Precision detection and compensation method for automatic tool setting device

Abstract

The invention discloses a precision detection and compensation method for an automatic tool setting device, which belongs to the technical field of numerical control machining and comprises the following steps of: calibrating position coordinates of a zero point of a laser tracker in a machine tool coordinate system; moving the machine tool to enable the spindle axis and the zero point of the machine tool tracker to be on the same horizontal plane; obtaining coordinates of a reflector rotation circle center position point d on the automatic tool setting device; setting the zero point of the tracker as f, and rotating a machine tool spindle to enable the axis of the radial motion shaft of the automatic tool setting device to be parallel to the straight line fd; a laser tracker is used for obtaining the distribution rule of mechanical transmission errors on the whole stroke of a radial sliding plate of the automatic tool setting device; and carrying out full-stroke positioning precision and repeated positioning precision compensation on the radial sliding plate of the automatic tool setting device until the movement precision of the radial sliding plate meets the expected precision requirement. According to the method, the measuring laser line of the tracker can be ensured to be coaxial with the measured motion axis to the greatest extent, the influence of the motion error of the rotating shaft of the tracker on the measurement precision is reduced, and high-precision position error measurement and compensation are realized.

Description

Technical Field

[0001] The present invention relates to the field of numerical control machining, and in particular to a precision detection and compensation method for an automatic tool adjusting device. Background Art

[0002] Traditional boring operations primarily rely on manual tool adjustment to achieve incremental radial movement of the boring tool blade, combined with aperture measurement tools to achieve high-precision aperture machining. This method is widely used in workpiece aperture machining. With the advancement of manufacturing technology, small automated tool adjustment devices are being used to replace traditional manual tool adjustment boring methods. These automated tool adjustment devices, integrated with CNC machine tools, enable CNC programming to control tool diameter changes, automating the boring process and increasing production efficiency. These devices are fully controlled by the CNC machine tool, and the aperture machining accuracy is entirely determined by the motion accuracy of the CNC machine tool and the tool adjustment device.

[0003] Currently, a series of calibration and error compensation methods have been developed for CNC machine tool machining accuracy detection and compensation, and commercialized tools and instruments have been formed. However, mature technologies have only been developed and applied for the three linear axes, other rotary axes, and spatial positioning accuracy of CNC machine tools. There is no mature and efficient application method for the accuracy testing and compensation technology of the automatic tool setting device integrated at the spindle end of the CNC machine tool.

[0004] Laser interferometers are widely used in precision detection of CNC machine tools. They have high detection accuracy and mature technology, and can be used for precision detection of radial motion of automatic tool setting devices. However, the instrument is limited by its own usage. The instrument installation and light alignment operations are cumbersome and manual, which is inefficient. Secondly, due to the small size of the radial motion parts of the automatic tool setting device, it is difficult to install the light receiving device of the instrument. There are existing methods for compensating the linear axis precision of CNC machine tools using laser trackers in the existing technology, such as Journal 1: A method for pitch compensation using laser trackers, Equipment Management and Maintenance, 2019 (05); Paper 1: Rapid and high-precision detection of geometric errors of CNC machine tools based on laser trackers, China Equipment Engineering, 2018.11; Paper 2: Spatial error compensation of large five-axis machine tools based on Siemens VCS, Manufacturing Technology and Machine Tools, 2019 (12), etc. Among them, the first paper only describes the use of laser trackers to detect and compensate for pitch errors in the linear axes of CNC machine tools, but does not explain the specific process steps and methods. Furthermore, there is no description of the method for eliminating measurement errors in the rotary axis of the laser tracker. Using this existing method will also introduce errors in the rotary axis of the laser tracker, making it impossible to achieve high-precision positioning accuracy for linear axis measurements. The first paper uses multiple laser trackers for measurement, and then generates compensation data using a specific error compensation calculation method to compensate for the spatial accuracy of the machine tool. Neither the first paper nor the second paper involves the method for eliminating measurement errors in the rotary axis of the laser tracker, nor does it mention the accuracy measurement and compensation of the automated tool setting device integrated into the spindle end of the CNC machine tool. Summary of the Invention

[0005] In order to realize rapid detection and compensation of the tool setting accuracy of a small automatic tool setting device, the present invention provides a method for detecting and compensating the accuracy of an automatic tool setting device. The method uses a laser tracker to realize rapid accuracy testing and compensation of an automatic tool setting device integrated at the spindle end of a CNC machine tool. The method can maximize the guarantee that the laser line measured by the laser tracker is coaxial with the measured motion axis, reduce the influence of the rotary axis motion error of the laser tracker on the measurement accuracy, and realize high-precision position error measurement and compensation.

[0006] In order to achieve the above-mentioned object of the invention, the technical solution of the present invention is as follows: A method for detecting and compensating the accuracy of an automatic tool setting device, characterized in that it comprises the following steps: Step a: Install the automatic tool setting device on the spindle of the machine tool, set up the laser tracker outside the machine tool, install a reflector on the radial slide of the automatic tool setting device, and then calibrate the position coordinates of the laser tracker zero point in the machine tool coordinate system; Step b: Move the machine tool so that its spindle axis and the zero point of the laser tracker device are on the same horizontal plane; Step c: Move the machine tool so that the plane formed by the reflector rotating along the output shaft of the automatic tool setting device is in the same plane as the zero point of the tracker device; obtain the coordinates of point d, the center of rotation of the reflector on the automatic tool setting device; let the zero point of the tracker device be f, and rotate the machine tool spindle so that the axis of the radial motion axis of the automatic tool setting device is parallel to the line fd, which is the line connecting the zero point f of the tracker device and point d; Step d: Adjust the laser tracker to the IFM measurement mode, use the laser tracker to detect the motion accuracy of the radial slide of the automatic tool setting device under multiple equal-length motion strokes, and obtain the distribution law of the mechanical transmission error of the radial slide of the automatic tool setting device over the full stroke; Step e: using machine tool error compensation technology to compensate for the full stroke positioning accuracy and repeat positioning accuracy of the radial slide of the automatic tool setting device; Step f: Repeat steps d to e until the full-stroke motion accuracy of the radial slide of the automatic tool setting device reaches the expected accuracy requirement.

[0007] Furthermore, the installation position of the reflector is eccentric to the output shaft of the automatic tool adjusting device.

[0008] Furthermore, the calibration of the position coordinates of the laser tracker zero point in the machine tool coordinate system includes the following steps: Step a1: Move the three linear axes of the machine tool to the machine tool zero point respectively, use a laser tracker to measure the position of the point, and obtain the position coordinates of the point in the tracker coordinate system; Step a2: After moving the machine tool along the three linear axes to the other end of each axis, the laser tracker is used to measure again to obtain the position coordinates of each point in the tracker coordinate system; Step a3: Use the four point coordinates measured in the above steps to establish the tracker working coordinate system, and transfer the laser tracker to the working coordinate system to obtain the position coordinates x1, y1, and z1 of the tracker device zero point in the machine tool coordinate system.

[0009] Further, the machine tool is moved so that the spindle axis and the zero point of the machine tool tracker device are on the same horizontal plane, including: Step b-1: Move the machine tool so that the reflector and the zero point of the tracker device are on the same horizontal plane, and use the laser tracker to obtain the coordinates of point a; Step b-2, obtain the coordinates of the center point b of the machine tool spindle rotation circle at this moment; Step b-3: According to the vertical coordinate difference z2 between point a and point b, move the machine tool z2 along the vertical axis so that the spindle axis and the zero point of the machine tool tracker device are on the same horizontal plane.

[0010] Furthermore, the moving machine tool so that the reflector and the zero point of the tracker device are on the same horizontal plane includes: first moving the x and y axes of the machine tool to the machine tool zero point position, and then moving a distance z1 along the vertical axis so that the reflector and the zero point of the tracker device are on the same horizontal plane, where the distance z1 is the Z coordinate value of the zero point of the tracker device in the machine tool coordinate system.

[0011] Furthermore, the obtaining of the coordinates of the center point b of the machine tool spindle rotation circle at this moment includes: rotating the machine tool spindle, and simultaneously using a laser tracker to perform multiple measurements to obtain a plurality of measurement point sets A, and using the tracker supporting software to perform circle fitting on the point set A to obtain the coordinates of the center point b.

[0012] Furthermore, the moving machine tool so that a plane formed by the reflector rotating along the output shaft of the automatic tool setting device and a zero point position of the tracker device are in the same plane includes: moving the machine tool along the horizontal axis x by a distance x1, where the distance x1 is the X-coordinate value of the zero point of the tracker device in the machine tool coordinate system, that is, so that a plane formed by the reflector rotating along the output shaft of the automatic tool setting device and a zero point position of the tracker device are in the same plane.

[0013] Furthermore, the acquisition of the coordinates of the center point d of the reflector rotation circle on the automatic tool adjustment device includes: rotating the machine tool spindle, and simultaneously using a laser tracker to perform multiple measurements to obtain multiple measurement point sets B, and using the tracker supporting software to perform circle fitting on the point set B to obtain the coordinates of the center point d of the reflector rotation circle.

[0014] Furthermore, the rotating machine tool spindle makes the axis of the radial motion shaft of the automatic tool adjusting device parallel to the straight line fd, including: obtaining the coordinates of the reflector position point e when the automatic tool adjusting device is moved to the maximum stroke position; connecting point d and point e, and connecting point f and point d; calculating the angle θ between the straight line de and fd, and rotating the machine tool spindle by an angle θ so that the axis of the radial motion shaft of the automatic tool adjusting device is parallel to the straight line fd.

[0015] Furthermore, before obtaining the coordinates of the reflector position point e when the automatic tool setting device is moved to the maximum stroke position, the machine tool spindle is stopped and locked at any position, and the coordinates of point e are measured when the spindle is stationary.

[0016] In summary, the present invention has the following advantages: 1. The present invention provides a method for precision detection and compensation of an automatic tool-setting device. This method is basically not limited by the size of the moving parts to be measured, and can meet the precision measurement needs of existing small automatic tool-setting devices on the market. This method can maximize the guarantee that the laser line measured by the laser tracker is coaxial with the moving axis to be measured, reduce the influence of the rotary axis motion error of the laser tracker on the measurement accuracy, and realize high-precision position error measurement and compensation. No light alignment operation is required, and the operation method is simpler than that of traditional laser interferometers. This method is also suitable for rapid and high-precision detection of the motion accuracy of the linear axis of machine tools.

[0017] 2. The present invention utilizes the tracking and measurement characteristics of the laser tracker and combines this characteristic with the movement of the CNC machine tool to achieve rapid coaxiality between the laser tracker's measuring laser line and the measured moving axis, reducing the impact of the laser tracker's rotary axis motion error on measurement accuracy. High-precision position error measurement and compensation of the measured moving axis can be achieved solely by relying on the tracker's interferometric ranging function. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the installation of the automatic tool adjustment device; Figure 2 This is a schematic diagram of the installation of the reflector on the automatic tool setting device; Figure 3 This is a schematic diagram of the laser tracker's transfer station measurement points; Figure 4 Schematic diagram for adjusting the zero points of the reflector and laser tracker equipment to the same horizontal plane; Figure 5 Schematic diagram for adjusting the machine tool spindle axis and the machine tool tracker device zero point to the same horizontal plane; Figure 6 This is a schematic diagram of the automatic tool adjustment device detecting the direction alignment measurement; Figure 7 This is a schematic diagram of the measurement of the U-axis motion axis alignment of the automatic tool setting device; Figure 8 This is a schematic diagram of the accuracy detection of the linear axis of a common CNC machine tool; Figure 9 This is a schematic diagram of the installation of the reflector when detecting the accuracy of the linear axis of an ordinary CNC machine tool. DETAILED DESCRIPTION

[0019] In order to more clearly illustrate the present invention, the present invention is further described below in conjunction with preferred embodiments and drawings. Those skilled in the art should understand that the following specific description is illustrative rather than restrictive and should not be used to limit the scope of protection of the present invention.

[0020] The present invention provides a method for detecting and compensating the accuracy of an automatic tool setting device, comprising the following steps: Step 1: Calibrate the position of the laser tracker in the machine tool coordinate system: Install the automatic tool setting device on the machine tool spindle, set up the laser tracker outside the machine tool, install a reflector on the radial slide of the automatic tool setting device, and then calibrate the position coordinates of the laser tracker zero point in the machine tool coordinate system.

[0021] Specifically, in this step, the installation position of the reflector must be kept eccentric to the output shaft of the automatic tool adjusting device.

