Five-axis dynamic error compensation method, device, processor and computer-readable storage medium thereof applied to numerical control system

Abstract

The present invention relates to a five-axis dynamic error compensation method applied in a numerical control system, wherein the method comprises the following steps: (1) setting the offset of the tool cutting point at the actual position so that the actual position is close to the theoretical position; (2) measuring the width of a U-shaped workpiece at a preset number of points, thereby calculating the deviation of the preset point in the positive direction inside the workpiece; (3) drawing a standard octagon, and performing offset compensation processing on the preset points with deviations; (4) calculating the offset required to compensate for each tool vector angle for the position data of the preset number of points obtained by measurement, and performing iterative compensation processing, thereby obtaining a compensated workpiece. The present invention also relates to corresponding devices, processors and computer-readable storage media thereof. The five-axis dynamic error compensation method, device, processor and computer-readable storage medium applied in a numerical control system of the present invention are adopted to effectively solve the processing deviation caused by dynamic error processing of the AC axis in five-axis water jet cutting processing, so that the verticality of the inner rectangular side of the compensated figure is significantly improved compared with that of the figure before compensation.

Description

Technical Field

[0001] The present invention relates to the field of CNC machining technology, in particular to the field of workpiece error compensation technology, and specifically refers to a five-axis dynamic error compensation method, device, processor and computer-readable storage medium thereof applied in a CNC system. Background Art

[0002] In five-axis machining, the RTCP function is a must-have function for high-end CNC machine tools. This function allows the coordinates of the tool tip point in the workpiece coordinate system to be directly programmed. At present, the static error compensation method based on the RTCP compensation principle is very mature on the market. However, in addition to static errors, five-axis machining also has dynamic errors in the rotating axis of the machine tool, and the sources of dynamic errors are diverse. The existing dynamic error compensation method compensates for a single error source. When the machine tool generates too many factors that cause dynamic errors in the rotating axis, the model is complex and the engineering application is complex, making it difficult to solve the problem of deformation of the five-axis AC workpiece in water jet cutting caused by dynamic errors. Summary of the invention

[0003] The purpose of the present invention is to overcome the above-mentioned shortcomings of the prior art and provide a five-axis dynamic error compensation method, device, processor and computer-readable storage medium thereof for use in a numerical control system.

[0004] In order to achieve the above-mentioned object, the five-axis dynamic error compensation method, device, processor and computer-readable storage medium thereof applied to a numerical control system of the present invention are as follows:

[0005] The five-axis dynamic error compensation method applied to the numerical control system has the following main features:

[0006] (1) Setting the offset of the tool cutting point on the actual position so that the actual position is close to the theoretical position;

[0007] (2) measuring the width of the U-shaped workpiece at a preset number of points, thereby calculating the deviation of the preset points in the positive direction inside the workpiece;

[0008] (3) drawing a standard octagon and performing offset compensation processing on the above-mentioned preset points with deviations;

[0009] (4) For the position data of the preset number of points obtained by measurement, the offset required to be compensated for each tool vector angle is calculated, and an iterative compensation process is performed to obtain a compensated workpiece.

[0010] Preferably, the step (1) specifically comprises the following steps:

[0011] (1.1) The theoretical cutting point position is set to (x, y) and the actual cutting point position is (x ′ ,y ′ ), the offset in the X direction is Δ x =x ′ -The offset in the x,y direction is Δ y =y ′ -y;

[0012] (1.2) According to the above offset, the theoretical cutting point position is adjusted to (x-Δ x ,y-Δ y ), so that the actual position after processing is close to the theoretical position.

[0013] Preferably, the step (2) specifically comprises the following steps:

[0014] (2.1) The workpiece to be processed and measured is set to be a U-shaped workpiece, and the interior of the U-shaped workpiece is cut at 45 degrees or 3 degrees;

[0015] (2.2) measuring the width of the U-shaped workpiece at 12 preset positions, and calculating the deviation of eight points in the positive direction inside the U-shaped workpiece;

[0016] (2.3) Each point corresponds to an error in the direction of the tool vector, and the deviation of each point is calculated by the following formula:

[0017] Δ C0 =(L-L1,0),Δ C45 =(L-L2,L-L3,Δ C90 =0,L-L4),Δ C135 (L6-L,L-L5,

[0018] Δ C180 =L7-L,0), Δ C225 (L8-L, L9-L), Δ C270 =(0,L10-L),

[0019] Δ C315 (L-L12, L11-L);

[0020] Among them, L is the standard margin.

