Compensation method and related device for spatial error of five-axis machine tool

Abstract

The present application discloses a method and related device for compensating spatial errors of a five-axis machine tool, the method comprising: obtaining machining error data of the machine tool; constructing a spatial error model, and obtaining the initial error compensation amount of each linear axis based on the machining error data; constructing an error matrix based on the machining error data; constructing a rotation matrix based on the machine tool structure; obtaining the angle compensation amount of each rotary axis based on the rotation matrix and the error matrix; obtaining the error compensation amount correction value of each linear axis based on the angle compensation amount of each rotary axis; obtaining the error compensation amount of each linear axis based on the initial error compensation amount and the error compensation amount correction value of each linear axis. The present application calculates the angle compensation amount of the rotary axis according to the angle errors of the three linear axes, and then calculates the error compensation amount correction value of the linear axis caused by the compensating motion of the rotary axis, superimposes it on the error compensation amount of the linear axis, compensates the angle error of the linear axis through the motion of the rotary axis, and improves the machining accuracy of the five-axis machine tool.

Description

Technical Field

[0001] The present application belongs to the technical field of machine tool error compensation, and specifically relates to a method and related device for compensating spatial errors of a five-axis machine tool. Background Art

[0002] Compared with traditional three-axis machine tools, five-axis CNC machine tools have two additional rotation axes, which can efficiently process parts with complex geometric features. They are now increasingly widely used in the manufacturing industry. During the machine tool processing, the processing errors caused by various factors have a significant impact on product quality. Therefore, it is particularly important to develop and implement effective error compensation methods.

[0003] