Five-axis linkage calibration system and method

Abstract

The application discloses a five-axis linkage calibration system and method, which comprises a base, a Y-axis module arranged on the base and having a Y-axis output end, a V-axis module and a U-axis module, the V-axis module being arranged on the Y-axis output end and having a V-axis output end, the U-axis module being arranged on the V-axis output end and having a U-axis output end, the U-axis output end being used for arranging a calibration element, a Z-axis module and an X-axis module, the X-axis module being arranged on the base and having an X-axis output end, the Z-axis module being arranged on the X-axis output end and having a Z-axis output end, the Z-axis output end being used for arranging a measuring element for measuring actual coordinates of the calibration element, and a controller used for controlling each output end to act respectively to drive the calibration element and the measuring element to act according to theoretical coordinates of the calibration element, and used for confirming a comprehensive deviation according to the theoretical coordinates and the actual coordinates. The application effectively solves the problem that the theoretical coordinates of a workpiece are inconsistent with the actual coordinates during machining due to deviation accumulation of five-axis linkage in the prior art.

Description

Technical Field

[0001] This application relates to the field of five-axis linkage machining equipment technology, and in particular to a five-axis linkage calibration system and method. Background Technology

[0002] Currently, five-axis linkage machining equipment is widely used in dispensing systems, such as the five-axis linkage multi-purpose dispensing platform disclosed in Chinese invention patent application CN112705416A. However, for current five-axis linkage machining equipment, during spatial coordinate calibration, the accumulation of deviations in five-axis linkage leads to a comprehensive deviation. This comprehensive deviation results in a discrepancy between the theoretical and actual coordinates of the workpiece during machining, making effective workpiece calibration impossible and affecting machining accuracy. Summary of the Invention

[0003] In view of the above-mentioned shortcomings in the prior art, the present invention provides a five-axis linkage calibration system and method to solve the problem that the theoretical coordinates and actual coordinates of the workpiece are inconsistent during processing due to the accumulation of deviations in five-axis linkage.

[0004] To address the aforementioned technical problems, in a first aspect, the present invention provides a five-axis linkage calibration system, which includes:

[0005] Base;

[0006] Y-axis module, the Y-axis module is disposed on the base, the Y-axis module has a Y-axis output end that can output action along the Y-axis direction;

[0007] A V-axis module and a U-axis module are provided. The V-axis module is located at the Y-axis output end and has a V-axis output end capable of outputting rotational motion around the V-axis direction. The U-axis module is located at the V-axis output end and has a U-axis output end capable of outputting rotational motion around the U-axis direction. The U-axis output end is used to set calibration elements or workpieces. The V-axis direction and the U-axis direction are different from each other.

[0008] A Z-axis module and an X-axis module are provided. The X-axis module is mounted on the base and has an X-axis output end capable of outputting motion along the X-axis direction. The Z-axis module is mounted on the X-axis output end and has a Z-axis output end capable of outputting motion along the Z-axis direction. The Z-axis output end is used to mount a measuring component for measuring the actual coordinates of the calibration element or a machining component for machining the workpiece. The X-axis direction, the Y-axis direction, and the Z-axis direction are all different.

[0009] The controller is used to control the X-axis output terminal, the Y-axis output terminal, the Z-axis output terminal, the V-axis output terminal and the U-axis output terminal to move respectively according to the theoretical coordinates of the calibration element, so as to drive the calibration element and the measuring element to move. The controller is also used to confirm the comprehensive deviation according to the theoretical coordinates and the actual coordinates after the calibration element moves.

[0010] In one possible implementation of the first aspect, the V-axis module and the U-axis module together form a carrier, at least two of the carriers are spaced apart in the X-axis direction, and at least two of the Y-axis modules are provided in the same number and corresponding positions as the carriers.

[0011] In one possible implementation of the first aspect, the X-axis output end is provided with a plurality of Z-axis modules that are the same number as the number of the vehicles and whose positions correspond to those of the vehicles.

[0012] In a possible implementation of the first aspect, the X-axis module and / or Y-axis module includes a displacement detection element for measuring the movement displacement of the X-axis output end and / or Y-axis output end.

[0013] In one possible implementation of the first aspect, the X-axis module and / or Y-axis module further includes a zero-point confirmation element, which is used to confirm that the X-axis output terminal and / or Y-axis output terminal are at the zero-point position.

[0014] In one possible implementation of the first aspect, the V-axis direction is horizontal, and the U-axis direction is perpendicular to the V-axis direction;

[0015] And / or,

[0016] The X-axis and Y-axis are both horizontal and perpendicular to each other, and the Z-axis is vertical.

[0017] In one possible implementation of the first aspect, the five-axis linkage calibration system further includes:

[0018] Z-axis tool setter, the Z-axis tool setter is fixed in position relative to the base in the Z-axis direction, the Z-axis tool setter is used to calibrate the zero point position of the workpiece in the Z-axis direction.

[0019] In a possible implementation of the first aspect, the X-axis output end, the Y-axis output end, and the Z-axis output end are parallel and perpendicular to the horizontal plane;

[0020] The parallelism is within the range of 0 to 0.02 / 300 mm, and / or,

[0021] The verticality is within the range of 0 to 0.02 / 300 mm.

[0022] In one possible implementation of the first aspect, the X-axis output end, the Y-axis output end, and the Z-axis output end have output action accuracy in their respective axes, and the output action accuracy is within the range of -0.001 to +0.001 mm.

[0023] In a possible implementation of the first aspect, the V-axis output end and the U-axis output end have rotational accuracy for outputting rotational motion about their respective axes, and the rotational accuracy is within the range of -0.0015° to +0.0015°.

[0024] In a second aspect, the present invention also provides a five-axis linkage calibration method, which is executed by the controller of the five-axis linkage calibration system of the first aspect, the method comprising:

[0025] Obtain the theoretical coordinates of the calibration element;

[0026] The X-axis output, Y-axis output, Z-axis output, V-axis output, and U-axis output are controlled to move according to the theoretical coordinates, thereby driving the calibration element and measuring component to move.

[0027] Obtain the actual coordinates of the calibration element after its operation;

[0028] The overall deviation is confirmed based on the actual coordinates and the theoretical coordinates.

[0029] In the second possible implementation,

[0030] The method of controlling the X-axis output, Y-axis output, Z-axis output, V-axis output, and U-axis output to move according to the theoretical coordinates to drive the calibration element and measuring component to move includes:

[0031] The controller controls the Y-axis output, V-axis output, and U-axis output to move according to the theoretical coordinates, thereby moving the calibration element to the position of the theoretical coordinates.

[0032] The controller controls the X-axis output and the Z-axis output to operate according to the theoretical coordinates, so that the measuring element is located directly above the theoretical coordinate position of the calibration element.

[0033] In a possible implementation of the second aspect, confirming the comprehensive deviation based on the actual coordinates and the theoretical coordinates includes:

[0034] The controller determines at least two deviation values ​​based on the difference between at least two theoretical coordinates and the corresponding actual coordinates, and determines the average of the at least two deviation values ​​as the comprehensive deviation.

[0035] In a possible implementation of the second aspect, after confirming the comprehensive deviation based on the actual coordinates and the theoretical coordinates, the method further includes:

[0036] The controller controls the X-axis output, Y-axis output, Z-axis output, V-axis output and U-axis output respectively to operate according to the comprehensive deviation, so as to compensate for the deviation of the calibration element and make the actual coordinates equal to the theoretical coordinates.

[0037] Compared with the prior art, this application has at least the following beneficial effects:

[0038] In this application, the U-axis output end of the U-axis module is used to set the calibration element, and the Z-axis output end of the Z-axis module is used to set the measuring element to measure the actual coordinates of the calibration element. The controller is used to control the X-axis output end, Y-axis output end, Z-axis output end, V-axis output end, and U-axis output end to move according to the theoretical coordinates of the calibration element, thereby driving the calibration element and the measuring element to move. Thus, when calibrating the spatial coordinates of the calibration element, the controller can not only obtain the theoretical coordinates of the calibration element, but also control the X-axis output end, Y-axis output end, Z-axis output end, V-axis output end, and U-axis output end to move according to the theoretical coordinates of the calibration element, thereby driving the measuring element and the calibration element to move toward the theoretical coordinates of the calibration element.

[0039] Once the measuring component and calibration element have reached their respective positions, the measuring component can measure the actual coordinates of the calibration element after its movement. Consequently, the controller can also obtain the actual coordinates of the calibration element. Simultaneously, since the controller is also used to confirm the overall deviation based on the theoretical coordinates and the actual coordinates of the calibration element, it can determine the overall deviation of the five-axis linkage system through the deviation between the theoretical and actual coordinates of the calibration element. Furthermore, this overall deviation can effectively compensate for the errors generated by the movement of each axis output in the five-axis linkage system, effectively preventing the accumulation of errors caused by the five-axis linkage. This is beneficial for improving the movement accuracy of each axis output, ensuring the consistency between the theoretical and actual coordinates of the calibration element, and achieving effective calibration of the spatial coordinates of the calibration element. Moreover, during workpiece machining, it also helps ensure the consistency between the theoretical and actual coordinates of the workpiece, thus improving the machining accuracy of the workpiece. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is one of the schematic diagrams of a five-axis linkage calibration system provided in an embodiment of the present invention;

[0042] Figure 2 This is a second schematic diagram of the five-axis linkage calibration system provided in an embodiment of the present invention;

[0043] Figure 3 for Figure 2 Top view;

[0044] Figure 4 for Figure 2 Side view;

[0045] Figure 5 This is the third schematic diagram of the five-axis linkage calibration system provided in the embodiment of the present invention;

[0046] Figure 6 This is one of the flowcharts for the five-axis linkage calibration method provided in the embodiments of the present invention;

[0047] Figure 7 The second flowchart is a five-axis linkage calibration method provided in an embodiment of the present invention.

[0048] Explanation of reference numerals in the attached figures:

[0049] 1-Base; 11-Fixed base; 12-Mounting bracket;

[0050] 2-X-axis module; 3-Y-axis module; 4-Z-axis module; 5-U-axis module; 6-V-axis module; 7-calibration element; 8-measuring component; 9-dial indicator; 10-carrier; 20-machined part; 30-Z-axis tool setter. Detailed Implementation

[0051] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0052] In this invention, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing the invention and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0053] Furthermore, in addition to indicating direction or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in certain situations to indicate a dependency or connection. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0054] Furthermore, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0055] Furthermore, the terms "first," "second," etc., are primarily used to distinguish different devices, elements, or components (which may be the same or different in specific type and construction), and are not intended to indicate or imply the relative importance or quantity of the indicated devices, elements, or components. Unless otherwise stated, "a plurality of" means two or more.

[0056] As described in the background section of this application, for current five-axis linkage machining equipment, when calibrating spatial coordinates, there will be an accumulation of deviations due to the five-axis linkage, and the accumulation of five-axis deviations will form a comprehensive deviation. Therefore, under the influence of the comprehensive deviation, the theoretical coordinates of the workpiece will be inconsistent with the actual coordinates during machining, making it impossible to effectively calibrate the workpiece and affecting the machining accuracy of the workpiece.

[0057] In view of the above-mentioned problems, the present invention provides a five-axis linkage calibration system to solve the problem in the prior art that the theoretical coordinates and actual coordinates of the workpiece are inconsistent during machining due to the accumulation of deviations in five-axis linkage.

