A machine tool probe calibration method and device, a storage medium and an electronic device

Abstract

Embodiments of the present application disclose a machine tool probe calibration method and device, a storage medium and an electronic device, and relate to the technical field of in-machine detection. The method comprises: performing in-machine measurement on a first calibration point and a second calibration point respectively to obtain first measurement results and second measurement results; obtaining a basic eccentric error and a touch direction error compensation amount according to the first calibration point and the first measurement results; performing spherical fitting on the second measurement results to obtain a measurement swing angle eccentric error; and obtaining a measurement swing angle error compensation amount according to the measurement swing angle eccentric error and the touch direction error compensation amount. The present application decouples error sources, divides calibration into basic error and swing angle error calibration, reduces the number of calibration points required in the case of multiple swing angles, improves calibration efficiency without reducing calibration accuracy, improves calibration accuracy by combining multiple error sources, and improves the quality of machine tool probe calibration by combining the swing angle eccentric error into the touch direction error compensation amount.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of in-machine detection, and particularly relates to a machine tool probe calibration method and device, a storage medium and an electronic device. BACKGROUND

[0002] In-machine detection can complete the measurement of part dimensions without disassembling the workpiece, thereby avoiding problems such as installation error, deformation of thin-walled parts, loss of measurement efficiency and the like caused by secondary clamping. Due to the influence of the structure of the machine tool probe and the principle of in-machine measurement, there is a large measurement error when directly using the machine tool probe for in-machine measurement. Therefore, the machine tool probe must be calibrated before in-machine measurement is performed to determine the compensation amount.

[0003] The existing calibration means has poor quality, and mainly has the following problems: the calibration considers fewer factors, cannot match the actual in-machine detection situation, and the precision needs to be improved; if the factors considered in calibration are increased to improve the precision, the workload of calibration is greatly increased, and even the workload exceeds the actual in-machine measurement workload, which seriously affects the comprehensive efficiency. SUMMARY

[0004] The main purpose of the present application is to provide a machine tool probe calibration method and device, a storage medium and an electronic device, which aims to solve the problem of poor calibration quality of the machine tool probe in the prior art.

[0005] In order to achieve the above purpose, the technical scheme adopted by the embodiments of the present application is as follows:

[0006] In a first aspect, the embodiments of the present application provide a machine tool probe calibration method, comprising the following steps:

[0007] A first set of calibration points and a second set of calibration points are respectively generated; wherein the first set of calibration points and the second set of calibration points respectively contain a plurality of first calibration points and second calibration points;

[0008] The first calibration points and the second calibration points are respectively measured in-machine to obtain first measurement results and second measurement results;

[0009] According to the first calibration points and the first measurement results, a basic eccentric error and a touch direction error compensation amount are obtained;

[0010] The second measurement results are subjected to spherical fitting to obtain a measurement swing angle eccentric error;

[0011] According to the measurement swing angle eccentric error and the touch direction error compensation amount, a measurement swing angle error compensation amount is obtained.

[0012] In a possible implementation manner of the first aspect, before the first calibration points and the second calibration points are respectively measured in-machine to obtain the first measurement results and the second measurement results, the machine tool probe calibration method further comprises:

[0013] A first measurement coordinate system parallel to the machine tool coordinate system is established with the position of the center of the spherical calibrator as the origin when the touch direction error is calibrated by the spherical calibrator;

[0014] A first calibration point is generated according to the radius size of the spherical calibrator and the first measurement coordinate system.

[0015] In a possible implementation manner of the first aspect, before the base eccentric error and the touch direction error compensation quantity are obtained according to the first calibration point and the first measurement result, the machine tool probe calibration method further includes:

[0016] The first measurement result is subjected to spherical fitting to obtain the spherical center coordinates;

[0017] The base eccentric error is obtained according to the spherical center coordinates.

[0018] In a possible implementation manner of the first aspect, the base eccentric error and the touch direction error compensation quantity are obtained according to the first calibration point and the first measurement result, including:

[0019] The compensation quantity spherical coordinates corresponding to the first calibration point are obtained according to the first calibration point and the first measurement result;

[0020] The touch direction error compensation quantity is obtained according to the compensation quantity spherical coordinates corresponding to the first calibration point.

[0021] In a possible implementation manner of the first aspect, before the first measurement result and the second measurement result are obtained by respectively performing in-machine measurement on the first calibration point and the second calibration point, the machine tool probe calibration method further includes:

[0022] A second measurement coordinate system parallel to the machine tool coordinate system is established with the position of the center of the spherical calibrator as the origin when the measurement swing angle error is calibrated by the spherical calibrator;

[0023] A second calibration point is generated according to the radius size of the spherical calibrator and the second measurement coordinate system.

