |