An automatic detection and compensation method for the swing angle deviation of parallel machine tools based on a probe

Abstract

The present invention discloses a probe-based method for automatically detecting and compensating for the swing angle deviation of a parallel machine tool, comprising the following steps: 1) installing a probe fixing base on a workbench, installing a probe on the probe fixing base, and installing a long ball head and a short ball head in a tool magazine; 2) executing a compiled measurement program to cause the probe to measure the spherical center coordinates of the long ball head and the short ball head respectively, and calculating the swing angle deviation through the spherical center coordinate positions of the two ball heads; 3) using the calculated deviation value to adjust the machine tool swing angle position, calculating the Z-axis coordinate change before and after the swing angle adjustment, and this change is the swing angle deviation compensation value, which can be directly compensated to the numerical control system through the measurement program, ultimately realizing automated compensation for the swing angle deviation. The present invention realizes automatic detection and compensation of the swing angle deviation of the parallel machine tool by executing a compiled standard program to drive the probe and the ball head. The entire detection and compensation process requires no human intervention, is highly efficient, and has stable accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of numerical control machining control measurement, and in particular to a probe-based automatic detection and compensation method for a swing angle deviation of a parallel machine tool. Background Art

[0002] In the field of mechanical processing, product output quality is affected by the accuracy and reliability of the equipment itself. This is especially true for the efficient and high-precision machining of aerospace structural parts, which places higher demands on the precision and speed of CNC equipment. A 3-PRS parallel machine tool uses three linear Z-axes to independently move to simulate angular motion, with the center of rotation being the tool center point. Its unique kinematic design, combined with minimal moving mass, ensures sufficient static, dynamic, and thermal stiffness. It also utilizes virtual axis control technology, and the servo drive system's actuators offer high precision, excellent reliability, and fast effective speed, meeting the demands of high-speed, high-precision part machining. Its machining efficiency is 1 to 3 times that of similar equipment. Parallel machine tools have been successfully applied in the high-precision machining industry.

[0003] Currently, the testing instruments for parallel machine tools and conventional CNC equipment are mostly core rods, ball heads, dial indicators, etc., and rely on manual testing by professionals. In addition, there are structural differences between parallel machine tools and conventional CNC machine tools, which leads to differences in their precision testing and compensation methods. Influenced by work experience, different personnel have different perceptions of CNC machine tool precision, resulting in different testing methods. The detected precision is often inconsistent, which is not only inefficient but also unable to guarantee the consistency and stability of precision testing. In addition, the swing angle of the 3-PRS parallel machine tool is a virtual axis and does not actually exist. When the swing angle deviates, the deviation value cannot be directly compensated for the swing angle.

[0004] The existing Chinese patent with application number 202110721898.1 discloses a method for detecting and identifying the spindle installation error and the coaxiality of the spindle and the C-axis. The spindle installation error is mainly calculated by measuring the position deviation of the C-axis and the spindle at different rotational angles. This method introduces the C-axis rotation deviation during measurement and cannot accurately reflect the swing angle deviation. It also does not cover how to calculate the compensation value when the swing angle of the virtual axis machine tool deviates; in addition, this method has a single measurement point collection and only takes one layer of roundness of the sphere, which requires manual intervention and is prone to measurement point errors. The measuring instrument used is cumbersome to use and cannot realize industrial automated measurement. Summary of the Invention

[0005] In order to solve the problems of low efficiency and instability in the current manual inspection of CNC equipment precision, and difficulty in calculating the compensation value when the angle of the parallel axis machine tool deviates, the present invention provides a probe-based automatic detection and compensation method for the swing angle deviation of the parallel machine tool by driving the probe and ball head through the execution of a compiled standard program. The entire detection and compensation process requires no human intervention, is highly efficient, and has stable precision.

[0006] The present invention is implemented by the following technical solution: a probe-based automatic detection and compensation method for the swing angle deviation of a parallel machine tool, comprising the following steps:

[0007] (1) Install the probe fixing base on the workbench, install the probe on the probe fixing base, and install the long ball head and the short ball head in the tool magazine respectively;

[0008] (2) Execute the compiled measurement program to make the probe measure the coordinates of the center of the long ball head and the short ball head respectively, and calculate the swing angle deviation through the coordinate positions of the center of the two ball heads;

[0009] (3) The calculated deviation value is used to adjust the machine tool's swing angle position, and the Z-axis coordinate change before and after the swing angle adjustment is calculated. This change is the swing angle deviation compensation value, which can be directly compensated to the CNC system through the measurement program, ultimately realizing the automatic compensation of the swing angle deviation.

[0010] In order to better implement the method of the present invention, further, in the step (1), the diameters of the long ball head and the short ball head are the same, and the diameter data of the long ball head and the short ball head are measured and obtained.

[0011] In order to better implement the method of the present invention, further, the specific process of calculating the coordinates of the center of the long spherical head in step (2) is as follows:

[0012] (2.1.1) Calculate the sphere center coordinates BALL1_X and BALL1_Y of the long ball head in the X / Y axis direction: You need to approach the long ball head along the positive and negative directions of the X / Y axis to measure the multi-layer roundness coordinates on the sphere. Based on the multi-layer roundness coordinates, you can obtain the sphere center coordinates BALL1_X and BALL1_Y of the long ball head in the X / Y axis direction.

[0013] (2.1.2) Move the long ball head to 10 mm from the top of the probe, measure the average coordinate of the probe top three times, and determine whether the probe repeatability meets the requirements;

[0014] (2.1.3) Move the workbench so that the probe is placed on the center coordinates BALL1_X and BALL1_Y of the long ball head in the X / Y axis direction. Measure the top coordinate ZBALL1 of the long ball head. The Z coordinate of the center of the long ball head BALL1_Z can be calculated as Z BALL1 - ball head radius.

[0015] In order to better implement the method of the present invention, the specific process of calculating the spherical center coordinates BALL1_X and BALL1_Y of the long ball head in the X / Y axis direction in step (2.1.1) is as follows:

[0016] Get the coordinates of multiple layers of roundness, i.e., the coordinates of circle 1 [(X1, X2), (Y1, Y2)], the coordinates of circle 2 [(X3, X4), (Y3, Y4)], the coordinates of circle n [(X n 、X n+1 )、(Y n 、Y n+1 )]; calculate X by the average value of circle 1 coordinates X1 and X2 a1 Calculate Y by the average value of Y1 and Y2 a1 , that is, the center coordinate of circle 1 is (X a1 、Y a1 ); calculate X by the average value of circle 2 coordinates X3 and X4 a2 Calculate Y by the average value of Y3 and Y4 a2 , that is, the center coordinates of circle 2 are (X a2 、Y a2 ); through the circle n coordinate X n With X n+1 The average value is calculated as X an , through Y n With Y n+1 The average value is calculated as Y an , that is, the center coordinates of circle n are (X an 、Y an ); then the X coordinate of the center of the long ball BALL1_X=(X a1 + X a2 +…+X an ) / n, the Y coordinate of the center of the long ball BALL1_Y=(Y a1 + Y a2 +…+ Y an ) / n.

[0017] In order to better implement the method of the present invention, further, the specific process of calculating the center coordinates of the short ball head in step (2) is:

[0018] (2.2.1) Calculate the center coordinates BALL2_X and BALL2_Y of the short ball head in the X / Y axis direction: You need to approach the short ball head along the positive and negative directions of the X / Y axis to measure the multi-layer roundness coordinates on the sphere. Based on the multi-layer roundness coordinates, you can obtain the center coordinates BALL2_X and BALL2_Y of the short ball head in the X / Y axis direction.

[0019] (2.2.2) Move the short ball head to 10 mm from the top of the probe, measure the average coordinate of the probe top three times, and determine whether the probe repeatability meets the requirements.

[0020] (2.2.3) Move the workbench so that the probe is placed on the center coordinates BALL2_X and BALL2_Y of the short ball head in the X / Y axis direction, and measure the top coordinate Z of the short ball head. BALL2 , the Z coordinate of the center of the short ball head can be calculated as BALL2_Z=Z BALL2 -Ball head radius.

[0021] In order to better implement the method of the present invention, the specific process of calculating the center coordinates BALL2_X and BALL2_Y of the short ball head in the X / Y axis direction in step (2.2.1) is as follows:

[0022] Get the multi-layer circularity coordinates, i.e. the circle 1 coordinates [(X 11 、X 21 )、(Y 11 、Y 21 )], circle 2 coordinates [(X 31 、X 41 )、(Y 31 、Y 41 )], circle n coordinate [(X n1 、X n1+1 )、(Y n1 、Y n1+1 )]; will pass through circle 1 coordinate X 11 With X 21 The average value is calculated as X b1 Calculate Y by the average value of Y1 and Y2 b1 , that is, the center coordinate of circle 1 is (X b1 、Y b1 ); through circle 2 coordinate X 31 With X 41 The average value is calculated as X b2 , through Y 31 With Y 41 The average value is calculated as Y b2 , that is, the center coordinates of circle 2 are (X b2 、Y b2 ); through the circle n coordinate X n1 With X n1+1 The average value is calculated as X bn , through Y n1 With Y n1+1 The average value is calculated as Y bn , that is, the center coordinates of circle n are (X bn 、Y bn ); then the X coordinate of the center of the short ball head BALL2_X=(X b1 + Xb2 +…+ X bn ) / n, the Y coordinate of the center of the short ball head BALL2_Y=(Y b1 + Y b2 +…+ Y bn ) / n.

[0023] In order to better implement the method of the present invention, further, the specific process of calculating the swing angle deviation by the coordinate positions of the centers of the two ball heads in step (2) is as follows:

[0024] A0 deviation θ1 = arctan (BALL1_Y- BALL2 _Y) / (BALL1_Z-BALL2_Z)

[0025] B0 deviation θ2 = arctan (BALL1_X- BALL2 _X) / (BALL1_Z-BALL2_Z).

[0026] In order to better implement the method of the present invention, further, in step (3), the specific calculation process of the swing angle deviation compensation value is as follows:

[0027] Read the current Z1, Z2, and Z3 coordinates as H1=$AA_IM[Z1], H2=$AA_IM[Z2], and H3=$AA_IM[Z3], respectively. Move the A / B axis swing angle deviation to align the A / B axis. Read the current Z1, Z2, and Z3 coordinates as H4=$AA_IM[Z1], H5=$AA_IM[Z2], and H6=$AA_IM[Z3]. The swing angle deviation compensation values COMP_Z1=H1-H4, COMP_Z2=H2-H5, and COMP_Z3=H3-H6 can be calculated. Read the current compensation values of Z1, Z2, and Z3 of the machine tool.

[0028] H7=$MA_REFP_MOVE_DIST_CORR[1,Z1]

[0029] H8=$MA_REFP_MOVE_DIST_CORR[1,Z2]

[0030] H9=$MA_REFP_MOVE_DIST_CORR[1,Z3]

[0031] Automatically write compensation values into the machine tool:

[0032] $MA_REFP_MOVE_DIST_CORR[1,Z1]= COMP_Z1+H7

[0033] $MA_REFP_MOVE_DIST_CORR[1,Z2]= COMP_Z1+H8

[0034] $MA_REFP_MOVE_DIST_CORR[1,Z3]= COMP_Z1+H9.

[0035] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0036] (1) The method of calculating the swing angle deviation by detecting the center position of the ball heads of different lengths by the probe of the present invention can truly reflect the swing angle deviation of the machine tool;

[0037] (2) The accuracy detection and compensation process in the present invention is automatically executed by calling a program, avoiding manual intervention and reducing human errors;

[0038] (3) The detection and compensation process of the present invention is fully automated and can be operated by simply executing the program without the need for professional personnel;

[0039] (4) The present invention overcomes the traditional detection and compensation method that relies on manual labor, and is more efficient and has more stable precision detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0041] Figure 1 Schematic diagram of the detection process of the present invention;

[0042] Figure 2 Schematic diagram of detecting multi-layer roundness on a sphere according to the present invention;

[0043] Figure 3 Schematic diagram of the swing angle deviation of the present invention.

[0044] Among them: 1-short ball head, 2-long ball head, 3-probe, 4-probe fixed base, 5-workbench. DETAILED DESCRIPTION

[0045] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0046] Example 1:

[0047] This embodiment provides a probe-based automated detection and compensation method for the swing angle deviation of a parallel machine tool. The method comprises the following steps: installing a probe fixing base on a workbench, installing the probe on the probe fixing base, and placing a ball head in a tool magazine; executing a compiled measurement program to enable the probe to measure the center coordinates of two ball heads, and calculating the swing angle deviation based on the center coordinate positions of the two ball heads; automatically adjusting the swing angle by moving the swing angle deviation, and obtaining a specific compensation value by calculating the change in its Z-axis coordinate; reading the system compensation value and performing calculations with the obtained compensation value, and finally achieving automated compensation for the swing angle deviation.

[0048] Equipment used, such as Figure 1 As shown, it specifically includes a short ball head 1, a long ball head 2, a probe 3, a probe fixing base 4, and a workbench 5.

[0049] Before measurement, install the probe fixing base on the workbench and the probe on the probe fixing base. There is no requirement for installation accuracy. Install the long and short ball heads in the tool magazine and enter the ball head length and diameter into the tool list to facilitate measurement program call. The above installation steps are only required for the first measurement and do not need to be repeated for subsequent measurements.

[0050] Execute the measurement program, move the ball head to 10mm from the top of the probe, measure the coordinates of the top of the ball head 3 times, and determine whether the probe repeated detection error meets the requirements; the probe approaches the long ball head along the positive and negative directions of the X / Y axis to measure the multi-layer roundness coordinates on the sphere, and calculate the ball head center coordinates BALL1_X and BALL1_Y; move the machine tool to the long ball head center coordinates BALL1_X and BALL1_Y, measure the ball head top coordinate Z, and calculate the long ball head center coordinate BALL1_Z = Z-ball head radius; the short ball head center coordinates BALL2_X, BALL2_Y, and BALL2_Z can be calculated using the same measurement method; calculate the swing angle deviation using the precise center coordinates of the long and short ball heads.

[0051] Execute the measurement program, move the Z axis to any fixed coordinate, read the current Z1, Z2, and Z3 coordinates and assign them to local variables, move the A / B axis swing angle deviation to align the A / B axis, read the current Z1, Z2, and Z3 coordinates and assign them to local variables. At this time, the swing angle deviation compensation value can be obtained; read the current compensation values of the machine tool Z1, Z2, and Z3 and assign them to local variables, calculate the current compensation value of the machine tool and the angle compensation value, and automatically write the calculated value to the machine tool.

[0052] Example 2:

[0053] The detailed process of the probe-based automatic detection and compensation method for the swing angle deviation of a parallel machine tool provided in this embodiment is as follows:

[0054] Step S1: Measurement preparation, install the probe fixed base on the workbench, install the probe on the probe fixed base, and install two ball heads in the tool magazine; Step S2: Execute the compiled measurement program to drive the probe and the long ball head to measure, and approach the long ball head along the positive and negative directions of the X / Y axis to measure the multi-layer roundness coordinates on the sphere [(X1, X2), (Y1, Y2)], [(X3, X4), (Y3, Y4)], ... [(X n 、X n+1 )、(Y n 、Y n+1 )]; Step S3: Calculate the precise center coordinates BALL1_X and BALL1_Y of the long ball head; Step S4: Move the coordinate axis to BALL1_X and BALL1_Y, measure the Z coordinate of the top of the ball head, and calculate the center coordinate BALL1_Z; Step S5: Execute the compiled measurement program to drive the probe and the short ball head to measure, and approach the short ball head along the positive and negative directions of the X / Y axis to measure the multi-layer roundness coordinates [(X 11 、X 21 )、(Y 11 、Y 21 )]、[(X 31 、X 41 )、(Y 31 、Y 41 )],…[(X n1 、X n1+1 )、(Y n1 、Y n1+1 )]; Step S6: Calculate the precise center coordinates BALL2_X and BALL2_Y of the short ball head; Step S7: Move the coordinate axis to BALL2_X and BALL2_Y, measure the Z coordinate of the top of the ball head, and calculate the center coordinate BALL2_Z; Step S8: Calculate the swing angle deviation using the precise center coordinates of the long and short ball heads; Step S9: Use the calculated deviation value to adjust the swing angle position of the machine tool, and calculate the change in the Z-axis coordinate before and after the swing angle adjustment. This change is the swing angle deviation compensation value, which can be directly compensated to the CNC system through the measurement program.

[0055] The detection method of step S1 can avoid the influence of the geometric accuracy change of the workbench and the installation posture of the probe on the detection accuracy.

[0056] In step S2, the measurement is performed using the probe and the long ball head. The ball head is moved to 10 mm from the top of the probe. The coordinates of the top of the probe are measured three times to obtain the Z coordinates (Z1, Z2, and Z3). The average values of Z1, Z2, and Z3 are calculated to automatically determine whether the probe repeated measurement error meets the requirements.

[0057] When measuring with the probe and the long ball head in step S2, it is necessary to approach the long ball head along the positive and negative directions of the X / Y axis to measure the multi-layer roundness coordinates on the sphere, and calculate the center of the long ball head based on the results of different roundness coordinates to reduce the impact of local precision errors on the ball head surface.

[0058] The step S3 specifically refers to: obtaining the multi-layer roundness coordinates [X1, X2), (Y1, Y2)], [(X3, X4), (Y3, Y4)], ... [(X n 、X n+1 )、(Y n 、Y n+1 )] to calculate the precise center coordinates of the long ball head BALL1_X and BALL1_Y. The coordinates of circle 1 [(X1, X2), (Y1, Y2)], circle 2 [(X3, X4), (Y3, Y4)], and circle n [(Xn, Xn+1), (Yn, Yn+1)] on the sphere are measured. The precise center coordinates of the long ball head can be calculated using the obtained multi-layer roundness coordinates.

[0059] The precise center coordinates of the long ball head can be calculated by the obtained multi-layer roundness coordinates, such as Figure 2 The specific method is to calculate X by taking the average value of the coordinates X1 and X2 of circle 1 a1 Calculate Y by the average value of Y1 and Y2 a1 , that is, the center coordinate of circle 1 is (X a1 、Y a1 ); calculate X by the average value of circle 2 coordinates X3 and X4 a2 Calculate Y by the average value of Y3 and Y4 a2 , that is, the center coordinates of circle 2 are (X a2 、Y a2 ); through the circle n coordinate X n With X n+1 The average value is calculated as X an , through Y n With Y n+1 The average value is calculated as Y an , that is, the center coordinates of circle n are (X an 、Y an ); then the X coordinate of the center of the long ball BALL1_X=(X a1 + X a2 +…+ X an ) / n, the Y coordinate of the center of the long ball BALL1_Y=(Y a1 + Y a2 +…+ Y an ) / n.

[0060] In step S4, the machine tool is moved to the long ball head center coordinates BALL1_X and BALL1_Y, and the coordinate Z of the top of the ball head is measured. The long ball center Z coordinate BALL1_Z=Z can be calculated. BALL1 -Ball head radius.

[0061] The calculation method of the precise center coordinates BALL2_X, BALL2_Y, and BALL2_Z of the short ball head in steps S5, S6, and S7 is basically the same as the calculation method of the center of the long ball head. Similarly, the X coordinate of the center of the short ball head BALL2_X=(X b1 + X b2 +…+ X bn ) / n, Y coordinate of the ball center BALL2_Y=(Y b1 + Y b2 +…+ Y bn ) / n, the Z coordinate of the ball center BALL2_Z=Z BALL2 -Ball head radius.

[0062] The step S8 calculates the swing angle deviation by the accurate coordinates of the ball center of the long and short ball heads, such as Figure 3 As shown, the specific method is:

[0063] A0 deviation θ1 = arctan (BALL1_Y- BALL2 _Y) / (BALL1_Z-BALL2_Z)

[0064] B0 deviation θ2 = arctan (BALL1_X- BALL2 _X) / (BALL1_Z-BALL2_Z)

[0065] The specific method of step S9 is to move the Z axis to a fixed coordinate, read the current Z1, Z2, and Z3 coordinates as H1=$AA_IM[Z1], H2=$AA_IM[Z2], and H3=$AA_IM[Z3], move the A / B axis swing angle deviation to align the A / B axis, read the current Z1, Z2, and Z3 coordinates as H4=$AA_IM[Z1], H5=$AA_IM[Z2], and H6=$AA_IM[Z3], and calculate the swing angle deviation compensation values COMP_Z1=H1-H4, COMP_Z2=H2-H5, and COMP_Z3=H3-H6, and read the current compensation values of Z1, Z2, and Z3 of the machine tool.

[0066] H7=$MA_REFP_MOVE_DIST_CORR[1,Z1]

[0067] H8=$MA_REFP_MOVE_DIST_CORR[1,Z2]

[0068] H9=$MA_REFP_MOVE_DIST_CORR[1,Z3]

[0069] Automatically write compensation values into the machine tool:

[0070] $MA_REFP_MOVE_DIST_CORR[1,Z1]= COMP_Z1+H7

[0071] $MA_REFP_MOVE_DIST_CORR[1,Z2]= COMP_Z1+H8

[0072] $MA_REFP_MOVE_DIST_CORR[1,Z3]= COMP_Z1+H9.

[0073] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A probe-based method for automatically detecting and compensating the swing angle deviation of a parallel machine tool, characterized in that: The following steps are involved: (1) Installing a probe fixing base on a workbench, installing a probe on the probe fixing base, and installing a long ball head and a short ball head in a tool magazine respectively; the diameters of the long ball head and the short ball head are the same, and measuring and obtaining the diameter data of the long ball head and the short ball head; (2) Execute the compiled measurement program to make the probe measure the coordinates of the center of the long ball head and the short ball head respectively, and calculate the swing angle deviation through the coordinate positions of the center of the two ball heads; Among them, the specific process of calculating the coordinates of the center of the long spherical head is: (2.1.1) Calculate the sphere center coordinates BALL1_X and BALL1_Y of the long ball head in the X / Y axis direction: You need to approach the long ball head along the positive and negative directions of the X / Y axis to measure the multi-layer roundness coordinates on the sphere. Based on the multi-layer roundness coordinates, you can obtain the sphere center coordinates BALL1_X and BALL1_Y of the long ball head in the X / Y axis direction. (2.1.2) Move the long ball head to 10 mm from the top of the probe, measure the average coordinate of the probe top three times, and determine whether the probe repeatability meets the requirements; (2.1.3) Move the workbench so that the probe is placed on the center coordinates BALL1_X and BALL1_Y of the long ball head in the X / Y axis direction, and measure the top coordinate Z of the long ball head. BALL1 , the Z coordinate of the center of the long ball head can be calculated as BALL1_Z= Z BALL1 -ball head radius; The specific process of calculating the center coordinates of the short ball head is: (2.2.1) Calculate the center coordinates BALL2_X and BALL2_Y of the short ball head in the X / Y axis direction: You need to approach the short ball head along the positive and negative directions of the X / Y axis to measure the multi-layer roundness coordinates on the sphere. Based on the multi-layer roundness coordinates, you can obtain the center coordinates BALL2_X and BALL2_Y of the short ball head in the X / Y axis direction. (2.2.2) Move the short ball head to 10 mm from the top of the probe, measure the average coordinate of the probe top three times, and determine whether the probe repeatability meets the requirements. (2.2.3) Move the workbench so that the probe is placed on the center coordinates BALL2_X and BALL2_Y of the short ball head in the X / Y axis direction, and measure the top coordinate Z of the short ball head. BALL2 , the Z coordinate of the center of the short ball head can be calculated as BALL2_Z= Z BALL2 -ball head radius; (3) The calculated deviation value is used to adjust the machine tool's swing angle position, and the Z-axis coordinate change before and after the swing angle adjustment is calculated. This change is the swing angle deviation compensation value, which can be directly compensated to the CNC system through the measurement program, ultimately realizing the automatic compensation of the swing angle deviation.