[0022] The calibration of the laser tracker zero point position coordinates in the machine tool coordinate system includes: S1-2. Move the three linear axes of the machine tool to the machine tool zero point respectively, use a laser tracker to measure the zero point position, and obtain the zero point position coordinates in the tracker coordinate system; S1-3. Move the machine tool along the three linear axes to the other end of each axis, and then use the laser tracker to measure again to obtain the position coordinates of each point on the axis end in the tracker coordinate system; S1-4. Use the four point coordinates measured in steps S1-2 and S1-3 to establish the tracker working coordinate system, and transfer the tracker to this coordinate system to obtain the position coordinates x1, y1, and z1 of the tracker device zero point in the machine tool coordinate system.

[0023] Step 2: Move the machine tool so that the spindle axis and the zero point of the machine tool tracker device are on the same horizontal plane.

[0024] The specific operations of this step are: S2-1. Move the machine tool so that the reflector and the zero point of the tracker device are on the same horizontal plane, and use the laser tracker to obtain the coordinate of point a; S2-2, obtain the coordinates of the center point b of the machine tool spindle rotation circle at this moment; S2-3. According to the coordinate difference z2 between point a and point b in the vertical direction, the machine tool is moved incrementally along the vertical axis by z2. At this time, the spindle axis and the zero point of the machine tool tracker device are on the same horizontal plane.

[0025] In step S2-1, the machine tool is moved so that the reflector and the zero point of the tracker device are on the same horizontal plane, including: after moving the x and y axes of the machine tool to the machine tool zero point position, the machine tool is moved along the vertical axis z1. At this time, the reflector installed on the machine tool and the zero point of the tracker device are on the same horizontal plane.

[0026] In step S2-2, the coordinates of the center point b of the machine tool spindle rotation circle at this moment are obtained. The specific operation is: rotate the machine tool spindle, and use the laser tracker to perform multiple measurements to obtain multiple measurement point sets A; use the tracker supporting software to perform circle fitting on the collected measurement point set A to obtain the position data of the center point b.

[0027] Step 3. Move the machine tool so that the plane formed by the reflector rotating along the output shaft of the automatic tool setting device is on the same plane as the zero point of the tracker device; obtain the coordinate of the point d where the center of rotation of the reflector on the automatic tool setting device is located; stop and lock the machine tool spindle at any position, and measure the coordinate of the reflector position point e when the automatic tool setting device is moved to the maximum stroke position when the spindle is stationary; let the zero point of the tracker device be f, connect point d with point e, and connect point f with point d, and rotate the machine tool spindle according to the angle θ between the straight line de and fd so that the axis of the radial motion axis of the automatic tool setting device is parallel to the straight line fd.

[0028] In this step, the machine tool is moved x1 along the horizontal axis x, that is, the plane formed by the reflection mirror rotating along the output shaft of the automatic tool setting device is on the same plane as the zero point position of the tracker device.

[0029] In this step, the coordinates of the rotation center point d of the reflector on the automatic tool setting device are obtained. The specific operations are: The machine tool spindle is rotated, and a laser tracker is used to perform multiple measurements to obtain a set of multiple measurement points B. The tracker's supporting software is used to perform circle fitting on the set of points B to obtain the coordinates of the center point d of the reflector's rotation circle.

[0030] Step 4: Adjust the laser tracker to the IFM measurement mode and use the laser tracker to detect the motion accuracy of the radial slide of the automatic tool setting device under multiple equal-length motion strokes to obtain the distribution law of the mechanical transmission error of the radial slide of the automatic tool setting device over the entire stroke.

[0031] In this step, the radial slide travel of the automatic tool setting device can be divided into n equal parts according to actual conditions, with the equal division distance set to 1. Using a laser tracker to measure the motion accuracy of the radial slide of the automatic tool setting device per length 1, the distribution pattern of the mechanical transmission error over the entire travel of the radial slide of the automatic tool setting device can be obtained.

[0032] Step 5: Use machine tool error compensation technology to compensate for the full-stroke positioning accuracy and repeat positioning accuracy of the radial slide of the automatic tool setting device.

[0033] Step 6: Repeat steps 4 and 5 until it is confirmed that the full-stroke motion accuracy of the radial slide of the automatic tool setting device has reached the expected accuracy requirement.

