CN110449990A - A kind of open loop dynamic error measurement method of closed-loop lathe - Google Patents
A kind of open loop dynamic error measurement method of closed-loop lathe Download PDFInfo
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Abstract
The invention discloses a kind of open loop dynamic error detection methods of closed-loop lathe, install including step 1, on platen and can measure machine tool chief axis in the position detection instrument of the actual position information of a direction；Step 2, setting position detection instrument keep it identical as the sampling time synchronization of grating scale in machine tool motion axis closed-loop control system and sampling period；Step 3, control machine tool chief axis pass through the physical location and the position in closed-loop control system of position detection instrument and grating scale synchro measure machine tool chief axis to move in this direction；Step 4, the difference for seeking numerical value measured by position detection instrument and grating scale calculate open loop error；5, all open loop errors are chronologically restored, the open loop dynamic error of motion state is formed.This method can precisely measure out the open loop dynamic error of machine tool chief axis motion state, and then obtain the data of assessment and compensation campaign state open loop dynamic error, can be to improve machine tool motion state accuracy, and lifting workpieces machining accuracy provides approach.
Description
Technical field
The present invention relates to lathe detection technique fields, and in particular to the open loop dynamic error measurement method of closed-loop lathe.
Background technique
The numerically-controlled machine tool of full closed loop control, due to being provided with grating scale on lathe, grating scale with precise measurement and can be fed back
The movement position distance of machine tool chief axis, and the data feedback that will test is to the control system of lathe, the control system of lathe can be with
The position of main shaft is adjusted, further according to grating scale feedback data to guarantee the high-precision of lathe.
But grating scale can only measure lathe grating ruler reading head to the positional distance of lathe benchmark origin, can't detect
Main shaft end face is to the positional distance error between grating ruler reading head.During machine tool motion, due to lathe acceleration and deceleration motion
In the process, moving components quality can generate forward and reverse impact force, this impact force can be applied on machine tool element, by
There are the elements such as elasticity and installation fit clearance in these components, will lead to and generated between main shaft end face and grating ruler reading head
Alternation distance change causes the open loop dynamic error of numerically-controlled machine tool kinematic axis, the movement speed of the open loop dynamic error and main shaft
Degree, acceleration and rigidity and dynamic impact forces are related, affect machine tool motion precision, and then directly affect the essence of part to be processed
Degree, the open loop dynamic error of periodic detection closed-loop lathe to provide data supporting for the compensation of movement transient error, for
The machining accuracy for improving lathe has very important significance, however how to detect the open loop dynamic error of numerically-controlled machine tool to raising lathe
Machining accuracy be major issue.
Summary of the invention
The present invention be directed to more than problem propose the open loop dynamic error detection method and principle of a kind of closed-loop lathe,
This method can detecte out the open loop dynamic error of numerically-controlled machine tool during the motion, in order to the kinematic axis to numerically-controlled machine tool into
Row compensation improves.
The technological means that the present invention uses is as follows:
A kind of open loop dynamic error detection method of closed-loop lathe, includes the following steps,
Step 1, the installation site detecting instrument on platen or the fixed device of parts to be processed, allow to measure
Actual range information of the machine tool chief axis in a direction；
Grating scale in step 2, setting position detection instrument and machine tool motion axis closed-loop control system, so that position detection
Instrument is identical as the sampling period of grating scale in machine tool motion axis closed-loop control system, to guarantee that position detection instrument and lathe are transported
Grating scale in moving axis closed-loop control system synchronizes data acquisition and transmission；
Step 3, control machine tool chief axis are moved in said direction with expection velocity and acceleration value to be detected, meanwhile, lead to
Cross the physical location and machine tool motion axis closed loop control of grating scale acquisition machine tool chief axis in position detection instrument and the detection of lathe closed loop
The location information of machine tool chief axis in system processed, to obtain the physical location array and machine tool motion axis closed loop control of machine tool chief axis respectively
The position array of machine tool chief axis in system processed；
Step 4, to the position of machine tool chief axis in the physical location array and machine tool motion axis closed-loop control system of machine tool chief axis
It sets and corresponds to collection point progress difference calculating in array, obtain the open loop error of each collection point；
Step 5 corresponds the open loop error of collection point each in step 4 and acquisition timing, obtains lathe master
The open loop dynamic error of axis motion state.
Further, the direction of motion of the machine tool chief axis includes the linear axis direction of motion and the rotating shaft direction of motion, institute
Stating the linear axis direction of motion is X-direction, Y direction, Z-direction or W axis direction, and the rotating shaft direction of motion is returned for A axis
Turn direction, B axle gyratory directions or C axis gyratory directions.
Further, when the direction of motion of machine tool chief axis is the linear axis direction of motion, the position detection instrument can be with
For two-frequency laser interferometer, laser interference ruler or grating scale, when the direction of motion of machine tool chief axis is the rotating shaft direction of motion, institute
It is Circular gratings or circle encoder that rheme, which sets detecting instrument,.
Further, the sampling period of the grating scale and position detection instrument is millisecond/microsecond/nanosecond, and resolution ratio is
Micrometer/nanometer.
Further, the calculating process of open loop error is as follows in the step 4,
In machine tool chief axis motion process
The reading of grating scale: A=[A1、A2、A3、…An] (1)
The reading of laser ruler: B=[B1、B2、B3、…Bn] (2)
And the data group of acquisition is input to computer；
Zero bias are carried out respectively to above-mentioned two groups of data to handle to obtain C data group and D data group
Cn=[A1-A1、A2-A1、A3-A1、…An-A1] (3)
Dn=[B1-B1、B2-B1、B3-B1、…Bn-B1] (4)
It is exactly that closed-loop machine tool chief axis is working as front that difference will be asked to obtain E data group after C data group and D data group uniform units
To movement when open loop error,
En=[D1-C1、D2-C2、D3-C3、…Dn-Cn] (5)
Wherein, EnIn each group of data be that the open loop error at moment is corresponded under current acceleration and speed.
Further, the calculating integration process of open loop dynamic error is as follows in the step 5,
Wherein, FnFor open loop dynamic error under current acceleration and speed, En is that each data acquire the corresponding of moment
Open loop error, tn are corresponding sampling instant.
Compared with the prior art, the open loop dynamic error measurement method of closed-loop lathe of the present invention has with following
Beneficial effect: this method can detecte out numerically-controlled machine tool transient error due to caused by dynamic impulsion deformation, and then pass through the mistake
Difference can improve lathe or compensate to improve machine tool accuracy, the final machining accuracy for improving workpiece.
Detailed description of the invention
Fig. 1 is the flow chart of the open loop dynamic error measurement method of closed-loop lathe disclosed by the invention；
Fig. 2 is the open loop dynamic error using open loop dynamic error measurement method measurement lathe of the invention in X-direction
Structure chart；
Fig. 3 is the open loop dynamic error using open loop dynamic error measurement method measurement lathe of the invention in Y direction
Structure chart；
Fig. 4 is the open loop dynamic error using open loop dynamic error measurement method measurement lathe of the invention in Z-direction
Structure chart.
In figure: 10, laser ruler host, 11, laser ruler bracket, 12, laser ruler interference mirror, 13, laser ruler reflecting mirror；
20, X-axis closed-loop grating scale, 21, X-axis closed-loop grating ruler reading head, 22, Y-axis closed-loop grating scale, 23, Y-axis
Closed-loop grating ruler reading head, 24, Z axis closed-loop grating scale, 25, Z axis closed-loop grating ruler reading head；
30, machine tool movement crossbeam, 31, machine tool movement saddle, 32, machine tool movement ram, 33, lathe knee wall, 34, lathe
Workbench, 35, machine tool chief axis.