[0021] Preferably, the step (3) specifically comprises the following steps:

[0022] (3.1) Draw a standard octagon, and correspond the eight points for calculating the deviation to the eight points of the standard octagon;

[0023] (3.2) offsetting eight points on the standard octagon to obtain an actual error octagon;

[0024] (3.3) Change the position of a certain point in the tool path (X 1 ,Y 1 ,Z 1 ,A 1 ,C 1 ), according to the AC angle, the main rotation axis and the auxiliary rotation axis, a tool vector direction α=(x 1 ,y 1 ,z 1 );

[0025] (3.4) Through the projection of the tool vector direction on the plane (x 1 ,y 1 ), use the following formula to calculate the polar coordinate angle θ corresponding to the vector:

[0026]

[0027] (3.5) according to the calculated polar coordinate angle θ, obtain two corresponding points on the standard octagon and the actual error octagon;

[0028] (3.6) Let the coordinates of the point on the standard octagon be (x, y) and the coordinates of the point on the actual octagon be (x ′ ,y ′ ), then the offset in the X direction is Δ x =x ′ -The offset in the x,y direction is Δ y =y ′ -y;

[0029] (3.7) Set the coordinates of the current compensation point in the tool path to (X 1 ,Y 1 ), then adjust the theoretical cutting point to (X 1 -Δ x ,Y 1 -Δ y );

[0030] (3.8) Each point in the current tool path is processed in a loop according to steps (3.3) to (3.7) until compensation of all points is completed.

[0031] Preferably, the step (4) specifically comprises the following steps:

[0032] (4.1) measuring the data of the U-shaped workpiece at 12 preset positions;

[0033] (4.2) Based on the measured data, the offset required to compensate for each tool vector angle is calculated according to the following formula and compensation is performed:

[0034] Δ C0 =(L-L1,0),Δ C45 =(L-L2,L-L3,Δ C90 =0,L-L4),Δ C135 (L6-L, L-L5, Δ C180 =L7-L,0), Δ C225 (L8-L, L9-L), Δ C270 =(0,L10-L),

[0035] Δ C315 (L-L12, L11-L);

[0036] (4.3) According to the offset calculated above, each point is processed and it is determined whether the measurement result after processing meets the requirements. If yes, the compensation ends, otherwise, it goes to step (4.4);

[0037] (4.4) The actual compensation amount is adjusted and compensated as follows:

[0038] Δ C0 .X is the X compensation calculated last time, and L is the standard margin;

[0039] Δ C0 =(Δ C0 .X+(L-L1)×0.7,0)

[0040] Δ C45 (Δ C45 .X+(L-L2)×0.7,Δ C45 .Y+(L-L3)×0.7)

[0041] Δ C135 (0,Δ C90 .Y+(L-L4)×0.7)

[0042] Δ C90 =(Δ C135 .X+(L6-L)×0.7,Δ C135 .Y+(L-L5)×0.7)

[0043] Δ C180 (Δ C180 .X+(L7-L)×0.7,0)

[0044] Δ C225 (Δ C225 .X+(L8-L)×0.7,Δ C225.Y+(L9-L)×0.7)

[0045] Δ C270 (0,Δ C270 .Y+(L10-L)×0.7)

[0046] Δ C315 (Δ C315 .X+(L-L12)×0.7,Δ C315 .Y+(L11-L)×0.7)

[0047] (4.5) According to the offset calculated above, each point is processed and it is determined whether the measurement result after processing meets the requirements. If yes, the compensation ends, otherwise, it goes to step (4.6);

[0048] (4.6) The actual compensation amount is adjusted and compensated as follows:

[0049] Δ C0 .X is the compensation amount calculated last time, and L is the standard margin;

[0050] Δ C0 =(Δ C0 .X+(L-L1)×0.5,0)

[0051] Δ C45 (Δ C45 .X+(L-L2)×0.5,Δ C45 .Y+(L-L3)×0.5)

[0052] Δ C135 (0,Δ C90 .Y+(L-L4)×0.5)

[0053] Δ C90 =(Δ C135 .X+(L6-L)×0.5,Δ C135 .Y+(L-L5)×0.5)

[0054] Δ C180 (Δ C180 .X+(L7-L)×0.5,0)

[0055] Δ C225 (Δ C225 .X+(L8-L)×0.5,Δ C225 .Y+(L9-L)×0.5)

[0056] Δ C270 (0,Δ C270 .Y+(L10-L)×0.5)

[0057] ΔC315 (Δ C315 .X+(K-L12)×0.5,Δ C315 .Y+(L11-L)×0.5)

[0058] (4.7) After completing the above-mentioned iterative compensation process, the final compensated workpiece is obtained.

[0059] The main feature of the device used in the numerical control system for realizing five-axis dynamic error compensation processing is that the device comprises:

[0060] a processor configured to execute computer executable instructions;

[0061] The memory stores one or more computer executable instructions. When the computer executable instructions are executed by the processor, the various steps of the above-mentioned five-axis dynamic error compensation method applied to the numerical control system are implemented.

[0062] The processor used in the numerical control system for implementing five-axis dynamic error compensation processing has the main feature that the processor is configured to execute computer executable instructions. When the computer executable instructions are executed by the processor, the various steps of the above-mentioned five-axis dynamic error compensation method applied to the numerical control system are implemented.

[0063] The main feature of the computer-readable storage medium is that a computer program is stored thereon, and the computer program can be executed by a processor to implement the various steps of the above-mentioned five-axis dynamic error compensation method applied to a numerical control system.

[0064] The five-axis dynamic error compensation method, device, processor and computer-readable storage medium of the present invention applied to the numerical control system are adopted, a general model is established based on the trial cutting method, a real-time dynamic compensation method is set, and the difference between the actual processing result and the theoretical graphic size is used as the compensation basis to compensate for the deformation problem of the five-axis AC workpiece in water jet cutting caused by the dynamic error, thereby effectively solving the processing deviation of the AC axis caused by dynamic error processing in the five-axis water jet cutting processing, and the verticality of the inner rectangular side of the graphic after compensation is significantly improved compared with the graphic before compensation, and has more outstanding applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 The figure is a schematic diagram of performing dynamic compensation using the five-axis dynamic error compensation method applied in a numerical control system according to the present invention.

[0066] Figure 2 The figure is a schematic diagram of the compensation principle of the five-axis dynamic error compensation method applied in the numerical control system of the present invention.

[0067] Figure 3 It is a schematic diagram of measuring the preset position of a zigzag-shaped workpiece according to the present invention.

[0068] Figure 4 It is a schematic diagram of the deviation amount in the tool vector direction corresponding to each point of the present invention.

[0069] Figure 5 Schematic diagram of the polar coordinate angle of the tool vector direction calculated by the theoretical octagon and the actual octagon set for the present invention.

[0070] Figure 6 It is a physical schematic diagram before using the five-axis dynamic error compensation method applied to a numerical control system of the present invention.

[0071] Figure 7 It is a physical schematic diagram after using the five-axis dynamic error compensation method applied to a numerical control system according to the present invention. DETAILED DESCRIPTION

[0072] In order to more clearly describe the technical content of the present invention, further description is given below in conjunction with specific embodiments.

[0073] Before describing in detail embodiments according to the present invention, it should be noted that, hereinafter, the terms "comprises", "includes" or any other variations are intended to cover non-exclusive inclusion, whereby a process, method, article or apparatus comprising a series of elements includes not only these elements, but also other elements not explicitly listed or inherent to such process, method, article or apparatus.

[0074] The five-axis dynamic error compensation method applied to the numerical control system comprises the following steps:

[0075] (1) Setting the offset of the tool cutting point on the actual position so that the actual position is close to the theoretical position;

[0076] (2) measuring the width of the U-shaped workpiece at a preset number of points, thereby calculating the deviation of the preset points in the positive direction inside the workpiece;

[0077] (3) drawing a standard octagon and performing offset compensation processing on the above-mentioned preset points with deviations;

[0078] (4) For the position data of the preset number of points obtained by measurement, the offset required to be compensated for each tool vector angle is calculated, and an iterative compensation process is performed to obtain a compensated workpiece.