[0058] The present application will be described in detail below through specific embodiments:

[0059] like Figure 1 As shown, the five-axis linkage calibration system includes a base 1, an X-axis module 2, a Y-axis module 3, a Z-axis module 4, a U-axis module 5, a V-axis module 6, and a controller (not shown in the figure). The Y-axis module 3 is mounted on the base 1 and has a Y-axis output end capable of outputting motion along the Y-axis direction. The V-axis module 6 is located at the Y-axis output end and has a V-axis output end capable of outputting rotational motion around the V-axis direction. The U-axis module 5 is located at the V-axis output end and has a U-axis output end capable of outputting rotational motion around the U-axis direction. The U-axis output end is used to mount calibration elements 7. Furthermore, the V-axis and U-axis directions mentioned above are not the same.

[0060] like Figure 1 As shown, the X-axis module 2 is mounted on the base 1 and has an X-axis output end capable of outputting motion along the X-axis direction. The Z-axis module 4 is mounted on the X-axis output end and has a Z-axis output end capable of outputting motion along the Z-axis direction. The Z-axis output end is used to set the measuring element 8 for measuring the actual coordinates of the calibration element 7. Furthermore, the X-axis, Y-axis, and Z-axis directions described above are all different.

[0061] The controller is used to control the X-axis output, Y-axis output, Z-axis output, V-axis output and U-axis output to move according to the theoretical coordinates of the calibration element 7, so as to drive the calibration element 7 and the measuring element 8 to move. The controller is also used to confirm the comprehensive deviation according to the theoretical coordinates and the actual coordinates after the calibration element 7 moves.

[0062] As described above, when calibrating the spatial coordinates of calibration element 7, the controller can not only obtain the theoretical coordinates of calibration element 7, but also control the X-axis, Y-axis, Z-axis, V-axis, and U-axis outputs to move accordingly, thereby driving the measuring element 8 and calibration element 7 to move towards the theoretical coordinates of calibration element 7. Specifically, controlling the X-axis and Z-axis outputs drives the measuring element 8, and controlling the Y-axis, V-axis, and U-axis outputs drives the calibration element 7. That is, the movements of the Y-axis, V-axis, and U-axis outputs directly affect the actual coordinates of calibration element 7.

[0063] When the measuring element 8 and the calibration element 7 are in position, the measuring element 8 can measure the actual coordinates of the calibration element 7 after it is activated. The controller can then obtain the actual coordinates of the calibration element 7 after it is activated. Since the controller is also used to confirm the comprehensive deviation based on the theoretical coordinates and the actual coordinates of the calibration element 7 after it is activated, the controller can confirm the comprehensive deviation by the deviation between the theoretical coordinates and the actual coordinates of the calibration element 7.

[0064] If the controller moves the measuring element 8 toward the theoretical coordinates of the calibration element 7 by controlling the X-axis and Z-axis outputs, errors in the movements of the X-axis and Z-axis outputs will cause a difference between the actual position of the measuring element 8 and the theoretical position it should reach. This difference will affect the measurement accuracy of the measuring element 8 in measuring the actual coordinates of the calibration element 7, and thus introduce the movement errors of the X-axis and Z-axis outputs into the actual coordinates measured by the measuring element 8.

[0065] Because the motion errors of the X-axis and Z-axis outputs affect the actual coordinates of the calibration element 7 measured by the measuring component 8, and the controller obtains a comprehensive error based on the actual coordinates measured by the measuring component 8 and the theoretical coordinates of the calibration element 7, the comprehensive deviation obtained by the above method includes the deviations of all five axes (X, Y, Z, V, U). The controller can effectively compensate for the errors generated by the motion of the Y-axis, V-axis, and U-axis outputs not only through the comprehensive deviation, but also for the errors generated by the motion of the X-axis and Z-axis outputs. Furthermore, by effectively compensating for the errors generated by the motion of each axis output in the five-axis linkage system through the comprehensive deviation, the accumulation of errors caused by the five-axis linkage can be effectively avoided. This is beneficial for improving the motion accuracy of each axis output, thereby ensuring the consistency between the theoretical and actual coordinates of the calibration element 7, and facilitating the effective calibration of the spatial coordinates of the calibration element 7. Moreover, during workpiece machining, it also helps to ensure the consistency between the theoretical and actual coordinates of the workpiece, thus improving the machining accuracy of the workpiece.

[0066] Furthermore, regarding the calibration element 7 and the measuring element 8, in this embodiment, the calibration element 7 is a calibration ball (in other embodiments, the calibration element 7 can also be a tower-shaped calibration block or a film calibration, etc.), and the measuring element 8 is a profile measuring instrument. Optionally, the measuring element 8 can be a contact profile measuring instrument or an optical profile measuring instrument. Measuring the actual coordinates of the calibration element 7 using the profile measuring instrument can effectively improve the measurement accuracy of the actual coordinates, and thus effectively improve the accuracy of the overall deviation. This can further achieve effective compensation for the action error of each axis output end, which is beneficial to further ensure the consistency between the actual coordinates and the theoretical coordinates of the calibration element 7.

[0067] Furthermore, regarding the X-axis, Y-axis, Z-axis, U-axis, and V-axis directions, such as Figure 1 As shown, the V-axis direction is horizontal; specifically, in this embodiment, the V-axis direction is transverse, i.e. Figure 1 In the X direction, the U-axis direction is perpendicular to the V-axis direction, and the initial direction of the U-axis direction is vertical. Figure 1 The Z-axis is the horizontal direction. The X-axis and Y-axis are both horizontal and perpendicular to each other, while the Z-axis is vertical. The X-axis is... Figure 1 The X-direction and Y-axis directions are... Figure 1 The direction perpendicular to the paper, the Z-axis direction is Figure 1 The Z direction in the equation.