Specific embodiment
As shown in Figure 1 it is the open loop dynamic error measurement method of closed-loop lathe disclosed by the invention, includes the following steps,
Step 1 installs high precision position detecting instrument on platen or the fixed device of parts to be processed, makes it can
To measure machine tool chief axis in the actual range information of a direction；
Grating scale in step 2, setting position detection instrument and machine tool motion axis closed-loop control system, so that position detection
Instrument is identical as the sampling period of grating scale in machine tool motion axis closed-loop control system, to guarantee that position detection instrument and lathe are transported
Grating scale in moving axis closed-loop control system synchronizes data acquisition and transmission；
Step 3, control machine tool chief axis are moved in said direction with expection velocity and acceleration value to be detected, meanwhile, lead to
Cross the physical location and machine tool motion axis closed loop control of grating scale acquisition machine tool chief axis in position detection instrument and the detection of lathe closed loop
The location information of machine tool chief axis in system processed, to obtain the physical location array and machine tool motion axis closed loop control of machine tool chief axis respectively
The position array of machine tool chief axis in system processed；
Step 4, to the position of machine tool chief axis in the physical location array and machine tool motion axis closed-loop control system of machine tool chief axis
It sets and corresponds to collection point progress difference calculating in array, obtain the open loop error of each collection point；
Step 5 corresponds the open loop error of collection point each in step 4 and acquisition timing, obtains lathe master
The open loop dynamic error of axis motion state, that is, by the open loop error of each collection point with the corresponding acquisition moment according to the time
The sequence of axis is restored, and can be obtained dynamic and open-loop dynamic error of the machine tool chief axis in direction motion process, by obtaining
It must assess and the data of compensation campaign state open loop dynamic error, and then can be to improve machine tool motion state accuracy, and be promoted
Workpiece Machining Accuracy provides approach.
Further, the direction of motion of the machine tool chief axis includes the linear axis direction of motion and the rotating shaft direction of motion, institute
Stating the linear axis direction of motion is X-direction, Y direction, Z-direction or W axis direction, and the rotating shaft direction of motion is returned for A axis
Turn direction, B axle gyratory directions or C axis gyratory directions.
Further, when the direction of motion of machine tool chief axis is the linear axis direction of motion, the position detection instrument can be with
For two-frequency laser interferometer, laser interference ruler or grating scale, when the direction of motion of machine tool chief axis is the rotating shaft direction of motion, institute
It is Circular gratings or rotary encoder that rheme, which sets detecting instrument,.The sampling period of the grating scale and position detection instrument be millisecond/
Microsecond/nanosecond, resolution ratio are micrometer/nanometer, and detecting instrument has quick sampling and transmittability, and detecting instrument, which has, quickly to be adopted
Sample and transmittability quickly the movement to machine tool chief axis can carry out station acquisition, and obtain higher resolving accuracy, differentiate
Rate is 10 nanometers accurately to obtain open loop dynamic error.Position detection instrument is not limited to above-mentioned several, can according to need choosing
Take detecting instrument appropriate.
Further, the calculating process of open loop dynamic error is as follows,
In machine tool chief axis motion process
The reading of grating scale: A=[A1、A2、A3、…An] (1)
The reading of laser ruler: B=[B1、B2、B3、…Bn] (2)
And the data group of acquisition is input to computer；
Zero bias are carried out respectively to above-mentioned two groups of data to handle to obtain C data group and D data group
Cn=[A1-A1、A2-A1、A3-A1、…An-A1] (3)
Dn=[B1-B1、B2-B1、B3-B1、…Bn-B1] (4)
It is exactly that closed-loop machine tool chief axis is working as front that difference will be asked to obtain E data group after C data group and D data group uniform units
To movement when open loop error,
En=[D1-C1、D2-C2、D3-C3、…Dn-Cn] (5)
Wherein, EnIn each group of data be that the open loop error at moment is corresponded under current acceleration and speed.
Further, the calculating integration process of open loop dynamic error is as follows in the step 5,
Wherein, FnFor open loop dynamic error under current acceleration and speed, En is that each data acquire the corresponding of moment
Open loop error, tn are corresponding sampling instant.
Embodiment 1
As shown in Fig. 2, installing X-axis closed-loop grating scale 20, X-axis closed-loop grating ruler reading head on lathe knee wall 33
21 are mounted on machine tool movement crossbeam 30, and the moving distance L1 that grating ruler reading head can read machine tool movement crossbeam 30 (should be away from
With a distance from being measured for lathe closed-loop control system), when machine tool chief axis 35 is rigidly mounted on machine tool movement crossbeam 30,
The moving distance L1 of machine tool movement crossbeam is the moving distance of machine tool chief axis 35, but in practical lathe, machine tool chief axis 35
Peace turns on machine tool movement ram 32, and machine tool movement ram 32 is mounted on machine tool movement saddle 31, and machine tool movement saddle 31 is pacified
On machine tool movement crossbeam 30, since machine tool movement crossbeam and machine tool movement saddle, machine tool movement saddle and machine tool movement are sliding
There is installation gap between pillow, while the stiff problem of each machine tool element, so that lathe is when X-direction moves, main shaft
Center changes with grating ruler reading head distance L2 with the speed of main shaft or the difference of acceleration, and the change of the distance is
In the open loop dynamic error of X-direction, which affects the machining accuracy of lathe, needs to measure to obtain lathe lathe
In the mismachining tolerance of X-direction.