[0079] See also Figure 2 As shown, as a preferred embodiment of the present invention, the step (1) specifically includes the following steps:

[0080] (1.1) The theoretical cutting point position is set to (x, y) and the actual cutting point position is (x ′ ,y ′ ), the offset in the X direction is Δ x =x ′ -The offset in the x,y direction is Δ y =y ′ -y;

[0081] (1.2) According to the above offset, the theoretical cutting point position is adjusted to (x-Δ x ,y-Δ y ), so that the actual position after processing is close to the theoretical position.

[0082] See also Figure 3 As shown, as a preferred embodiment of the present invention, the step (2) specifically includes the following steps:

[0083] (2.1) The workpiece to be processed and measured is set to be a U-shaped workpiece, and the interior of the U-shaped workpiece is cut at 45 degrees or 3 degrees;

[0084] (2.2) measuring the width of the U-shaped workpiece at 12 preset positions, and calculating the deviation of eight points in the positive direction inside the U-shaped workpiece;

[0085] (2.3) Each point corresponds to an error in the direction of the tool vector, and the deviation of each point is calculated by the following formula:

[0086] Δ C0 =(L-L1,0),Δ C45 =(L-L2,L-L3,Δ C90 =0,L-L4),Δ C135 (L6-L, L-L5, Δ C180 =L7-L,0), Δ C225 (L8-L, L9-L), Δ C270 =(0,L10-L),

[0087] Δ C315 (L-L12, L11-L);

[0088] Among them, L is the standard margin.

[0089] See also Figure 4 As shown, as a preferred embodiment of the present invention, the step (3) specifically includes the following steps:

[0090] (3.1) Draw a standard octagon, and correspond the eight points for calculating the deviation to the eight points of the standard octagon;

[0091] (3.2) offsetting eight points on the standard octagon to obtain an actual error octagon;

[0092] (3.3) Change the position of a certain point in the tool path (X 1 ,Y 1 ,Z 1 ,A 1 ,C 1 ), according to the AC angle, the main rotation axis and the auxiliary rotation axis, a tool vector direction α=(x 1 ,y 1 ,z 1 );

[0093] (3.4) Through the projection of the tool vector direction on the plane (x 1 ,y 1 ), use the following formula to calculate the polar coordinate angle θ corresponding to the vector:

[0094]

[0095] (3.5) according to the calculated polar coordinate angle θ, obtain two corresponding points on the standard octagon and the actual error octagon;

[0096] (3.6) Let the coordinates of the point on the standard octagon be (x, y) and the coordinates of the point on the actual octagon be (x ′ ,y ′ ), then the offset in the X direction is Δ x =x ′ -The offset in the x,y direction is Δ y =y ′ -y;

[0097] (3.7) Set the coordinates of the current compensation point in the tool path to (X 1 ,Y 1 ), then adjust the theoretical cutting point to (X 1 -Δ x ,Y 1 -Δ y );

[0098] (3.8) Each point in the current tool path is processed in a loop according to steps (3.3) to (3.7) until compensation of all points is completed.

[0099] As a preferred embodiment of the present invention, the step (4) specifically comprises the following steps:

[0100] (4.1) measuring the data of the U-shaped workpiece at 12 preset positions;

[0101] (4.2) Based on the measured data, the offset required to compensate for each tool vector angle is calculated according to the following formula and compensation is performed:

[0102] Δ C0 =(L-L1,0),Δ C45 =(L-L2,L-L3,Δ C90 =0,L-L4),Δ C135 (L6-L,L-L5,

[0103] Δ C180 =L7-L,0), Δ C225 (L8-L, L9-L), Δ C270 ×(0,L10-L),

[0104] Δ C315 (L-L12, L11-L);

[0105] (4.3) According to the offset calculated above, each point is processed and it is determined whether the measurement result after processing meets the requirements. If yes, the compensation ends, otherwise, it goes to step (4.4);

[0106] (4.4) The actual compensation amount is adjusted and compensated as follows:

[0107] Δ C0 .X is the X compensation calculated last time, and L is the standard margin;

[0108] Δ C0 =(Δ C0 .X+(L-L1)×0.7,0)

[0109] Δ C45 (Δ C45 .X+(L-L2)×0.7,Δ C45 .Y+(L-L3)×0.7)

[0110] Δ C135 (0,Δ C90 .Y+(L-L4)×0.7)