[0068] By setting the above directions, the output direction of each axis output end is optimized, which not only facilitates the setting of each axis module on the base 1, but also facilitates the measurement of the actual coordinates of the calibration element 7 by the measuring component 8 to a certain extent.

[0069] Furthermore, for the base 1, the base 1 includes a fixed seat 11 and a mounting bracket 12 fixed to the top surface of the fixed seat 11. For the X-axis module 2 and the Y-axis module 3, the X-axis module is mounted on the mounting bracket 12, and the Y-axis module 3 is mounted on the top surface of the fixed seat 11. The arrangement of the fixed seat 11 and the mounting bracket 12 not only optimizes the structure of the base 1 and helps to reduce its weight, but also facilitates the mounting of the X-axis module 2 and the Y-axis module 3 on the base 1. This also facilitates the mounting of the Z-axis module 4 with the U-axis module 5 and the V-axis module 6, allowing the Z-axis module 4 to be positioned higher than the U-axis module 5 and the V-axis module 6, which is beneficial for the measuring component 8 to measure the actual coordinates of the calibration component 7.

[0070] Furthermore, for X-axis module 2 and Y-axis module 3, both include displacement detection elements (not shown in the figure). These displacement detection elements are used to measure the movement displacement of the X-axis and Y-axis output ends. In this embodiment, the displacement detection element is a grating ruler. Measuring the movement displacement of the X-axis and Y-axis output ends using displacement detection elements facilitates the control of their movement displacement, thereby improving the accuracy of the X-axis and Y-axis output ends' movements. Since grating rulers have high measurement accuracy, using them as displacement detection elements can further improve the accuracy of the X-axis and Y-axis output ends' movements.

[0071] Both the X-axis module 2 and the Y-axis module 3 include a zero-point confirmation element (not shown in the figure). This element confirms that the X-axis and Y-axis output ends are at their zero-point positions. In this embodiment, the zero-point confirmation element is a zero-point magnet. The zero-point confirmation element allows for more accurate confirmation of the zero-point positions of the X-axis and Y-axis output ends, confirming whether their initial positions before movement are at the zero point. This improves the measurement accuracy of the displacement of the X-axis and Y-axis output ends, thereby further improving their movement accuracy. Using a zero-point magnet as the zero-point confirmation element not only simplifies its setup but also facilitates the confirmation of the zero-point positions of the X-axis and Y-axis output ends.

[0072] The X-axis and Y-axis output terminals have output motion accuracy in their respective axes. Through the displacement detection element and zero-point confirmation element, the output motion accuracy of the X-axis and Y-axis output terminals is within the range of -0.001 to +0.001 mm. Additionally, the Z-axis output terminal also has output motion accuracy in its own axis, and its output motion accuracy is also within the range of -0.001 to +0.001 mm. Specifically, in this embodiment, the output motion accuracy of the X-axis, Y-axis, and Z-axis output terminals is within the range of -0.0001 to +0.0001 mm (in other embodiments, the output motion accuracy of the X-axis, Y-axis, and Z-axis output terminals may also be within the range of -0.0002 to +0.0002 mm, or other ranges within the range of -0.001 to +0.001 mm). By controlling the output motion accuracy of the X-axis, Y-axis, and Z-axis output ends within the range of -0.001 to +0.001 mm, the motion accuracy of the X-axis, Y-axis, and Z-axis output ends can be improved. This helps to reduce the error of the output motion of the X-axis, Y-axis, and Z-axis output ends, and further reduces the impact on the actual coordinates of the calibration element 7, which is beneficial to the effective calibration of the calibration element 7.

[0073] The V-axis and U-axis output ends have rotational accuracy around their respective axes, and both have rotational accuracy within the range of -0.0015° to +0.0015°. Specifically, both the U-axis module 5 and the V-axis module 6 include high-precision DD motors, and the output ends of the high-precision DD motors in each module constitute the V-axis and U-axis output ends, respectively. By setting the rotational accuracy of the V-axis and U-axis output ends within the range of -0.0015° to +0.0015°, the rotational accuracy of the V-axis and U-axis output ends can be improved, the error of their rotational movement can be reduced, and thus the influence of the movement of the V-axis and U-axis output ends on the actual coordinates of the calibration element 7 can be reduced. The use of high-precision DD motors facilitates the control of the rotational accuracy of the V-axis and U-axis output ends.

[0074] Furthermore, for the X-axis, Y-axis, Z-axis, U-axis, and V-axis output ends, each output end possesses parallelism and perpendicularity to the horizontal plane. Specifically, the parallelism of each axis output end is within the range of 0 to 0.02 / 300 mm, and the perpendicularity is within the range of 0 to 0.02 / 300 mm. Before calibrating the calibration element 7, adjusting the parallelism and perpendicularity of each axis output end to the above range ensures the accuracy of the output direction of each axis, thereby further guaranteeing the operational precision of each axis output end.

[0075] To facilitate the adjustment of parallelism and perpendicularity of each axis, such as Figure 1 As shown, the five-axis linkage calibration system also includes a dial indicator 9. The dial indicator 9 is used to adjust the parallelism and perpendicularity of the output ends of each axis, with the horizontal top surface of the fixed base 11 as the reference plane. Since adjusting the parallelism and perpendicularity of the axes using a dial indicator is existing technology, it will not be described in detail in this embodiment. Because the dial indicator 9 is easy to use, adjusting the parallelism and perpendicularity of the output ends of each axis using the dial indicator 9 can not only ensure the adjustment accuracy of the parallelism and perpendicularity of the output ends of each axis, but also facilitate the adjustment of parallelism and perpendicularity.

[0076] Furthermore, for the U-axis module 5 and the V-axis module 6, they together form a carrier 10. In this embodiment, only one carrier 10 is provided. One X-axis module 2, one Y-axis module 3, and one Z-axis module 4 are also provided. During calibration, the carrier 10 is used to support the calibration element 7. During workpiece processing, the carrier 10 is used to support the workpiece (not shown in the figure). Using a single carrier 10 not only enables the support of the calibration element 7 but also reduces the arrangement range of the carrier, resulting in a smaller overall system footprint.

[0077] Specifically, for the processed workpiece, such as Figure 1 As shown, the U-axis output is used to set the workpiece, and the Z-axis output is also used to set the workpiece 20. In this embodiment, since the five-axis linkage is used for dispensing, the workpiece 20 is a dispensing needle. Since the dispensing needle needs to be replaced frequently, after the workpiece 20 is replaced, in order to ensure that the workpiece 20 is at the zero point in the Z-axis direction, the five-axis linkage calibration system also includes a Z-axis tool setter 30. The Z-axis tool setter 30 is fixed in position relative to the base 1 in the Z-axis direction. The Z-axis tool setter 30 is used to calibrate the zero point position of the workpiece 20 in the Z-axis direction. Therefore, the Z-axis tool setter 30 facilitates the calibration of the zero point position of the workpiece 20 in the Z-axis direction.

[0078] In this embodiment, the Z-axis tool setter 30 is fixedly mounted on the V-axis module 6. Since the V-axis module 6 is positioned higher in the Z-axis direction, fixing the Z-axis tool setter 30 on it facilitates its placement in the Z-axis direction. In other embodiments, the Z-axis tool setter 30 can also be mounted on the Y-axis module 3, the U-axis module 5, or the base 1.

[0079] In one possible embodiment, such as Figure 2 , Figure 3 as well as Figure 4As shown, only one X-axis module 2 and one Z-axis module 4 are provided, while two carriers 10, composed of U-axis module 5 and V-axis module 6, are provided, and the two carriers 10 are in the X-axis direction ( Figure 3 The X-axis module 3 is spaced apart, and the Y-axis module 3 has two units of the same number and corresponding positions as the carrier 10. In this way, after the workpiece 20 on the Z-axis output end finishes processing the workpiece on one carrier 10, it does not need to wait for the workpiece to be removed, but can directly process the workpiece on another carrier 10, which helps to improve the workpiece processing efficiency.

[0080] like Figure 3 As shown, when machining part 20 is machining a workpiece on one carrier 10, another carrier 10 is in the Y-axis direction ( Figure 3 The two carriers 10 are located on the other side of the X-axis module 2 in the Y direction, that is, the two carriers 10 are placed on both sides of the X-axis output end in the Y direction. Since the two carriers 10 are spaced apart in the X-axis direction, the interference of the other carrier 10 on the workpiece processing can be avoided, which is beneficial to the processing of the workpiece.

[0081] In other embodiments, when the machining part 20 processes a workpiece on a carrier 10, the two carriers 10 can also be located on the same side of the X-axis module 2 in the Y-axis direction. This can reduce the control steps for the movement of the carrier 10, simplify the control process, and thus improve work efficiency.

[0082] In other embodiments, the carrier 10 and the Y-axis module 3 can be arranged in three, four or more intervals in the X-axis direction, which is beneficial to further improve the processing efficiency of the workpiece.

[0083] In one possible embodiment, such as Figure 5 As shown, only one X-axis module 2 is provided, while two carriers 10, composed of the U-axis module 5 and the V-axis module 6, are provided, and the two carriers 10 are in the X-axis direction ( Figure 5 The X-axis modules are spaced apart, and the Y-axis module 3 has two units of the same number and position as the carrier 10. The X-axis output end has two Z-axis modules 4 of the same number and position as the carrier 10. Through each carrier 10 and its corresponding Z-axis module 4, the workpieces on each carrier 10 can be processed simultaneously, which helps to further improve the processing efficiency of the workpieces.

[0084] like Figure 5 As shown, the two vehicles 10 are in the Y-axis direction ( Figure 5 The two carriers 10 are positioned on both sides of the X-axis module 2 in the Y-direction, that is, the two carriers 10 are positioned on both sides of the X-axis output end in the Y-direction. Since the two carriers 10 are spaced apart in the X-direction, the interference of the other carrier 10 on the workpiece processing can be avoided, which is beneficial to the processing of the workpiece.

[0085] In other embodiments, the two vehicles 10 may also be located on the same side of the X-axis module 2 in the Y-axis direction, which can reduce the number of control steps for the movement of the vehicles 10, simplify the workflow, and thus improve work efficiency.

[0086] In other embodiments, the carrier 10, the Y-axis module 3 and the Z-axis module 4 can each be arranged in three, four or more at intervals in the X-axis direction, which is beneficial to further improve the processing efficiency of the workpiece.

[0087] This embodiment also provides a five-axis linkage calibration method, which can be applied to any of the five-axis linkage calibration systems in the above embodiments, and the method is executed by the controller in any of the five-axis linkage calibration systems in the above embodiments.

[0088] Figure 6 This is a flowchart of a five-axis linkage calibration method provided in an embodiment of this application. See also... Figure 6 The method includes:

[0089] Step 601: Obtain the theoretical coordinates of calibration element 7.

[0090] Step 602: Control the X-axis output, Y-axis output, Z-axis output, V-axis output and U-axis output to move according to the theoretical coordinates of the calibration element 7, so as to drive the calibration element 7 and the measuring element 8 to move.

[0091] Step 603: Obtain the actual coordinates of the calibration element 7 after its operation.

[0092] Step 604: Confirm the overall deviation based on the actual coordinates of the calibration element 7 after its operation and the theoretical coordinates of the calibration element 7.