[0024] In a possible implementation manner of the first aspect, the second calibration point is generated according to the radius size of the spherical calibrator and the second measurement coordinate system, including:

[0025] An initial position of the calibration point is obtained according to the radius size of the spherical calibrator and the second measurement coordinate system;

[0026] The initial position of the calibration point is rotated with the origin of the second measurement coordinate system as the rotation center until a normal vector of the current machine tool probe swing angle direction is reached to obtain a target position of the calibration point;

[0027] The second calibration point is generated according to the target position of the calibration point.

[0028] In a possible implementation manner of the first aspect, the in-machine measurement is performed on the first calibration point and the second calibration point respectively to obtain the first measurement result and the second measurement result, including:

[0029] The in-machine measurement is performed on the second calibration point to obtain the second measurement result, while keeping the swing angle consistent with that in the measurement of the swing angle error calibration with the spherical standard.

[0030] In the second aspect, the embodiments of the present application provide a machine tool probe calibration device, including:

[0031] The generating module is configured to generate a first calibration point set and a second calibration point set respectively, wherein the first calibration point set and the second calibration point set respectively include a plurality of first calibration points and second calibration points.

[0032] The measurement module is configured to perform in-machine measurement on the first calibration point and the second calibration point respectively to obtain a first measurement result and a second measurement result.

[0033] The first obtaining module is configured to obtain a basic eccentric error and a touch direction error compensation value according to the first calibration point and the first measurement result.

[0034] The fitting module is configured to perform spherical fitting on the second measurement result to obtain a measurement swing angle eccentric error.

[0035] The second obtaining module is configured to obtain a measurement swing angle error compensation value according to the measurement swing angle eccentric error and the touch direction error compensation value.

[0036] In the third aspect, the embodiments of the present application provide a computer readable storage medium, which stores a computer program, and the computer program is loaded and executed by a processor to implement the machine tool probe calibration method provided in any one of the first aspect.

[0037] In the fourth aspect, the embodiments of the present application provide an electronic device, including a processor and a memory, wherein:

[0038] The memory is configured to store a computer program.

[0039] The processor is configured to load and execute the computer program to enable the electronic device to perform the machine tool probe calibration method provided in any one of the first aspect.

[0040] Compared with the prior art, the present application has the following beneficial effects:

[0041] A machine tool probe calibration method, device, storage medium and electronic equipment are provided, and the method comprises the following steps: generating a first calibration point set and a second calibration point set; the first calibration point set and the second calibration point set each contain a plurality of first calibration points and second calibration points; performing in-machine measurement on the first calibration points and the second calibration points to obtain first measurement results and second measurement results; obtaining a basic eccentric error and a touch direction error compensation amount according to the first calibration points and the first measurement results; performing spherical fitting on the second measurement results to obtain a measurement swing angle eccentric error; and obtaining a measurement swing angle error compensation amount according to the measurement swing angle eccentric error and the touch direction error compensation amount. The method decouples the error sources of the machine tool probe, divides the calibration into basic error calibration and swing angle error calibration, reduces the number of calibration points required under the condition of multiple swing angles, improves the efficiency of calibration without reducing the calibration accuracy, and improves the accuracy of calibration by comprehensively considering multiple error sources. The spherical standard is used as the basic calibration theoretical value, and then the error amount is obtained based on the in-machine measurement corresponding to the measured value. The swing angle eccentric error is combined into the touch direction error compensation amount to obtain the error compensation amount for swing angle compensation, thereby improving the quality of machine tool probe calibration. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 A structural schematic diagram of an electronic equipment related to a hardware running environment of an embodiment of the present application;

[0043] Figure 2 A flowchart of a machine tool probe calibration method provided by an embodiment of the present application;

[0044] Figure 3 A variable diagram in a machine tool probe calibration method provided by an embodiment of the present application;

[0045] Figure 4 A functional module diagram of a machine tool probe calibration device provided by an embodiment of the present application;

[0046] In the figure, 101 is a processor, 102 is a communication bus, 103 is a network interface, 104 is a user interface, and 105 is a memory. DETAILED DESCRIPTION

[0047] It should be understood that the specific embodiments described herein are merely intended to explain the present application and are not intended to limit the present application.

[0048] The main solution of the embodiment of the application is: a machine tool probe calibration method, device, storage medium and electronic equipment are provided, including: generating a first calibration point set and a second calibration point set respectively; wherein the first calibration point set and the second calibration point set respectively contain a plurality of first calibration points and second calibration points; the first calibration points and the second calibration points are measured on the machine respectively, and first measurement results and second measurement results are obtained; the basic eccentric error and the touch direction error compensation are obtained according to the first calibration points and the first measurement results; the second measurement results are subjected to spherical fitting, and the measurement swing angle eccentric error is obtained; the measurement swing angle error compensation is obtained according to the measurement swing angle eccentric error and the touch direction error compensation.