[0111] Δ C90 =(Δ C135 .X+(L6-L)×0.7,Δ C135 .Y+(L-L5)×0.7)

[0112] Δ C180 (Δ C180 .X+(L7-L)×0.7,0)

[0113] Δ C225 (Δ C225.X+(L8-L)×0.7,Δ C225 .Y+(L9-L)×0.7)

[0114] Δ C270 (0,Δ C270 .Y+(L10-L)×0.7)

[0115] Δ C315 (Δ C315 .X+(L-L12)×0.7,Δ C315 .Y+(L11-L)×0.7)

[0116] (4.5) According to the offset calculated above, each point is processed and it is determined whether the measurement result after processing meets the requirements. If yes, the compensation ends, otherwise, it goes to step (4.6);

[0117] (4.6) The actual compensation amount is adjusted and compensated as follows:

[0118] Δ C0 .X is the compensation amount calculated last time, and L is the standard margin;

[0119] Δ C0 =(Δ C0 .X+(L-L1)×0.5,0)

[0120] Δ C45 (Δ C45 .X+(L-L2)×0.5,Δ C45 .Y+9L-L3)×0.5)

[0121] Δ C135 (0,Δ C90 .Y+(L-L4)×0.5)

[0122] Δ C90 =(Δ C135 .X+(L6-L)×0.5,Δ C135 .Y+(L-L5)×0.5)

[0123] Δ C180 (Δ C180 .X+(L7-L)×0.5,0)

[0124] Δ C225 (Δ C225 .X+(L8-L)×0.5,Δ C225 .Y+(L9-L)×0.5)

[0125] Δ C270 (0,Δ C270 .Y+(L10-L)×0.5)

[0126] Δ C315 (Δ C315 .X+(K-L12)×0.5,Δ C315 .Y+(L11-L)×0.5)

[0127] (4.7) After completing the above-mentioned iterative compensation process, the final compensated workpiece is obtained.

[0128] As a preferred embodiment of the present invention, the device for implementing five-axis dynamic error compensation processing in a numerical control system includes:

[0129] a processor configured to execute computer executable instructions;

[0130] The memory stores one or more computer executable instructions. When the computer executable instructions are executed by the processor, the various steps of the above-mentioned five-axis dynamic error compensation method applied to the numerical control system are implemented.

[0131] As a preferred embodiment of the present invention, the processor used in the numerical control system for implementing five-axis dynamic error compensation processing is configured to execute computer-executable instructions. When the computer-executable instructions are executed by the processor, the various steps of the above-mentioned five-axis dynamic error compensation method applied to the numerical control system are implemented.

[0132] As a preferred embodiment of the present invention, the computer-readable storage medium stores a computer program thereon, and the computer program can be executed by a processor to implement the various steps of the above-mentioned five-axis dynamic error compensation method applied to a numerical control system.

[0133] In practical applications, please refer to Figure 2 As shown, the basic idea of ​​this technical solution is as follows:

[0134] We assume that the tool will produce a fixed offset on the plane XY under a specific vector direction.

[0135] Assume the theoretical cutting point position coordinates are (x, y) and the actual cutting point position is (x ′ ,y ′ ). Let the offset in the X direction be Δ x =x ′ -The offset in the x,y direction is Δ y =y ′ -y.

[0136] Then we know that if we adjust the X-axis and Y-axis cutting points, the theoretical cutting point is adjusted to (x-Δ x ,y-Δ y ).

[0137] After processing, the actual position can be close to the theoretical position.

[0138] In practical applications, workpiece measurement is performed in the following ways:

[0139] The workpiece to be processed and measured is a zigzag-shaped workpiece with a 45-degree or 3-degree cut inside.

[0140] Since the shape of the vertically cut workpiece is standard and has no error in the positive direction, all errors come from the bevel cutting.

[0141] like Figure 3 As shown, the measurement Figure 3 The widths of the 12 positions shown are measured and the error amounts of the eight points in the inner positive direction are calculated.

[0142] Each point corresponds to an error in the direction of the tool vector.