2. The method for automatic detection and compensation of swing angle deviation of parallel machine tools based on a probe according to claim 1, characterized in that: The specific process of calculating the center coordinates BALL1_X and BALL1_Y of the long ball head in the X / Y axis direction in step (2.1.1) is as follows: Get the coordinates of multiple layers of roundness, i.e., the coordinates of circle 1 [(X1, X2), (Y1, Y2)], the coordinates of circle 2 [(X3, X4), (Y3, Y4)], the coordinates of circle n [(X n 、X n+1 )、(Y n 、Y n+1 )]; calculate X by the average value of circle 1 coordinates X1 and X2 a1 Calculate Y by the average value of Y1 and Y2 a1 , that is, the center coordinate of circle 1 is (X a1 、Y a1 ); calculate X by the average value of circle 2 coordinates X3 and X4 a2 Calculate Y by the average value of Y3 and Y4 a2 , that is, the center coordinates of circle 2 are (X a2 、Y a2 ); through the circle n coordinate X n With X n+1 The average value is calculated as X an , through Y n With Y n+1 The average value is calculated as Y an , that is, the center coordinates of circle n are (X an 、Y an ); then the X coordinate of the center of the long ball BALL1_X=(X a1 + X a2 +…+X an ) / n, the Y coordinate of the center of the long ball BALL1_Y=(Y a1 + Y a2 +…+ Y an ) / n.

3. The method for automatic detection and compensation of swing angle deviation of parallel machine tools based on a probe according to claim 2, characterized in that: The specific process of calculating the center coordinates BALL2_X and BALL2_Y of the short ball head in the X / Y axis direction in step (2.2.1) is as follows: Get the multi-layer circularity coordinates, i.e. the circle 1 coordinates [(X 11 、X 21 )、(Y 11 、Y 21 )], circle 2 coordinates [(X 31 、X 41 )、(Y 31 、Y 41 )], circle n coordinate [(X n1 、X n1+1 )、(Y n1 、Y n1+1 )]; will pass through circle 1 coordinate X 11 With X 21 The average value is calculated as X b1 Calculate Y by the average value of Y1 and Y2 b1 , that is, the center coordinate of circle 1 is (X b1 、Y b1 ); through circle 2 coordinate X 31 With X 41 The average value is calculated as X b2 , through Y 31 With Y 41 The average value is calculated as Y b2 , that is, the center coordinates of circle 2 are (X b2 、Y b2 ); through the circle n coordinate X n1 With X n1+1 The average value is calculated as X bn , through Y n1 With Y n1+1 The average value is calculated as Y bn , that is, the center coordinates of circle n are (X bn 、Y bn ); then the X coordinate of the center of the short ball head BALL2_X=(X b1 +X b2 +…+ X bn ) / n, the Y coordinate of the center of the short ball head BALL2_Y=(Y b1 + Y b2 +…+ Y bn ) / n.

4. The method for automatic detection and compensation of swing angle deviation of a parallel machine tool based on a probe according to claim 3, characterized in that: The specific process of calculating the swing angle deviation by the coordinate positions of the centers of the two ball heads in step (2) is as follows: A0 deviation θ1 = arctan (BALL1_Y- BALL2 _Y) / (BALL1_Z- BALL2_Z) B0 deviation θ2 = arctan (BALL1_X- BALL2 _X) / (BALL1_Z- BALL2_Z).

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