As follows in the specific measurement process of open loop dynamic error of X-direction: X-axis closed-loop grating scale 20 is mounted on lathe branch
On buttress 33, X-axis closed-loop grating ruler reading head 21 is mounted on machine tool movement crossbeam 30, in the present embodiment, position detection
Instrument uses laser ruler, and for 11 magnetic absorption of laser ruler bracket on platen 34, laser ruler host 10 is fixed on laser ruler
On bracket 11, laser ruler reflecting mirror 13 is mounted on machine tool chief axis 35, and adjusts laser ruler host by laser ruler interference mirror 12
10 and reflecting mirror 13 be at sustained height.Grating scale and laser ruler are connect by data line with charge amplifier, charge
Amplifier is connect with data acquisition card, and data acquisition card is connect with computer.Parameter setting is carried out to grating scale and laser ruler, is made
It is identical as the sampling period of grating scale to obtain laser ruler, is adopted with guaranteeing that laser ruler and grating scale synchronize data to machine tool chief axis
Collection, it is preferable that the sampling period of the grating scale and laser ruler is set as millisecond/microsecond, can have higher inspection in this way
Precision.The kinematic axis for locking lathe so that machine tool chief axis can only move in the X-axis direction, control in the X-axis direction machine tool chief axis with
It is expected that velocity and acceleration value acceleration movement to be detected, while grating scale and laser ruler distinguish synchronous acquisition grating ruler reading head
Moving distance L1 and laser ruler host and main shaft distance L3, obtain two groups of data groups,
The reading of grating scale: A=[A1、A2、A3、…An] (1)
The reading of laser ruler: B=[B1、B2、B3、…Bn] (2)
The machine tool chief axis of dotted line indicates position when moving in figure, and bold portion indicates initial position,
And the data group of acquisition is input to computer；
Zero bias are carried out respectively to above-mentioned two groups of data to handle to obtain C data group and D data group
Cn=[A1-A1、A2-A1、A3-A1、…An-A1] (3)
Dn=[B1-B1、B2-B1、B3-B1、…Bn-B1] (4)
CnIn data be L1 in figure numerical value (moving distance of the machine tool chief axis in closed-loop control system), DnIn
Data are the numerical value (the actual moving distance of machine tool chief axis) of l1 in figure.
It is exactly that closed-loop machine tool chief axis is working as front that difference will be asked to obtain E data group after C data group and D data group uniform units
To movement when open loop error,
En=[D1-C1、D2-C2、D3-C3、…Dn-Cn] (5)
Wherein, EnIn each group of data be that the open loop error at moment is corresponded under current acceleration/speed,
By in figure it can be concluded that L1+L2=l1+l2, therefore L2-l2=l1-L1, i.e., under acquisition corresponding speed or acceleration
When corresponding lathe open loop error.
Then, each collection point corresponding time and error are corresponded, when can get open loop error and acquisition
The correspondence array at quarter,
The calculating integration process of open loop dynamic error is as follows,
Wherein, FnFor open loop error under current acceleration and speed, En is the corresponding open loop that each data acquire the moment
Error, tn are corresponding sampling instant.And then open loop error and acquisition timing can be exported, reductive ring open dynamic is accidentally
Difference.
Embodiment 2
As shown in figure 3, Y-axis closed-loop grating scale 22 is installed on machine tool movement crossbeam 30, Y-axis closed-loop grating scale reading
First 23 are mounted on machine tool movement saddle 31, and the moving distance L1 that grating ruler reading head can read machine tool movement saddle 31 (should
Distance is the distance that lathe closed-loop control system measures), when machine tool chief axis 35 is rigidly mounted on machine tool movement saddle 31
When, the moving distance L1 of machine tool movement saddle 31 is the moving distance of machine tool chief axis 35, but in practical lathe, lathe master
The peace of axis 35 turns on machine tool movement ram 32, and machine tool movement ram 32 is mounted on machine tool movement saddle 31, due to machine tool movement
There is installation gap, while the stiff problem of each machine tool element between saddle 31 and machine tool movement ram 32, so that lathe
Main shaft when Y direction moves, main-shaft core and grating ruler reading head distance L2 with main shaft velocity and acceleration not
Change together, the change of the distance is open loop dynamic error of the lathe in Y direction, which affects the processing essence of lathe
Degree, needs to measure to obtain lathe in the mismachining tolerance of Y direction.
As follows in the specific measurement process of open loop dynamic error of Y direction: Y-axis closed-loop grating scale 22 is mounted on lathe shifting
On dynamic crossbeam 30, Y-axis closed-loop grating ruler reading head 23 is mounted on machine tool movement saddle 31,11 magnetic absorption of laser ruler bracket
On platen 34, laser ruler host 10 is fixed on laser ruler bracket 11, and laser ruler reflecting mirror 13 is mounted on lathe master
On axis 35, and sustained height is at by the adjustment laser ruler host of laser ruler interference mirror 12 and reflecting mirror.By grating scale and
Laser ruler is connect by data line with charge amplifier, and charge amplifier is connect with data acquisition card, data acquisition card and calculating
Machine connection.Parameter setting is carried out to grating scale and laser ruler, so that laser ruler is identical as the sampling period of grating scale, to guarantee to swash
Light ruler and grating scale synchronize data acquisition to machine tool chief axis.The kinematic axis for locking lathe, so that machine tool chief axis only can be along Y-axis
Direction movement controls machine tool chief axis in the Y-axis direction with expection velocity and acceleration value to be detected movement, at the same grating scale and
The moving distance L1 and laser ruler host and main shaft distance L3 of laser ruler difference synchronous acquisition grating ruler reading head, obtain two groups
Data group,
The reading of grating scale: A=[A1、A2、A3、…An] (1)
The reading of laser ruler: B=[B1、B2、B3、…Bn] (2)
The machine tool chief axis of dotted line indicates position when moving in figure, and bold portion indicates initial position,
And the data group of acquisition is input to computer；
Zero bias are carried out respectively to above-mentioned two groups of data to handle to obtain C data group and D data group
Cn=[A1-A1、A2-A1、A3-A1、…An-A1] (3)
Dn=[B1-B1、B2-B1、B3-B1、…Bn-B1] (4)
CnIn data be L1 in figure numerical value (moving distance of the machine tool chief axis in closed-loop control system), DnIn
Data are the numerical value (the actual moving distance of machine tool chief axis) of l1 in figure.
It is exactly that closed-loop machine tool chief axis is working as front that difference will be asked to obtain E data group after C data group and D data group uniform units
To movement when open loop error,
En=[D1-C1、D2-C2、D3-C3、…Dn-Cn] (5)
Wherein, EnIn each group of data be that the open loop dynamic error at moment is corresponded under current acceleration/speed,
By in figure it can be concluded that L1+L2=l1+l2, therefore L2-l2=l1-L1, i.e., under acquisition corresponding speed or acceleration
When corresponding lathe open loop dynamic error.
Then, each collection point corresponding time and error are corresponded, can reductive ring open error and acquisition when
The calculating integration process of the correspondence array at quarter, open loop dynamic error is as follows,
Wherein, FnFor open loop dynamic error under current acceleration and speed, En is that each data acquire the corresponding of moment
Open loop error, tn are corresponding sampling instant.And then open loop dynamic error and acquisition timing can be exported, reductive ring open
Dynamic error.
Embodiment 3
As shown in figure 4, Z axis closed-loop grating scale 24 is installed on machine tool movement ram 32, Z axis closed-loop grating scale reading
First 25 are mounted on machine tool movement saddle 31, and grating ruler reading head can read the moving distance L1 of machine tool movement ram, work as machine
When bed main shaft is rigidly mounted on machine tool movement ram, the moving distance L1 of machine tool movement ram is the movement of machine tool chief axis
Distance (distance is the distance that lathe closed-loop control system measures), but in practical lathe, machine tool chief axis peace turns in lathe
On mobile ram, machine tool movement ram is mounted on machine tool movement saddle, due to machine tool movement saddle and machine tool movement ram it
Between there is installation gap, while the stiff problem of each machine tool element so that lathe is when Z-direction moves, main-shaft core
Change with grating ruler reading head distance L2 with the difference of the velocity and acceleration of main shaft, the change of the distance is lathe
In the open loop dynamic error of Z-direction, which affects the machining accuracy of lathe, needs to measure to obtain lathe in Z
The mismachining tolerance of axis direction.
As follows in the specific measurement process of open loop dynamic error of Z-direction: Z axis closed-loop grating scale 24 is mounted on lathe shifting
On dynamic ram 32, Z axis closed-loop grating ruler reading head 25 is mounted on machine tool movement saddle 31, the fixed lathe of laser ruler host 10
On workbench 34, laser ruler reflecting mirror is mounted on machine tool chief axis, and by laser ruler interference mirror adjustment laser ruler host and instead
Penetrating mirror makes to be aligned.Grating scale and laser ruler are connect by data line with charge amplifier, charge amplifier and data acquisition card
Connection, data acquisition card are connect with computer.Parameter setting is carried out to grating scale and laser ruler, so that laser ruler and grating scale
Sampling period is identical, to guarantee that laser ruler and grating scale synchronize data acquisition to machine tool chief axis.The kinematic axis of lathe is locked,
So that machine tool chief axis can only be moved along Z-direction, machine tool chief axis is controlled in the Z-axis direction with expection speed to be detected and acceleration
Angle value movement, while grating scale and laser ruler difference synchronous acquisition grating ruler reading head moving distance L1 and laser ruler host with
The distance L3 of main shaft obtains two groups of data groups,
The reading of grating scale: A=[A1、A2、A3、…An] (1)
The reading of laser ruler: B=[B1、B2、B3、…Bn] (2)
The machine tool chief axis of dotted line indicates position when moving in figure, and bold portion indicates initial position,
And the data group of acquisition is input to computer；
Zero bias are carried out respectively to above-mentioned two groups of data to handle to obtain C data group and D data group
Cn=[A1-A1、A2-A1、A3-A1、…An-A1] (3)
Dn=[B1-B1、B2-B1、B3-B1、…Bn-B1] (4)
CnIn data be L1 in figure numerical value (moving distance of the machine tool chief axis in closed-loop control system), DnIn
Data are the numerical value (the actual moving distance of machine tool chief axis) of l1 in figure.
It is exactly that closed-loop machine tool chief axis is working as front that difference will be asked to obtain E data group after C data group and D data group uniform units
To movement when open loop error,
En=[D1-C1、D2-C2、D3-C3、…Dn-Cn] (5)
Wherein, EnIn each group of data be that the open loop dynamic error at moment is corresponded under current acceleration/speed,
By in figure it can be concluded that L1+L2=l1+l2, therefore L2-l2=l1-L1, i.e., under acquisition corresponding speed or acceleration
When corresponding lathe open loop dynamic error.
Then, each collection point corresponding time and error are corresponded, when can get open loop error and acquisition
The calculating integration process of the correspondence array at quarter, open loop dynamic error is as follows,
Wherein, FnFor open loop dynamic error under current acceleration and speed, En is that each data acquire the corresponding of moment
Open loop error, tn are corresponding sampling instant.And then open loop dynamic error and acquisition timing can be exported, reductive ring open
Dynamic error.And then carry out Dynamically Announce can be carried out using divided ring dynamic error by coordinate of the time.
Further, the sampling period of the grating scale and laser ruler is millisecond/microsecond, so that laser ruler and grating scale can
To detect the error of micron level.
When machine tool chief axis is moved along revolution axis direction, detection method and the edge to straight line axis direction of open loop dynamic error
Detection method is identical.Difference is when carrying out the detection of straight line axis direction open loop dynamic error, position detection instrument and lathe
Grating scale in kinematic axis closed-loop control system is respectively used to detection machine tool chief axis in the physical location and lathe of straight line axis direction
The position of machine tool chief axis in kinematic axis closed-loop control system.And when turning round axis direction, position detection instrument and machine tool motion axis
Grating scale in closed-loop control system is respectively used to detection machine tool chief axis in the actual rotary position and lathe fortune of revolution axis direction
The turned position of machine tool chief axis in moving axis closed-loop control system.