[0143] The calculation formula for the deviation of each point is as follows, L is the standard margin

[0144] Δ C0 =(L-L1,0),Δ C45 =(L-L2,L-L3,Δ C90 =0,L-L4),

[0145] Δ C135 (L6-L, L-L5, Δ C180 =L7-L,0), Δ C225 (L8-L,L9-L),

[0146] Δ C270 =(0,L10-L),Δ C315 (L-L12, L11-L);

[0147] The basic compensation methods are as follows:

[0148] Draw a standard octagon, and then match the eight points on the octagon with the eight points mentioned in the measurement plan. Offset the points on the octagon. Get an actual error octagon, as shown in the example below. Figure 4 shown.

[0149] For a certain point position in the tool path (X 1 ,Y 1 ,Z 1 ,A 1 ,C 1 ), we calculate a tool vector direction α=(x 1 ,y 1 ,z 1), the projection of the tool vector direction on the plane (x 1 ,y 1 ), calculate the polar coordinate angle corresponding to the vector:

[0150]

[0151] According to the angle θ calculated by the tool path, we can find two corresponding points on the standard octagon and the actual octagon.

[0152] Let the coordinates of the point on the theoretical octagon be (x, y) and the coordinates of the point on the actual octagon be (x ′ ,y ′ ), then the offset in the X direction is Δ x =x ′ -The offset in the x,y direction is Δ y =y ′ -y.

[0153] Assume the coordinates of the current compensation point in the tool path are (X 1 ,Y 1 )

[0154] Then we know that if we adjust the X-axis and Y-axis cutting points, the theoretical cutting point is adjusted to (X 1 -Δ x ,Y 1 -Δ y ).

[0155] The measured data are iteratively compensated as follows:

[0156] 1. Measure L1-L12 data;

[0157] 2. Based on the data, calculate the offset that needs to be compensated for each tool vector angle and make compensation.

[0158] Δ C0 =(L-L1,0),Δ C45 =(L-L2,L-L3,Δ C90 =0,L-L4),

[0159] Δ C135 (L6-L, L-L5, Δ C180 =L7-L,0), Δ C225 (L8-L,L9-L),

[0160] Δ C270 =(0,L10-L),Δ C315 (L-L12, L11-L);

[0161] 3. Processing

[0162] 4. If the measurement result after step 3 is ok, the compensation is completed, otherwise go to step 5.

[0163] 5. If the difference between the values ​​measured in step 3 is too large, adjust the actual compensation amount as follows and make compensation.

[0164] Δ C0 .X is the X compensation value calculated last time, and L is the standard margin

[0165] Δ C0 =(Δ C0 .X+(L-L1)×0.7,0)

[0166] Δ C45 (Δ C45 .X+(L-L2)×0.7,Δ C45 .Y+(L-L3)×0.7)

[0167] Δ C135 (0,Δ C90 .Y+9L-L4)×0.7)

[0168] Δ C90 =(Δ C135 .X+(L6-L)×0.7,Δ C135 .Y+(L-L5)×0.7)

[0169] Δ C180 (Δ C180 .X+(L7-L)×0.7,0)

[0170] Δ C225 (Δ C225 .X+(L8-L)×0.7,Δ C225 .Y+(L9-L)×0.7)

[0171] Δ C270 (0,Δ C270 .Y+(L10-L)×0.7)

[0172] Δ C315 (Δ C315 .X+(L-L12)×0.7,Δ C315 .Y+(L11-L)×0.7)

[0173] 6. Processing

[0174] 7. If the measurement result after step 6 is ok, the compensation is completed, otherwise go to step 7.

[0175] 8. The actual compensation amount is adjusted and compensated as follows.

[0176] Δ C0.X is the compensation amount calculated last time, L is the standard margin

[0177] Δ C0 =(Δ C0 .X+(L-L1)×0.5,0)

[0178] Δ C45 (Δ C45 .X+(L-L2)×0.5,Δ C45 .Y+(L-L3)×0.5)

[0179] Δ C135 (0,Δ C90 .Y+(L-L4)×0.5)

[0180] Δ C90 =(Δ C135 .X+(L6-L)×0.5,Δ C135 .Y+(L-L5)×0.5)

[0181] Δ C180 (Δ C180 .X+(L7-L)×0.5,0)

[0182] Δ C225 (Δ C225 .X+(L8-L)×0.5,Δ C225 .Y+(L9-L)×0.5)

[0183] Δ C270 (0,Δ C270 .Y+(L10-L)×0.5)

[0184] Δ C315 (Δ C315 .X+(L-L12)×0.5,Δ C315 .Y+(L11-L)×0.5)

[0185] It should be understood that each part of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution device.