[0049] On-machine detection can complete the measurement of the size of the part without disassembling the workpiece, thereby avoiding the problems of installation error, deformation of thin-walled parts, loss of measurement efficiency and the like caused by secondary clamping, and improving the measurement quality and efficiency, and has been more and more widely applied in the aviation manufacturing industry.

[0050] Due to the influence of the structure of the machine tool probe and the principle of on-machine measurement, there is a large measurement error in directly using the machine tool probe for on-machine measurement, and if error compensation is not performed, the precision loss can be more than 0.2 mm, which cannot meet the requirements of aviation structural parts on measurement precision. Therefore, it is necessary to calibrate the machine tool probe before performing on-machine measurement.

[0051] At present, there are mainly two types of machine tool probe calibration methods: one is to use a ring-shaped standard to calibrate the machine tool probe, this method usually only calibrates the touch error of the machine tool probe in each direction in the plane perpendicular to the probe normal vector, and the calibrated probe is only allowed to measure in the plane at the specified swing angle, and the use range of on-machine measurement is greatly limited; the second is to use a spherical standard to calibrate, this method calibrates the error of each touch direction of the probe at one or more measurement swing angles, and allows the probe to measure in any direction at the calibrated measurement swing angle after calibration, realizing omnidirectional high-precision measurement of the machine tool probe. However, in order to ensure the calibration accuracy of the spherical standard, a large number of calibration points need to be measured at each measurement swing angle, which even leads to the work load of calibration exceeding that of actual measurement, and the comprehensive efficiency of on-machine measurement is significantly affected.

[0052] For example, the application patent with the application number CN201310576660.X: calibration method for axial pre-travel of trigger type probe, mainly calibrates the pre-travel of the probe axis, resulting in a relatively single application scenario of the subsequent probe, and unable to realize omnidirectional high-precision measurement. For example, the application patent with the application number CN202011638822.4: calibration method for on-machine detection of precision of trigger type probe, calibrates the touch direction, measurement speed and other influencing factors of the machine tool probe, but does not consider the case of multiple measurement swing angles, and cannot be used for omnidirectional high-precision measurement.

[0053] To this end, the application provides a solution, by decoupling the error sources of the machine tool probe, the calibration is divided into basic error calibration and swing angle error calibration, reducing the number of calibration points required under multiple swing angle conditions, improving the efficiency of calibration without reducing the calibration accuracy, and comprehensively improving the accuracy of calibration by combining multiple error sources, taking the spherical standard as the basic calibration theoretical value, and then obtaining the error amount based on the measured value under the machine measurement, combining the swing angle eccentric error into the touch direction error compensation amount, obtaining the error compensation amount for measuring the swing angle, and realizing the quality improvement of the machine tool probe calibration.

[0054] Referring to the accompanying Figure 1 , the accompanying Figure 1 , the hardware running environment of the electronic device related to the embodiment scheme of the application, which can include: a processor 101, for example, a central processing unit (CPU), a communication bus 102, a user interface 104, a network interface 103, and a memory 105. Wherein, the communication bus 102 is used to realize the connection communication between these components. The user interface 104 can include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 104 can also include a standard wired interface, a wireless interface. The network interface 103 can optionally include a standard wired interface, a wireless interface (such as a wireless fidelity (WIreless-FIdelity, WI-FI) interface). The memory 105 can be an independent storage device of the aforementioned processor 101, and the memory 105 can be a high-speed random access memory (RAM) memory, or a stable non-volatile memory (NVM), such as at least one disk memory; the processor 101 can be a general-purpose processor, including a central processing unit, a network processor, etc., and can also be a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component.

[0055] Those skilled in the art can understand that the structure shown in the accompanying Figure 1 does not constitute a limitation on the electronic device, which can include more or fewer components than the illustrated, or combine certain components, or different component arrangements.

[0056] As shown in the accompanying Figure 1 , the memory 105 as a storage medium can include an operating system, a data storage module, a network communication module, a user interface module, and an electronic program.

[0057] In the electronic device shown in the accompanying drawings Figure 1 In the electronic device shown in the accompanying drawings

[0058] In the electronic device shown in the accompanying drawings Figure 2 Based on the hardware device of the foregoing embodiment, the embodiment of the present application provides a machine tool probe calibration method, comprising the following steps:

[0059] S10: generating a first calibration point set and a second calibration point set respectively; wherein the first calibration point set and the second calibration point set respectively contain a plurality of first calibration points and second calibration points.