[0093] According to the above method, when calibrating the spatial coordinates of calibration element 7, the controller can not only obtain the theoretical coordinates of calibration element 7, but also control the X-axis output, Y-axis output, Z-axis output, V-axis output, and U-axis output to move respectively, thereby driving the measuring element 8 and calibration element 7 to move towards the theoretical coordinates of calibration element 7. Specifically, by controlling the movement of the X-axis and Z-axis outputs, the measuring element 8 is driven to move; by controlling the movement of the Y-axis output, V-axis output, and U-axis output, the calibration element 7 is driven to move. That is, the movement of the Y-axis output, V-axis output, and U-axis output directly affects the actual coordinates of calibration element 7.

[0094] When the measuring element 8 and the calibration element 7 are in position, the measuring element 8 can measure the actual coordinates of the calibration element 7 after it is activated. The controller can then obtain the actual coordinates of the calibration element 7 after it is activated. Since the controller is also used to confirm the comprehensive deviation based on the theoretical coordinates and the actual coordinates of the calibration element 7 after it is activated, the controller can confirm the comprehensive deviation by the deviation between the theoretical coordinates and the actual coordinates of the calibration element 7.

[0095] If the controller moves the measuring element 8 toward the theoretical coordinates of the calibration element 7 by controlling the X-axis and Z-axis outputs, errors in the movements of the X-axis and Z-axis outputs will cause a difference between the actual position of the measuring element 8 and the theoretical position it should reach. This difference will affect the measurement accuracy of the measuring element 8 in measuring the actual coordinates of the calibration element 7, and thus introduce the movement errors of the X-axis and Z-axis outputs into the actual coordinates measured by the measuring element 8.

[0096] Because the motion errors of the X-axis and Z-axis outputs affect the actual coordinates of the calibration element 7 measured by the measuring component 8, and the controller obtains a comprehensive error based on the actual coordinates measured by the measuring component 8 and the theoretical coordinates of the calibration element 7, the comprehensive deviation obtained by the above method includes the deviations of all five axes (X, Y, Z, V, U). The controller can effectively compensate for the errors generated by the motion of the Y-axis, V-axis, and U-axis outputs not only through the comprehensive deviation, but also for the errors generated by the motion of the X-axis and Z-axis outputs. Furthermore, by effectively compensating for the errors generated by the motion of each axis output in the five-axis linkage system through the comprehensive deviation, the accumulation of errors caused by the five-axis linkage can be effectively avoided. This is beneficial for improving the motion accuracy of each axis output, thereby ensuring the consistency between the theoretical and actual coordinates of the calibration element 7, and facilitating the effective calibration of the spatial coordinates of the calibration element 7. Moreover, during workpiece machining, it also helps to ensure the consistency between the theoretical and actual coordinates of the workpiece, thus improving the machining accuracy of the workpiece.

[0097] Optionally, the X-axis output, Y-axis output, Z-axis output, V-axis output, and U-axis output are controlled according to the theoretical coordinates to drive the calibration element 7 and the measuring element 8 to move, including:

[0098] The controller controls the Y-axis output, V-axis output, and U-axis output to move according to the theoretical coordinates, thereby moving the calibration element 7 to the position of the theoretical coordinates.

[0099] The controller controls the X-axis output and Z-axis output to move according to the theoretical coordinates, so that the measuring element 8 is directly above the theoretical coordinate position of the calibration element 7.

[0100] Optionally, obtain the actual coordinates of calibration element 7 after its movement, including:

[0101] The controller controls the measuring element 8 to measure the actual coordinates of the calibration element 7 after its action, and obtains the actual coordinates of the calibration element 7 after its action from the measuring element 8.

[0102] Optionally, the overall deviation is determined based on the actual coordinates and theoretical coordinates, including:

[0103] The controller identifies at least two deviation values ​​based on the difference between at least two theoretical coordinates and the corresponding actual coordinates, and identifies the average of the at least two deviation values ​​as the comprehensive deviation.

[0104] Optionally, after confirming the comprehensive deviation based on the actual and theoretical coordinates, the following steps are also included:

[0105] The controller controls the X-axis output, Y-axis output, Z-axis output, V-axis output and U-axis output respectively according to the comprehensive deviation to compensate for the deviation of the calibration element 7 so that the actual coordinates are equal to the theoretical coordinates.

[0106] All of the above-mentioned optional technical solutions can be combined in any way to form optional embodiments of this application, and the embodiments of this application will not be described in detail one by one.

[0107] Figure 7 This is a flowchart of another five-axis linkage calibration method provided in an embodiment of this application. See also... Figure 7 The method includes:

[0108] Step 701: Obtain the theoretical coordinates of calibration element 7.

[0109] Specifically, before calibration, the theoretical coordinates of calibration element 7 are set. In this embodiment, three theoretical coordinates are set for calibration element 7: a first theoretical coordinate, a second theoretical coordinate, and a third theoretical coordinate (in other embodiments, calibration element 7 may have one, two, four, or more theoretical coordinates). After the theoretical coordinates of calibration element 7 are set, each theoretical coordinate is input into the controller, which enables the controller to obtain the theoretical coordinates of calibration element 7, thus facilitating the acquisition of theoretical coordinates.

[0110] In other embodiments, the controller pre-stores the theoretical coordinates of the calibration element 7. During calibration, the controller can directly select the calibration coordinates from the pre-stored theoretical coordinates. This further simplifies the setting of theoretical coordinates, eliminating the need to pre-set the theoretical coordinates of the calibration element 7.

[0111] Step 702: Control the X-axis output, Y-axis output, Z-axis output, V-axis output and U-axis output to move according to the theoretical coordinates of the calibration element 7, so as to drive the calibration element 7 and the measuring element 8 to move.