[0034] The present invention provides a method for rapidly detecting and compensating the accuracy of an automated tool setting device integrated at the spindle end of a CNC machine tool using a laser tracker. The method utilizes the tracking and measurement characteristics of the laser tracker and combines this characteristic with the motion of the CNC machine tool to achieve rapid coaxiality between the laser tracker's measuring laser line and the measured motion axis, thereby reducing the influence of the laser tracker's rotary axis motion error on the measurement accuracy. High-precision position error measurement and compensation of the measured motion axis can be achieved solely by relying on the tracker's interferometric ranging function.

[0035] Example 1 The following describes an automatic tool setting device accuracy detection and compensation method according to the present invention in conjunction with the accompanying drawings. Specifically, it includes the following steps: S01: If Figure 1 As shown, the automatic tool setting device is installed in the machine tool spindle, the laser tracker is set up outside the machine tool, and the reflector is installed on the radial slide of the automatic tool setting device. The installation position must be kept eccentric to the output shaft of the automatic tool setting device, as shown in the figure. Figure 2 shown.

[0036] S02: Figure 3 As shown in the figure, the three linear axes of the machine tool are moved to the machine tool zero point (point 0) respectively, and the position of this point is measured using a laser tracker to obtain the position coordinates (X0, Y0, Z0) of this point in the tracker coordinate system.

[0037] S03: After moving the machine tool along the three linear axes to the other end of each axis, use a laser tracker to measure and obtain the position coordinates of point 1, point 2, and point 3 in the tracker coordinate system (X1, Y1, Z1), (X2, Y2, Z2), and (X3, Y3, Z3).

[0038] S04: Use the coordinates of the four points measured in steps S02\S03 to establish the tracker working coordinate system and transfer the tracker to this coordinate system to obtain the position coordinates x1, y1, and z1 of the tracker device zero point (point c) in the machine tool coordinate system.

[0039] S05: If Figure 4 As shown, after the machine tool x and y axes are moved to the machine tool zero position, the machine tool moves along the vertical axis z1 so that the reflector installed on the machine tool and the laser tracker device zero point are on the same horizontal plane, and the laser tracker is used to measure the coordinate data of point a.

[0040] S06: Rotate the machine tool spindle and use the laser tracker to perform multiple measurements to obtain a set of multiple measurement points A. Use the tracker's supporting software to perform circle fitting on the point set A to obtain the position data of the circle center point b.

[0041] S07: Calculate the vertical position difference z2 between points a and b. The machine tool moves along the vertical axis by an increment of z2. At this time, the machine tool spindle axis and the zero point of the machine tool tracker are on the same horizontal plane. Figure 5 shown.

[0042] S08: Figure 6 As shown, the machine tool is moved x1 along the horizontal axis x, so that the plane formed by the reflection mirror rotating along the output shaft of the automatic tool setting device is on the same plane as the zero point position of the tracker device.

[0043] S09: Repeat step S06 to obtain the coordinate position d of the rotation center point of the reflector on the automatic tool setting device at this time.

[0044] S10: Figure 7 As shown, stop the machine tool spindle at any position, lock the machine tool spindle, keep the spindle stationary, move the automatic tool setting device to the maximum stroke position, and measure the coordinate position of the reflector position point e at this time.

[0045] S11: Let the line connecting point d and point e be straight line de, and the line connecting the zero point f of the tracker device and point d be fd, and calculate the angle θ between the straight line de and fd.

[0046] S12: The machine tool spindle rotates by an angle θ so that the radial motion axis of the automatic tool setting device is parallel to the straight line fd. At this time, the machine tool spindle and other motion axes are kept stationary.

[0047] S13: Assume that the radial motion axis of the automatic tool setting device is U, and divide the U axis travel into n equal parts according to actual conditions, and the equal division distance is set to l.

[0048] S14: Adjust the laser tracker to the IFM (absolute interferometer measurement) measurement mode, use the laser tracker to detect the motion accuracy of the U-axis per 1 length, and obtain the distribution law of the mechanical transmission error over the entire stroke of the U-axis.

[0049] S15: Use machine tool error compensation technology to compensate for the full-stroke positioning accuracy and repeat positioning accuracy of the U-axis.

[0050] S16: Repeat step S14 and perform U-axis accuracy measurement again to confirm that the full-stroke motion accuracy of the U-axis has met the expected accuracy requirements.

[0051] S17: If the expected accuracy requirement is not met, steps S14 to S15 may be repeated until the expected requirement is met.