[0060] In the specific implementation process, the first calibration point is a set of measurement points for calibrating the touch direction error and the ball center position error. The point set can be differently planned and laid out according to different calibration accuracy requirements, but in order to ensure that different touch directions have considerable error compensation capability, the measurement point set should be as evenly distributed as possible within a hemisphere. The second calibration point is used to calibrate the measurement swing angle error, thereby reducing the influence of the machine tool swing angle error on the measurement accuracy.

[0061] S20: in-machine measurement is performed on the first calibration point and the second calibration point respectively, and first measurement results and second measurement results are obtained.

[0062] In the specific implementation process, in-machine measurement uses a machine tool probe to measure the point set, and obtains the measured results of the first calibration points, i.e. the first measurement results. In the embodiment, the set of first calibration points is denoted as STD_P List , and the corresponding first measurement results obtained by in-machine measurement are denoted as STD_Q List . In the embodiment, the first calibration point set is distributed on the upper hemisphere of the spherical standard, and the measurement head swing angle direction is along the machine tool Z axis direction. After in-machine measurement is performed on the second calibration point set, the measured results of the second calibration points, i.e. the second measurement results, are obtained, and the machine tool probe is used to perform in-machine measurement on the calibration points and record the second measurement results AGL_Q i_List . Any measurement swing angle that needs to be used in the in-machine measurement process needs to be calibrated for the measurement swing angle error.

[0063] S30: obtaining a basic eccentric error and a touch direction error compensation amount according to the first calibration point and the first measurement result.

[0064] In the implementation process, according to the uncertainty principle, the real center position of the spherical standardizer cannot be accurately measured. According to the first measurement result, the center position of the circle measured by the probe can be fitted, and the spatial distance between the center position and the origin of the coordinate system is the basic eccentric error. The straight line distance between the compensated first measurement result and the first calibration point after the basic eccentric error is compensated is the touch direction error compensation amount.

[0065] S40: Perform spherical fitting on the second measurement result to obtain a measurement swing angle eccentric error.

[0066] In the implementation process, the spherical surface fitting is performed on the second measurement result, and the spatial distance of the fitted spherical center position relative to the origin of the coordinate system is the measurement swing angle eccentric error, that is, the AGL_Q i_List is fitted, and the fitted spherical center is the measurement swing angle eccentric error AGL_B i .

[0067] S50: Obtain a measurement swing angle error compensation amount according to the measurement swing angle eccentric error and the touch direction error compensation amount.

[0068] In the implementation process, the measurement swing angle error compensation amount is composed of the touch direction error and the measurement swing angle eccentric error, and the two types of errors are coupled according to a certain rule to obtain the measurement swing angle error compensation amount. Since the above compensation amounts are corresponding to a group of measurement swing angles and touch points, in actual use, the above data can be calibrated and stored in advance, and each time the corresponding compensation amount is queried, coupling operation and interpolation calculation can be performed to obtain the error compensation amount in any touch direction under the specified measurement swing angle.

[0069] In the embodiment, by decoupling the error sources of the machine tool probe, the calibration is divided into basic error calibration and swing angle error calibration, the number of calibration points required under multiple swing angles is reduced, the efficiency of the calibration is improved without reducing the calibration accuracy, and the accuracy of the calibration is improved by combining multiple error sources. The spherical standardizer is used as the basic calibration theoretical value, and then the error amount is obtained based on the measured value under the machine measurement. The swing angle eccentric error is combined into the touch direction error compensation amount to obtain the error compensation amount for the compensation of the measurement swing angle, and the quality of the machine tool probe calibration is improved.

[0070] In one embodiment, before obtaining the first measurement result and the second measurement result by respectively measuring the first calibration point and the second calibration point on the machine, the machine tool probe calibration method further comprises:

[0071] Establishing a first measurement coordinate system parallel to the machine tool coordinate system with the center position of the spherical calibrator for touch direction error calibration as the origin;

[0072] According to the radius size of the spherical calibrator and the first measurement coordinate system, a first calibration point is generated.

[0073] In the specific implementation process, a spherical standard with a radius of R is used to calibrate the touch direction error, and a coordinate system parallel to the machine tool coordinate system, i.e., the first measurement coordinate system, is established with the center of the sphere as the origin, and a set of calibration points STD_P is generated according to the following rules List Any element in the set satisfies:

[0074]

[0075] In the formula, is the angle between the line connecting the calibration point (x i ,y i ,z i ) and the origin and the Z axis;

[0076] θ is the angle between the projection of the line connecting the calibration point (x i ,y i ,z i ) and the origin on the XOY plane and the X axis;

[0077] u and v are positive integers, respectively.

[0078] In an embodiment, before obtaining the basic eccentric error and the touch direction error compensation amount according to the first calibration point and the first measurement result, the machine tool probe calibration method further comprises:

[0079] performing spherical fitting on the first measurement result to obtain the center coordinates of the sphere;

[0080] obtaining the basic eccentric error according to the center coordinates of the sphere.