[0112] This application provides a method for controlling the X-axis output, Y-axis output, Z-axis output, V-axis output, and U-axis output to move according to the theoretical coordinates of the calibration element 7, thereby driving the calibration element 7 and the measuring element 8 to move. The method includes:

[0113] Step 7021: The controller controls the Y-axis output, V-axis output and U-axis output to move according to the theoretical coordinates, so as to move the calibration element 7 to the position of the theoretical coordinates.

[0114] Specifically, after the calibration element 7 is set on the U-axis output end, the controller controls the Y-axis output end, V-axis output end and U-axis output end to move respectively, so as to drive the calibration element 7 to move towards the first theoretical coordinate. After the movement, the calibration element 7 has the first position.

[0115] Then, the controller controls the V-axis output and U-axis output to rotate 45 degrees respectively, and controls the Y-axis output to move, thereby driving the calibration element 7 to move towards the second theoretical coordinate. After the movement, the calibration element 7 has a second position. In other implementations, the V-axis output and U-axis output can also be controlled to rotate at other angles, such as 30 degrees or 60 degrees, which is flexible and convenient, and can be adjusted as needed according to the actual situation.

[0116] Finally, the controller controls the V-axis output and U-axis output to rotate 90 degrees in the opposite direction respectively, and controls the Y-axis output to move, thereby driving the calibration element 7 to move towards the third theoretical coordinate. After the movement, the calibration element 7 has the third position. In other implementations, the V-axis output and U-axis output can also be controlled to rotate in the opposite direction by other angles, such as 60 degrees or 120 degrees, or they can be controlled to rotate in the forward direction by other angles, which is flexible and convenient, and can be adjusted as needed according to the actual situation.

[0117] Step 7022: The controller controls the X-axis output and Z-axis output to move according to the theoretical coordinates, so that the measuring element 8 is directly above the theoretical coordinate position of the calibration element 7.

[0118] Specifically, the controller controls the X-axis output and Z-axis output to move the measuring component 8 to directly above the first theoretical coordinate.

[0119] Then, the controller controls the X-axis output and Z-axis output to move the measuring component 8 to directly above the second theoretical coordinate.

[0120] Finally, the controller controls the X-axis output and Z-axis output to move the measuring component 8 to directly above the third theoretical coordinate.

[0121] Since the reference target for the movement of measuring component 8 is also the theoretical coordinate of calibration element 7, by moving measuring component 8 directly above the theoretical coordinate of calibration element 7, it is not only beneficial to facilitate the measurement of measuring component 8, but also to reduce the positional error after the movement of measuring component 8 to a certain extent, thereby facilitating the accurate measurement of the actual coordinate of calibration element 7.

[0122] In the above steps, the coordinated action of the output ends of each axis facilitates the movement of the calibration element 7 and the measuring element 8, and thus also facilitates the calibration of the calibration element 7.

[0123] Step 703: Obtain the actual coordinates of the calibration element 7 after its operation.

[0124] This application provides a method for obtaining the actual coordinates of a calibration element 7 after its operation, including:

[0125] The controller controls the measuring element 8 to measure the actual coordinates of the calibration element 7 after its action, and obtains the actual coordinates of the calibration element 7 after its action from the measuring element 8.

[0126] Specifically, the measuring element 8 measures the first actual coordinate of the calibration element 7 at the first position, the second actual coordinate of the calibration element 7 at the second position, and the third actual coordinate of the calibration element 7 at the third position. Correspondingly, the controller can also obtain the first actual coordinate, the second actual coordinate, and the third actual coordinate of the calibration element 7 after its action from the measuring element 8.

[0127] The above steps facilitate the controller in obtaining the actual coordinates of each calibration element 7, which helps improve work efficiency and also ensures the accuracy of the actual coordinates of the calibration element 7 to a certain extent.

[0128] Step 704: Confirm the overall deviation based on the actual coordinates of the calibration element 7 after its operation and the theoretical coordinates of the calibration element 7.

[0129] This application provides a method for confirming the overall deviation based on the actual coordinates of the calibration element 7 after its operation and the theoretical coordinates of the calibration element 7, including:

[0130] The controller determines three deviation values ​​based on the differences between the three theoretical coordinates and the corresponding actual coordinates, and determines the average of the three deviation values ​​as the comprehensive deviation.

[0131] By using the average of the three deviation values ​​as the comprehensive deviation, the accuracy of the comprehensive deviation can be improved to a certain extent. In turn, this comprehensive deviation can be used to effectively compensate for the motion error of each axis output, which is beneficial to effectively improve the motion accuracy of each axis.

[0132] In other embodiments, when the calibration element 7 has a theoretical coordinate and an actual coordinate, the deviation between the two can be directly used as the comprehensive deviation, which facilitates the calibration of the calibration element 7.

[0133] Step 705: After confirming the comprehensive deviation based on the actual and theoretical coordinates, the following steps are also included:

[0134] The controller controls the X-axis output, Y-axis output, Z-axis output, V-axis output and U-axis output respectively according to the comprehensive deviation to compensate for the deviation of the calibration element 7 so that the actual coordinates are equal to the theoretical coordinates.

[0135] Specifically, after calibration, repeat steps 701, 702 and 703, and compensate for the deviation of calibration element 7 by controlling the action of each axis output end to verify whether the actual coordinates are equal to the theoretical coordinates. If they are equal, the calibration ends. If they are not equal, continue to repeat steps 701, 702, 703, 704 and 705 until the actual coordinates are consistent with the theoretical coordinates.

[0136] This step allows for the verification of the obtained comprehensive deviation, confirming its accuracy. This helps ensure the precision of the output actions of each axis, and consequently, the consistency between the actual and theoretical coordinates.

[0137] In one possible embodiment, after confirming the overall deviation, the operation of each axis output terminal is no longer controlled to compensate for the deviation of the calibration element 7, that is, the obtained overall deviation is not verified. This reduces the number of program steps and facilitates the calibration of the calibration element.

