Five-axis series-parallel machine tool spindle head calibration method and device

Abstract

The invention discloses a five-axis series-parallel machine tool spindle head calibration method and device. The method comprises the steps: establishing a kinematic model with error terms of a five-axis series-parallel machine tool spindle head; establishing a kinematics positive solution equation of the tool center point, and solving an error identification matrix of the position error of the tool center point under corresponding input through a differential substitution differential method; driving a five-axis hybrid machine tool through an RTCP function; when the theoretical position of the center point of the cutter is not changed, enabling the main shaft head to move to different postures, and measuring the position error of the center point of the cutter corresponding to each posture and the input vector of the corresponding main shaft head; solving an error identification matrix according to the measured input vector of the spindle head, and identifying geometric error parameters of the parallel spindle head of the five-axis series-parallel machine tool in combination with the position error of the central point of the cutter; and 5) substituting the identified geometric error parameters into the kinematic model with the error term to finish calibration. According to the invention, the problems of high measurement cost and large time consumption in the calibration process are solved, the measurement cost is reduced, and the calibration efficiency is improved.

Description

technical field [0001] The invention belongs to the field of machine tool manufacturing, and in particular relates to a method and device for calibrating the spindle head of a five-axis hybrid machine tool. Background technique [0002] Since the 21st century, parallel mechanisms have been more and more widely used in the industry due to their advantages such as high stiffness, high precision, and load-carrying capacity. As an innovation of machine tool structure, hybrid machine tool combines the advantages of parallel mechanism and series mechanism. Compared with traditional machine tools, it has better performance in terms of precision and rigidity in theory, and has light weight and good processing flexibility. It has received widespread attention at home and abroad. However, looking at the existing hybrid machine tools at home and abroad, the practical and industrialized products are very limited, especially in terms of accuracy, the actual accuracy of hybrid machine too...

AI Technical Summary

Problems solved by technology

[0006] The present invention aims at the above problems of attitude measurement difficulty and disunity of position and attitude dimensions in the identification process, combined with the structural form of five-axis mixed machine tool, proposes a five-axis mixed machine tool spindle head calibration method, introduces the length of the tool, and passes the tool The position of the center point reflects the position and attitude of the parallel spindle head, without attitude measurement, combined with a small number of devices and simple operation steps, the calibration can be realized only by measuring the position deviation of each attitude during RTCP movement, and avoids the identification process. The problem of inconsistent dimensions improves the identification accuracy and greatly reduces the cost of measurement

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