[0081] In the specific implementation process, the first measurement result STD_Q List is subjected to spherical fitting, and the center coordinates of the fitted sphere STD_B(x sb ,y sb ,z sb ) are the basic eccentric error.

[0082] In an embodiment, obtaining the basic eccentric error and the touch direction error compensation amount according to the first calibration point and the first measurement result comprises:

[0083] obtaining the compensation amount spherical coordinates corresponding to the first calibration point according to the first calibration point and the first measurement result;

[0084] obtaining the touch direction error compensation amount according to the compensation amount spherical coordinates corresponding to the first calibration point.

[0085] In the specific implementation process, the touch direction error compensation amount list STD_CList , satisfy:

[0086]

[0087] wherein STD_P i is any element belonging to STD_P List ; STD_Q i is the measured value of STD_P i .

[0088] In an embodiment, before obtaining the first measurement result and the second measurement result by respectively performing on-machine measurement on the first calibration point and the second calibration point, the machine tool probe calibration method further comprises:

[0089] establishing a second measurement coordinate system parallel to the machine tool coordinate system with the position of the center of the spherical calibrator as the origin when measuring the swing angle error calibration;

[0090] generating the second calibration point according to the radius size of the spherical calibrator and the second measurement coordinate system;

[0091] generating the second calibration point according to the radius size of the spherical calibrator and the second measurement coordinate system, comprising:

[0092] obtaining the initial position of the calibration point according to the radius size of the spherical calibrator and the second measurement coordinate system;

[0093] rotating the initial position of the calibration point with the origin of the second measurement coordinate system as the rotation center until reaching the normal vector of the current machine tool probe swing angle direction to obtain the target position of the calibration point;

[0094] generating the second calibration point according to the target position of the calibration point.

[0095] In the specific implementation process, the spherical standard calibrator with a radius of R is used to measure the swing angle error calibration, and the measurement coordinate system parallel to the machine tool coordinate system, i.e., the second measurement coordinate system, is established with the center of the sphere as the origin. For the swing angle set A List , The following steps are used to generate the second calibration point set AGL_P i_List : The following steps are used to calculate the coordinate position:

[0096]

[0097] wherein x′ i,j , y′ i,j , z′ i,j are the x coordinate, y coordinate, and z coordinate of the initial position of AGL_P i_List_j , respectively;

[0098] As shown in the accompanying drawings Figure 3 , the coordinate axis origin is the fitted spherical center coordinate, STD_P i is any first calibration point, STD_Q i is the measured value of STD_P i ; is the angle between the line connecting the calibration point (x′ i,j , y′ i,j , z′ i,j ) and the origin and the Z axis; θ is the angle between the projection of the line connecting the calibration point (x′ i,j , y′ i,j , z′ i,j ) and the origin on the XOY plane and the X axis; u, v are positive integers, respectively, without practical meaning.

[0099] Rotate (x′ i,j , y′ i,j , z′ i,j ): with the coordinate origin as the rotation center, with (0, 0, 1) as the starting vector, with the normal vector of A i as the terminal vector, rotate (x′ i,j , y′ i,j , z′ i,j ) to obtain the final coordinates (x i,j , y i,j , z i,j ) of AGL_P i_List_j .

[0100] In an embodiment, the measurement swing angle error compensation quantity is obtained according to the measured swing angle eccentricity error and the touch direction error compensation quantity, and is obtained by using the following formula:

[0101]

[0102] According to and AGL_B i , the following calculation is performed:

[0103]

[0104] Taking an AC swing angle machine tool as an example, the present application is further described:

[0105] Obtain the swing angle A List ={A30C0, A30C90} that needs to be calibrated;

[0106] Use a spherical standard with a radius of 15 mm to calibrate the touch direction error, and establish a first measurement coordinate system parallel to the machine tool coordinate system with the spherical center as the origin; generate the first calibration point set STD_P List according to the following rules:

[0107] satisfy:

[0108]

[0109] Special, u=0, v=0. STD_P List As shown in Table 1-1 below:

[0110] Table 1-1

[0111] (0，0，15) (5.74，0，13.86) (5.65，1，13.86) (5.39，1.96，13.86) (4.97，2.87，13.86) (4.4，3.69，13.86) (3.69，4.4，13.86) (2.87，4.97，13.86) (1.96，5.39，13.86) (1，5.65，13.86) …… …… …… …… …… (-12.99，-7.5，0) (-11.49，-9.64，0) (-9.64，-11.49，0) (-7.5，-12.99，0) (-5.13，-14.1，0) (-2.6，-14.77，0) (0，-15，0) (2.6，-14.77，0) (5.13，-14.1，0) (7.5，-12.99，0) (9.64，-11.49，0) (11.49，-9.64，0) (12.99，-7.5，0) (14.1，-5.13，0) (14.77，-2.6，0) ;

[0112] Keep the machine tool probe swing angle direction in the machine tool Z axis direction, the touch speed is 200mm / min for STD_P List Perform on-machine measurement, the first measurement result STD_Q List As shown in Table 1-2 below:

[0113] Table 1-2

[0114] (0，0，17.92) (6.86，0，16.56) (6.76，1.19，16.57) (6.45，2.35，16.57) (5.94，3.43，16.57) (5.26，4.41，16.57) (4.41，5.26，16.57) (3.43，5.94，16.57) (2.35，6.45，16.57) (1.19，6.76，16.57) …… …… …… …… …… (-15.57，-8.99，0) (-13.77，-11.55，0) (-11.55，-13.77，0) (-8.98，-15.56，0) (-6.15，-16.88，0) (-3.12，-17.69，0) (0，-17.97，0) (3.12，-17.7，0) (6.15，-16.89，0) (8.99，-15.57，0) (11.56，-13.78，0) (13.78，-11.56，0) (15.58，-9，0) (16.91，-6.16，0) (17.73，-3.13，0) .

[0115] A spherical standard with a radius of 15 mm is used to calibrate the swing angle error, and a second measurement coordinate system parallel to the machine tool coordinate system is established with the center of the sphere as the origin;

[0116] Generate the calibration point set AGL_P according to the following rules i_List :

[0117] satisfy:

[0118]

[0119] Specially, when u=0, v=0.

[0120] AGL-P i_List_j (x i，j ,y i，j , z i，j ) is (x′ i，j , y′ i，j , z′ i，j ) is obtained by the following rotation transformation: with the origin of the coordinate system as the rotation center, (0, 0, 1) as the starting vector, and A i The normal vector of is the terminal vector.

[0121] Then AGL-P was obtained 1_List As shown in Table 1-3 below:

[0122] Table 1-3

[0123] (0，-7.5，12.99) (10.61，-5.3，9.19) (0，3.88，14.49) (-10.61，-5.3，9.19) (0，-14.49，3.88) (15，0，0) (0，12.99，7.5) (-15，0，0) (0，-12.99，-7.5)

[0124] AGL-P 2_List As shown in Tables 1-4 below:

[0125] Table 1-4

[0126] (7.5，0，12.99) (5.3，10.61，9.19) (-3.88，0，14.49) (5.3，-10.61，9.19) (14.49，0，3.88) (0，15，0) (-12.99，0，7.5) (0，-15，0) (12.99，0，-7.5)

[0127] AGL-P 1_List was measured in-situ using a goniometer A1 = A30C0, and AGL-P 2_List was measured in-situ using a goniometer A2 = A30C90, with a touch speed of 200 mm / min. The results are as follows:

[0128] AGL-Q 1_List , as shown in Table 1-5:

[0129] Table 1-5

[0130] (0，-8.96，15.52) (12.69，-6.35，10.99) (0，4.65，17.35) (-12.68，-6.34，10.98) (0，-17.31，4.64) (18.01，0，0) (0，15.61，9.01) (-17.99，0，0) (0，-15.56，-8.98)

[0131] AGL-Q 2_List , as shown in Table 1-6:

[0132] Table 1-5

[0133] (8.96，0，15.52) (6.35，12.69，10.99) (-4.65，0，17.35) (6.34，-12.68，10.98) (17.31，0，4.64) (0，18.01，0) (-15.61，0，9.01) (0，-17.99，0) (15.56，0，-8.98)

[0134] STD-Q List was fitted using the least square method, and the fitted sphere center coordinates are STD-B = (0.0101, 0.0300, -0.0803).

[0135] STD-C List was calculated as follows:

[0136]

[0137]

[0138] The error compensation amounts for the remaining touch directions were calculated as above.

[0139] AGL-Q 1_List was fitted using the least square method to calculate AGL-C 1_List . For example, the fitted sphere center is AGL-B1 = (0.0103, 0.0661, -0.0545).

[0140]

[0141]

[0142] AGL-C 2_Listthe calculation of AGL_C 1_List .

[0143] By the above calculation, the final compensation amount list AGL_C 1_List , AGL_C 2_List When the on-machine measurement is performed, the corresponding (φ, θ) is calculated according to the measurement swing angle and the touch point normal vector, and then the compensation amount AGL_C List corresponding to the measurement swing angle is queried to perform compensation. If the remaining all measurement swing angles are calibrated by the touch direction error calibration method, the total number of calibration points is 145*3=435, and the number of calibration points is 145+9+9=163 by using the method of the embodiment. The number of calibration points is reduced by 62%, and the calibration efficiency is improved by 62%. The more the measurement swing angles, the more obvious the efficiency improvement effect.