[0052] In addition, the present invention also proposes a method for detecting the accuracy of the linear axis of a common CNC machine tool, the implementation process of which is as follows: S01: Set up the laser tracker outside the machine tool, ensuring that it is within the X-axis travel range of the machine tool, and install the reflector to the end of the machine tool spindle, such as Figure 9 shown.

[0053] S02: Figure 8 As shown in the figure, the three linear axes of the machine tool are moved to the machine tool zero point (point 0) respectively, and the position of this point is measured using a laser tracker to obtain the position coordinates X0\Y0\Z0 of this point in the tracker coordinate system.

[0054] S03: After moving the machine tool along the three linear axes to the other end of each axis, use a laser tracker to measure and obtain the position coordinates of point 1, point 2, and point 3 in the tracker coordinate system: X1\Y1\Z1, X2\Y2\Z2, and X3\Y3\Z3.

[0055] S04: Use the coordinates of the four points measured in steps S02\S03 to establish the tracker working coordinate system and transfer the tracker to this coordinate system to obtain the position coordinates x1, y1, and z1 of the tracker device zero point in the machine tool coordinate system.

[0056] S05: The machine tool moves along the vertical axis z1 so that the reflector installed on the machine tool and the zero point of the laser tracker device are on the same horizontal plane.

[0057] S06: The machine tool moves x1 along the X-axis so that the zero point line between the reflector installed on the machine tool and the laser tracker device is parallel to the Y-axis of the machine tool.

[0058] S07: Divide the Y-axis travel into n equal parts according to the actual situation, and set the equal division distance to l.

[0059] S08: Adjust the laser tracker to the IFM (absolute interferometer measurement) measurement mode, use the laser tracker to detect the Y-axis motion accuracy per 1 liter, and obtain the distribution law of the mechanical transmission error over the entire Y-axis stroke.

[0060] S09: Use machine tool error compensation technology to compensate for the full-stroke positioning accuracy and repeat positioning accuracy of the Y-axis.

[0061] S10: Repeat step S08 and perform Y-axis accuracy measurement again to confirm that the full-stroke motion accuracy of the Y-axis has met the expected accuracy requirements.

[0062] S11: If the expected accuracy requirement is not met, steps S08 to S09 may be repeated until the expected requirement is met.

[0063] S12: Adjust the installation position of the laser tracker so that it is within the Y-axis travel range of the machine tool, and repeat steps S02 to S11 to complete the X-axis accuracy measurement; S13: Adjust the installation position of the laser tracker so that it is within the travel range of the X-axis and Y-axis of the machine tool, and repeat steps S02 to S11 to complete the Z-axis accuracy measurement.

[0064] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification or equivalent change made to the above embodiment based on the technical essence of the present invention shall fall within the scope of protection of the present invention.

Claims

1. A method for detecting and compensating the accuracy of an automatic tool setting device, characterized in that: The steps include: Step a: Install the automatic tool setting device on the spindle of the machine tool, set up the laser tracker outside the machine tool, install a reflector on the radial slide of the automatic tool setting device, and then calibrate the position coordinates of the laser tracker zero point in the machine tool coordinate system; Step b: Move the machine tool so that its spindle axis and the zero point of the laser tracker device are on the same horizontal plane; Step c: Move the machine tool so that the plane formed by the reflector rotating along the output shaft of the automatic tool setting device is in the same plane as the zero point of the tracker device; obtain the coordinates of point d, the center of rotation of the reflector on the automatic tool setting device; let the zero point of the tracker device be f, and rotate the machine tool spindle so that the axis of the radial motion axis of the automatic tool setting device is parallel to the line fd, which is the line connecting the zero point f of the tracker device and point d; Step d: Adjust the laser tracker to the IFM measurement mode, use the laser tracker to detect the motion accuracy of the radial slide of the automatic tool setting device under multiple equal-length motion strokes, and obtain the distribution law of the mechanical transmission error of the radial slide of the automatic tool setting device over the full stroke; Step e: using machine tool error compensation technology to compensate for the full stroke positioning accuracy and repeat positioning accuracy of the radial slide of the automatic tool setting device; Step f: Repeat steps d to e until the full-stroke motion accuracy of the radial slide of the automatic tool setting device reaches the expected accuracy requirement.

2. The method for detecting and compensating the accuracy of an automatic tool setting device according to claim 1, wherein: The installation position of the reflector is eccentric to the output shaft of the automatic tool adjusting device.

3. The method for detecting and compensating the accuracy of an automatic tool setting device according to claim 1, wherein: The calibration of the laser tracker zero point position coordinates in the machine tool coordinate system includes the following steps: Step a1: Move the three linear axes of the machine tool to the machine tool zero point respectively, use a laser tracker to measure the position of the point, and obtain the position coordinates of the point in the tracker coordinate system; Step a2: After moving the machine tool along the three linear axes to the other end of each axis, the laser tracker is used to measure again to obtain the position coordinates of each point in the tracker coordinate system; Step a3: Use the four point coordinates measured in the above steps to establish the tracker working coordinate system, and transfer the laser tracker to the working coordinate system to obtain the position coordinates x1, y1, and z1 of the tracker device zero point in the machine tool coordinate system.

4. The method for detecting and compensating the accuracy of an automatic tool setting device according to claim 1, wherein: Move the machine tool so that the spindle axis and the zero point of the machine tool tracker device are on the same horizontal plane, including: Step b-1: Move the machine tool so that the reflector and the zero point of the tracker device are on the same horizontal plane, and use the laser tracker to obtain the coordinates of point a; Step b-2, obtain the coordinates of the center point b of the machine tool spindle rotation circle at this moment; Step b-3: According to the vertical coordinate difference z2 between point a and point b, move the machine tool z2 along the vertical axis so that the spindle axis and the zero point of the machine tool tracker device are on the same horizontal plane.

5. The method for detecting and compensating the accuracy of an automatic tool setting device according to claim 4, wherein: The moving machine tool so that the reflector and the zero point of the tracker device are on the same horizontal plane includes: first moving the x and y axes of the machine tool to the machine tool zero point position, and then moving a distance z1 along the vertical axis so that the reflector and the zero point of the tracker device are on the same horizontal plane. The distance z1 is the Z coordinate value of the zero point of the tracker device in the machine tool coordinate system.

6. The method for detecting and compensating the accuracy of an automatic tool setting device according to claim 4, wherein: The method of obtaining the coordinates of the center point b of the machine tool spindle rotation circle at this moment includes: rotating the machine tool spindle and simultaneously using a laser tracker to perform multiple measurements to obtain a plurality of measurement point sets A, and using the tracker supporting software to perform circle fitting on the point set A to obtain the coordinates of the center point b.

7. The method for detecting and compensating the accuracy of an automatic tool setting device according to claim 1, wherein: The moving machine tool so that a plane formed by the reflector rotating along the output shaft of the automatic tool setting device and a zero point position of the tracker device are in the same plane comprises: moving the machine tool along a horizontal axis x by a distance x1, where the distance x1 is the X coordinate value of the zero point of the tracker device in the machine tool coordinate system, so that a plane formed by the reflector rotating along the output shaft of the automatic tool setting device and a zero point position of the tracker device are in the same plane.

8. The method for detecting and compensating the accuracy of an automatic tool setting device according to claim 1, wherein: The method of obtaining the coordinates of the center point d of the reflector's rotation circle on the automatic tool setting device includes: rotating the machine tool spindle and simultaneously using a laser tracker to perform multiple measurements to obtain a plurality of measurement point sets B, and using the tracker's supporting software to perform circle fitting on the point set B to obtain the coordinates of the center point d of the reflector's rotation circle.

9. The method for detecting and compensating the accuracy of an automatic tool setting device according to claim 1 or 7, wherein: The method of rotating the machine tool spindle so that the axis of the radial motion shaft of the automatic tool setting device is parallel to the straight line fd includes: obtaining the coordinates of the reflector position point e when the automatic tool setting device is moved to the maximum stroke position; connecting point d and point e, and connecting point f and point d; calculating the angle θ between the straight line de and fd, and rotating the machine tool spindle by an angle θ so that the axis of the radial motion shaft of the automatic tool setting device is parallel to the straight line fd.

10. The method for detecting and compensating the accuracy of an automatic tool setting device according to claim 1, wherein: Before obtaining the coordinates of the reflector position point e when the automatic tool setting device is moved to the maximum stroke position, the machine tool spindle is stopped and locked at any position, and the coordinates of point e are measured when the spindle is stationary.

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