[0186] A person of ordinary skill in the art may understand that all or part of the steps of the method for implementing the above-mentioned embodiment may be completed by instructing the relevant hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one of the steps of the method embodiment or a combination thereof.

[0187] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0188] In the description of this specification, the description with reference to the terms "an embodiment", "some embodiments", "example", "specific example", or "embodiment" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0189] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

[0190] The five-axis dynamic error compensation method, device, processor and computer-readable storage medium of the present invention applied to the numerical control system are adopted, a general model is established based on the trial cutting method, a real-time dynamic compensation method is set, and the difference between the actual processing result and the theoretical graphic size is used as the compensation basis to compensate for the deformation problem of the five-axis AC workpiece in water jet cutting caused by the dynamic error, thereby effectively solving the processing deviation of the AC axis caused by dynamic error processing in the five-axis water jet cutting processing, and the verticality of the inner rectangular side of the graphic after compensation is significantly improved compared with the graphic before compensation, and has more outstanding applicability.

[0191] In this specification, the present invention has been described with reference to specific embodiments thereof. However, it is apparent that various modifications and variations may be made without departing from the spirit and scope of the present invention. Therefore, the specification and drawings should be regarded as illustrative rather than restrictive.

Claims

1. A five-axis dynamic error compensation method applied to numerical control systems. It is characterized in that The method comprises the following steps: (1) Setting the offset of the tool cutting point on the actual position so that the actual position is close to the theoretical position; (2) measuring the width of the U-shaped workpiece at a preset number of points, thereby calculating the deviation of the preset points in the positive direction inside the workpiece; (3) drawing a standard octagon and performing offset compensation processing on the above-mentioned preset points with deviations; (4) calculating the offset required to compensate for each tool vector angle based on the position data of the preset number of points measured, and performing iterative compensation processing to obtain a compensated workpiece; The step (2) specifically comprises the following steps: (2.1) The workpiece to be processed and measured is set to be a U-shaped workpiece, and the interior of the U-shaped workpiece is cut at 45 degrees or 3 degrees; (2.2) measuring the width of the U-shaped workpiece at 12 preset positions, and calculating the deviation of eight points in the positive direction inside the U-shaped workpiece; (2.3) Each point corresponds to an error in the direction of the tool vector, and the deviation of each point is calculated by the following formula: Δ C0 =(L-L1,0), Δ C45 =(L-L2,L-L3),Δ C90 =(0,L-L4), Δ C135 =(L6-L,L-L5), Δ C180 =(L7-L,0),Δ C225 =(L8-L,L9-L),Δ C270 =(0.L10-L), D C315 =(L-L12,L11-L); Wherein, L is the standard margin, L1, L2, L3, L4, L5, L6, L7, L8, L9, L10, L11 and L12 are the widths of the U-shaped workpiece at 12 preset positions respectively; The step (3) specifically comprises the following steps: (3.1) Draw a standard octagon, and correspond the eight points for calculating the deviation to the eight points of the standard octagon; (3.2) offsetting eight points on the standard octagon to obtain an actual error octagon; (3.3) Change the position of a certain point in the tool path (X 1 ,Y 1 ,Z 1 ,A 1 ,C 1 ), according to the AC angle, the main rotation axis and the auxiliary rotation axis, a tool vector direction α=(x 1 ,y 1 ,z 1 ); (3.4) Through the projection of the tool vector direction on the plane (x 1 ,y 1 ), use the following formula to calculate the polar coordinate angle θ corresponding to the projection vector: (3.5) according to the calculated polar coordinate angle θ, obtain two corresponding points on the standard octagon and the actual error octagon; (3.6) Let the coordinates of the point on the standard octagon be (x, y) and the coordinates of the point on the actual octagon be (x ′ ,y ′ ), then the offset in the X direction is Δ x =x ′ -The offset in the x,y direction is Δ y =y ′ -y; (3.7) Set the coordinates of the current compensation point in the tool path to (X 1 ,Y 1 ), then adjust the theoretical cutting point to (X 1 -Δ x ,Y 1 -Δ y ); (3.8) Each point in the current tool path is processed in a loop according to steps (3.3) to (3.7) until compensation of all points is completed.