[0144] Referring to the accompanying Figure 4 Based on the same inventive concept as in the foregoing embodiments, the embodiment of the application also provides a machine tool probe calibration device, comprising:

[0145] A generating module is configured to generate a first calibration point set and a second calibration point set respectively; wherein the first calibration point set and the second calibration point set respectively contain a plurality of first calibration points and second calibration points;

[0146] A measuring module is configured to perform on-machine measurement on the first calibration points and the second calibration points respectively to obtain first measurement results and second measurement results;

[0147] A first obtaining module is configured to obtain a basic eccentric error and a touch direction error compensation amount according to the first calibration points and the first measurement results;

[0148] A fitting module is configured to perform spherical fitting on the second measurement results to obtain a measurement swing angle eccentric error;

[0149] A second obtaining module is configured to obtain a measurement swing angle error compensation amount according to the measurement swing angle eccentric error and the touch direction error compensation amount.

[0150] Those skilled in the art should understand that the division of each module in the embodiment is only a logical division, and all or part of the modules can be integrated onto one or more actual carriers in actual application, and the modules can all be implemented in the form of software through a processing unit, or all be implemented in the form of hardware, or be implemented in the form of software and hardware combination. It should be noted that the modules in the machine tool probe calibration device in the embodiment correspond one by one to the steps in the machine tool probe calibration method in the foregoing embodiments, and therefore the specific embodiments of the embodiment can refer to the embodiments of the machine tool probe calibration method, which will not be described here.

[0151] Based on the same inventive concept as in the foregoing embodiments, the embodiments of the present application also provide a computer readable storage medium storing a computer program, which, when loaded and executed by a processor, implements the machine tool probe calibration method provided by the embodiments of the present application.

[0152] In addition, based on the same inventive concept as in the foregoing embodiments, the embodiments of the present application also provide an electronic device comprising at least a processor and a memory, wherein,

[0153] The memory is configured to store a computer program;

[0154] The processor is configured to load and execute the computer program, so that the electronic device performs the machine tool probe calibration method provided by the embodiments of the present application.

[0155] In some embodiments, the computer readable storage medium can be a FRAM, a ROM, a PROM, an EPROM, an EEPROM, a flash memory, a magnetic surface memory, an optical disc, or a CD-ROM, etc. memory; or can be various devices comprising one or any combination of the above memories. The computer can be various computing devices including a smart terminal and a server.

[0156] In some embodiments, the executable instructions can be in the form of a program, software, software module, script or code, written in any form of programming language, including a compiled or interpreted language, or a declarative or procedural language, and can be deployed in any form, including being deployed as a stand-alone program or being deployed as a module, component, subroutine, or other unit suitable for use in a computing environment.

[0157] As an example, the executable instructions can but need not correspond to a file in a file system, can be stored in a part of a file that holds other programs or data, for example, in one or more scripts stored in a Hyper Text Markup Language (HTML, Hyper Text Markup Language) document, in a single file dedicated to the program in question, or in multiple coordinated files, for example, files that store one or more modules, sub programs, or code portions.

[0158] As an example, the executable instructions can be deployed to execute on one computing device, or on multiple computing devices located at one site, or on multiple computing devices distributed across multiple sites and interconnected through a communication network.

[0159] It should be noted that, in this text, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such a process, method, article or system. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or system including the element.

[0160] The above sequence of embodiments is only for description, not representing the advantages and disadvantages of the embodiments.

[0161] Through the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment method can be realized by software and necessary general hardware platform, of course, it can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory / random access memory, a magnetic disk, an optical disk), and includes a plurality of instructions for causing a multimedia terminal device (which can be a mobile phone, a computer, a television receiver, or a network device, etc.) to execute the method of each embodiment of the present application.

[0162] In summary, the machine tool probe calibration method, device, storage medium and electronic equipment provided by the present application, the method comprises: generating a first set of calibration points and a second set of calibration points respectively; wherein the first set of calibration points and the second set of calibration points respectively contain a plurality of first calibration points and second calibration points; respectively measuring the first calibration points and the second calibration points on the machine to obtain the first measurement results and the second measurement results; obtaining the basic eccentric error and the touch direction error compensation according to the first calibration points and the first measurement results; performing spherical fitting on the second measurement results to obtain the measurement swing angle eccentric error; obtaining the measurement swing angle error compensation according to the measurement swing angle eccentric error and the touch direction error compensation. The method of the present application decouples the error sources of the machine tool probe, divides the calibration into basic error calibration and swing angle error calibration, reduces the number of calibration points required under multiple swing angle conditions, improves the efficiency of calibration without reducing the calibration accuracy, and improves the accuracy of calibration by combining multiple error sources. The spherical standard is used as the basic calibration theoretical value, and then the error amount is obtained based on the measured value under the on-machine measurement. The swing angle eccentric error is combined into the touch direction error compensation to obtain the error compensation for the measurement swing angle, and the quality of the machine tool probe calibration is improved.