The present invention is not limited to the measurements of numerically-controlled machine tool open loop dynamic error, as long as two of moving object are measured between point
Two instruments with high speed acquisition and efficiency of transmission are set up, i.e., the motion deformation between available the two points of present invention detection misses
Difference.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (6)
1. a kind of open loop dynamic error detection method of closed-loop lathe, it is characterised in that: include the following steps,
Step 1, the installation site detecting instrument on platen or the fixation device of parts to be processed, allow to measuring machine
Actual motion range information of the bed main shaft in a direction；
Grating scale in step 2, setting position detection instrument and machine tool motion axis closed-loop control system, so that position detection instrument
It is identical as the sampling period of grating scale in machine tool motion axis closed-loop control system, to guarantee position detection instrument and machine tool motion axis
Grating scale in closed-loop control system synchronizes data acquisition and transmission；
Step 3, control machine tool chief axis are moved in said direction with expection velocity and acceleration value to be detected, meanwhile, pass through position
Set the physical location and machine tool motion of the grating scale acquisition machine tool chief axis in detecting instrument and machine tool motion axis closed-loop control system
The location information of machine tool chief axis in axis closed-loop control system, to obtain the physical location array and machine tool motion of machine tool chief axis respectively
The position array of machine tool chief axis in axis closed-loop control system；
Step 4, to the positional number of machine tool chief axis in the physical location array and machine tool motion axis closed-loop control system of machine tool chief axis
The data that collection point is corresponded in group carry out difference calculating, obtain the open loop error of each collection point；
Step 5, by the open loop error of collection point each in step 4 with acquisition timing corresponded after and export, obtain machine
The open loop dynamic error of bed motion of main shaft state.
2. the open loop dynamic error measurement method of closed-loop lathe according to claim 1, it is characterised in that: the lathe
The direction of motion of main shaft includes the linear axis direction of motion and the rotating shaft direction of motion, the linear axis direction of motion be X-direction,
Y direction, Z-direction or W axis direction, the rotating shaft direction of motion are A axis gyratory directions, B axle gyratory directions or the revolution of C axis
Direction.
3. the open loop dynamic error measurement method of closed-loop lathe according to claim 2, it is characterised in that: as lathe master
The direction of motion of axis be the linear axis direction of motion when, the position detection instrument be two-frequency laser interferometer, laser interference ruler or
Grating scale, when the direction of motion of machine tool chief axis is the rotating shaft direction of motion, the position detection instrument is that Circular gratings or circle are compiled
Code device.
4. the open loop dynamic error measurement method of closed-loop lathe according to claim 1, it is characterised in that: the grating
The sampling period of ruler and position detection instrument is millisecond/microsecond/nanosecond, and resolution ratio is micrometer/nanometer.
5. the open loop dynamic error measurement method of closed-loop lathe according to claim 1, it is characterised in that: the step
The calculating process of open loop dynamic error is as follows in 4,
In machine tool chief axis motion process
The reading of grating scale: A=[A1、A2、A3、…An] (1)
The reading of laser ruler: B=[B1、B2、B3、…Bn] (2)
And the data group of acquisition is input to computer；
Zero bias are carried out respectively to above-mentioned two groups of data to handle to obtain C data group and D data group
Cn=[A1-A1、A2-A1、A3-A1、…An-A1] (3)
Dn=[B1-B1、B2-B1、B3-B1、…Bn-B1] (4)
It is exactly closed-loop machine tool chief axis when front direction is transported that difference will be asked to obtain E data group after C data group and D data group uniform units
Open loop error when dynamic,
En=[D1-C1、D2-C2、D3-C3、…Dn-Cn] (5)
Wherein, EnIn each group of data be that the open loop error at moment is corresponded under current acceleration and speed.
6. the open loop dynamic error measurement method of closed-loop lathe according to claim 5, it is characterised in that: the step
The calculating integration process of open loop dynamic error is as follows in 5,
Wherein, FnFor open loop dynamic error under current acceleration and speed, En is the corresponding open loop mistake that each data acquire the moment
Difference, tn are corresponding sampling instant.
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| CN111546134A (en) * | 2020-04-16 | 2020-08-18 | 哈尔滨工业大学 | A Grating Scale Error Compensation Method Based on Ultra-Precision Milling Technology |
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| CN112207629A (en) * | 2019-07-11 | 2021-01-12 | 科德数控股份有限公司 | Compensation method for open-loop dynamic error of motion control mechanism |
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| JP5670504B2 (en) * | 2013-03-27 | 2015-02-18 | ファナック株式会社 | Numerical control machine tool and spindle error correction method for numerical control machine tool |
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