2. The five-axis dynamic error compensation method for a numerical control system according to claim 1, It is characterized in that The step (1) specifically comprises the following steps: (1.1) The theoretical cutting point position is set to (x, y) and the actual cutting point position is (x ′ ,y ′ ), the offset in the X direction is Δ x =x ′ -The offset in the x,y direction is Δ y =y ′ -y; (1.2) According to the above offset, the theoretical cutting point position is adjusted to (x-Δ x ,y-Δ y ), so that the actual position after processing is close to the theoretical position.

3. The five-axis dynamic error compensation method applied to a numerical control system according to claim 1, It is characterized in that The step (4) specifically comprises the following steps: (4.1) measuring the data of the U-shaped workpiece at 12 preset positions; (4.2) Based on the measured data, the offset required to compensate for each tool vector angle is calculated according to the following formula and compensation is performed: Δ C0 =(L-L1,0), Δ C45 =(L-L2,L-L3),Δ C90 =(0,L-L4), Δ C135 =(L6-L,L-L5), Δ C180 =(L7-L,0),Δ C225 =(L8-L,L9-L),Δ C270 =(0.L10-L), D C315 =(L-L12,L11-L); (4.3) According to the offset calculated above, each point is processed and it is determined whether the measurement result after processing meets the requirements. If yes, the compensation ends, otherwise, it goes to step (4.4); (4.4) The actual compensation amount is adjusted and compensated as follows: Δ C0 .X is the X compensation calculated last time, and L is the standard margin; Δ C0 =(Δ C0 .X+(L-L1)×0.7,0) D C45 =(D C45 .X+(L-L2)×0.7,Δ C45 .Y+(L-L3)×0.7) D C135 =(0,Δ C90 .Y+(L-L4)×0.7) Δ C90 =(Δ C135 .X+(L6-L)×0.7,Δ C135 .Y+(L-L5)×0.7) Δ C180 =(Δ C180 .X+(l7-l)×0.7,0) D C225 =(D C225 .X+(L8-L)×0.7,Δ C225 .Y+(L9-L)×0.7) D C270 =(0,Δ C270 .Y+(L10-L)×0.7) D C315 =(D C315 .X+(L-L12)×0.7,D C315 .Y+(L11-L)×0.7) (4.5) According to the offset calculated above, each point is processed and it is determined whether the measurement result after processing meets the requirements. If yes, the compensation ends, otherwise, it goes to step (4.6); (4.6) The actual compensation amount is adjusted and compensated as follows: Δ C0 .X is the compensation amount calculated last time, and L is the standard margin; Δ C0 =(Δ C0 .X+(L-L1)×0.5,0) D C45 =(D C45 .X+(L-L2)×0.5,Δ C45 .Y+(L-L3)×0.5) D C135 =(0,Δ C90 .Y+(L-L4)×0.5) Δ C90 =(Δ C135 .X+(L6-L)×0.5,Δ C135 .Y+(L-L5)×0.5) Δ C180 =(Δ C180 .X+(L7-L)×0.5,0) D C225 =(D C225 .X+(L8-L)×0.5,Δ C225 .Y+(L9-L)×0.5) D C270 =(0,Δ C270 .Y+(L10-L)×0.5) D C315 =(D 3315 .X+(L-L12)×0.5,D C315 .Y+(L11-L)×0.5) (4.7) After completing the above-mentioned iterative compensation process, the final compensated workpiece is obtained.

4. A device for realizing five-axis dynamic error compensation processing in a numerical control system, It is characterized in that The device comprises: a processor configured to execute computer executable instructions; A memory storing one or more computer executable instructions, wherein when the computer executable instructions are executed by the processor, each step of the five-axis dynamic error compensation method applied to a numerical control system as described in any one of claims 1 to 3 is implemented.

5. A processor used in a numerical control system to implement five-axis dynamic error compensation processing, It is characterized in that The processor is configured to execute computer executable instructions. When the computer executable instructions are executed by the processor, the various steps of the five-axis dynamic error compensation method applied to a numerical control system as described in any one of claims 1 to 3 are implemented.

6. A computer-readable storage medium, It is characterized in that A computer program is stored thereon, and the computer program can be executed by a processor to implement the various steps of the five-axis dynamic error compensation method applied to a numerical control system as described in any one of claims 1 to 3.

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