[0163] The above only describes the preferred embodiments of the present application and is not used to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A machine tool probe calibration method, characterized in that: The following steps are involved: Generating a first calibration point set and a second calibration point set respectively; wherein the first calibration point set and the second calibration point set respectively include a plurality of first calibration points and a plurality of second calibration points; Performing on-machine measurement on the first calibration point and the second calibration point respectively to obtain a first measurement result and a second measurement result; Obtaining compensation amounts for basic eccentricity error and touch direction error according to the first calibration point and the first measurement result; Performing spherical fitting on the second measurement result to obtain a measured swing angle eccentricity error; A measurement swing angle error compensation amount is obtained according to the measurement swing angle eccentricity error and the touch direction error compensation amount.

2. The machine tool probe calibration method according to claim 1, characterized in that: Before respectively performing on-machine measurement on the first calibration point and the second calibration point to obtain the first measurement result and the second measurement result, the machine tool probe calibration method further includes: A first measurement coordinate system parallel to the machine tool coordinate system is established with the center position of the sphere when the spherical calibrator is used to calibrate the touch direction error as the origin; The first calibration point is generated according to the radius size of the spherical calibrator and the first measurement coordinate system.

3. The machine tool probe calibration method according to claim 1, characterized in that: Before obtaining the basic eccentricity error and the touch direction error compensation amount according to the first calibration point and the first measurement result, the machine tool probe calibration method further includes: Performing sphere fitting on the first measurement result to obtain the coordinates of the sphere center; The basic eccentricity error is obtained according to the spherical center coordinates.

4. The machine tool probe calibration method according to claim 1, characterized in that: The obtaining of a basic eccentricity error and a touch direction error compensation amount according to the first calibration point and the first measurement result includes: Obtaining the compensation spherical coordinates corresponding to the first calibration point according to the first calibration point and the first measurement result; The touch direction error compensation amount is obtained according to the compensation spherical coordinates corresponding to the first calibration point.

5. The machine tool probe calibration method according to claim 1, characterized in that: Before respectively performing on-machine measurement on the first calibration point and the second calibration point to obtain the first measurement result and the second measurement result, the machine tool probe calibration method further includes: The center position of the sphere when the spherical calibrator is used to calibrate the swing angle error is used as the origin to establish a second measurement coordinate system parallel to the machine tool coordinate system; The second calibration point is generated according to the radius size of the spherical calibrator and the second measurement coordinate system.

6. The machine tool probe calibration method according to claim 5, characterized in that: Generating the second calibration point according to the radius size of the spherical calibrator and the second measurement coordinate system includes: Obtaining an initial position of a calibration point according to the radius of the spherical calibrator and the second measurement coordinate system; Taking the origin of the second measurement coordinate system as the rotation center, rotating the initial position of the calibration point until the normal vector in the current machine tool probe swing angle direction is reached, thereby obtaining the target position of the calibration point; The second calibration point is generated according to the target position of the calibration point.

7. The machine tool probe calibration method according to claim 1, characterized in that: The performing on-machine measurement on the first calibration point and the second calibration point respectively to obtain a first measurement result and a second measurement result includes: The second calibration point is measured on the machine while maintaining the same swing angle as that when the spherical standard is used to calibrate the swing angle error, to obtain a second measurement result.

8. A machine tool probe calibration device, characterized in that: include: A generating module, the generating module being configured to generate a first calibration point set and a second calibration point set respectively; wherein the first calibration point set and the second calibration point set respectively include a plurality of first calibration points and a plurality of second calibration points; a measurement module, configured to perform on-machine measurement on the first calibration point and the second calibration point, respectively, to obtain a first measurement result and a second measurement result; a first obtaining module, configured to obtain a basic eccentricity error and a touch direction error compensation amount according to the first calibration point and the first measurement result; a fitting module, configured to perform spherical fitting on the second measurement result to obtain a measurement swing angle eccentricity error; The second obtaining module is used to obtain a measurement swing angle error compensation amount according to the measurement swing angle eccentricity error and the touch direction error compensation amount.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is loaded and executed by a processor, the machine tool probe calibration method according to any one of claims 1 to 7 is implemented.

10. An electronic device, characterized in that: comprising a processor and a memory, wherein: The memory is used to store computer programs; The processor is configured to load and execute the computer program so as to enable the electronic device to perform the machine tool probe calibration method according to any one of claims 1 to 7.

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