[0138] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A five-axis linkage calibration system, characterized in that, include: Base; Y-axis module, the Y-axis module is disposed on the base, the Y-axis module has a Y-axis output end that can output action along the Y-axis direction; A V-axis module and a U-axis module are provided. The V-axis module is located at the Y-axis output end and has a V-axis output end capable of outputting rotational motion around the V-axis direction. The U-axis module is located at the V-axis output end and has a U-axis output end capable of outputting rotational motion around the U-axis direction. The U-axis output end is used to set calibration elements or workpieces. The V-axis direction and the U-axis direction are different from each other. A Z-axis module and an X-axis module are provided. The X-axis module is disposed on the base and has an X-axis output end that can output movement along the X-axis direction. The Z-axis module is disposed on the X-axis output end and has a Z-axis output end that can output movement along the Z-axis direction. The Z-axis output end is used to set a measuring component for measuring the actual coordinates of the calibration element or a machining component for machining the workpiece. The X-axis direction, the Y-axis direction, and the Z-axis direction are all different; The controller is used to control the X-axis output terminal, the Y-axis output terminal, the Z-axis output terminal, the V-axis output terminal and the U-axis output terminal to move respectively according to the theoretical coordinates of the calibration element, so as to drive the calibration element and the measuring element to move. The controller is also used to confirm the comprehensive deviation according to the theoretical coordinates and the actual coordinates after the calibration element moves. Specifically, the controller is used to control the Y-axis output, V-axis output and U-axis output to move according to the theoretical coordinates of the calibration element, so as to drive the calibration element to move, and to control the X-axis output and Z-axis output to move so as to drive the measuring element to move.

2. The five-axis linkage calibration system according to claim 1, characterized in that, The V-axis module and the U-axis module together form a carrier. At least two carriers are arranged at intervals in the X-axis direction. At least two Y-axis modules are arranged in the same number as the carriers and in corresponding positions.

3. The five-axis linkage calibration system according to claim 2, characterized in that, The X-axis output end is equipped with multiple Z-axis modules that are the same number as the number of vehicles and are positioned accordingly.

4. The five-axis linkage calibration system according to any one of claims 1-3, characterized in that, The X-axis module and / or Y-axis module include a displacement detection element, which is used to measure the movement displacement of the X-axis output end and / or Y-axis output end.

5. The five-axis linkage calibration system according to any one of claims 1-3, characterized in that, The X-axis module and / or Y-axis module further include a zero-point confirmation component, which is used to confirm that the X-axis output terminal and / or Y-axis output terminal are at the zero-point position.

6. The five-axis linkage calibration system according to any one of claims 1-3, characterized in that: The V-axis direction is horizontal, and the U-axis direction is perpendicular to the V-axis direction; And / or, The X-axis and Y-axis are both horizontal and perpendicular to each other, and the Z-axis is vertical.

7. The five-axis linkage calibration system according to any one of claims 1-3, characterized in that, The five-axis linkage calibration system also includes: Z-axis tool setter, the Z-axis tool setter is fixed in position relative to the base in the Z-axis direction, the Z-axis tool setter is used to calibrate the zero point position of the workpiece in the Z-axis direction.

8. The five-axis linkage calibration system according to any one of claims 1-3, characterized in that, The X-axis output end, the Y-axis output end, and the Z-axis output end are parallel and perpendicular to the horizontal plane; The parallelism is within the range of 0~0.02 / 300mm, and / or, The verticality is within the range of 0~0.02 / 300mm.

9. The five-axis linkage calibration system according to any one of claims 1-3, characterized in that, The X-axis output end, the Y-axis output end, and the Z-axis output end have output action accuracy in their respective axes, and the output action accuracy is within the range of -0.001 to +0.001 mm.

10. The five-axis linkage calibration system according to any one of claims 1-3, characterized in that, The V-axis output end and the U-axis output end have rotational accuracy for outputting rotational motion around their respective axes, and the rotational accuracy is within the range of -0.0015° to +0.0015°.

11. A five-axis linkage calibration method, characterized in that, The five-axis linkage calibration method is executed by the controller of the five-axis linkage calibration system according to any one of claims 1-10, and the method includes: Obtain the theoretical coordinates of the calibration element; The X-axis output, Y-axis output, Z-axis output, V-axis output, and U-axis output are controlled to move according to the theoretical coordinates, thereby driving the calibration element and measuring component to move. Obtain the actual coordinates of the calibration element after its operation; The overall deviation is confirmed based on the actual coordinates and the theoretical coordinates.

12. The five-axis linkage calibration method according to claim 11, characterized in that, The method of controlling the X-axis output, Y-axis output, Z-axis output, V-axis output, and U-axis output to move according to the theoretical coordinates to drive the calibration element and measuring component to move includes: The controller controls the Y-axis output, V-axis output, and U-axis output to move according to the theoretical coordinates, thereby moving the calibration element to the position of the theoretical coordinates. The controller controls the X-axis output and the Z-axis output to operate according to the theoretical coordinates, so that the measuring element is located directly above the theoretical coordinate position of the calibration element.

13. The five-axis linkage calibration method according to claim 11, characterized in that, The process of confirming the comprehensive deviation based on the actual coordinates and the theoretical coordinates includes: The controller determines at least two deviation values ​​based on the difference between at least two theoretical coordinates and the corresponding actual coordinates, and determines the average of the at least two deviation values ​​as the comprehensive deviation.

14. The five-axis linkage calibration method according to claim 11, characterized in that, After confirming the comprehensive deviation based on the actual coordinates and the theoretical coordinates, the method further includes: The controller controls the X-axis output, Y-axis output, Z-axis output, V-axis output and U-axis output respectively to operate according to the comprehensive deviation, so as to compensate for the deviation of the calibration element and make the actual coordinates equal to the theoretical coordinates.

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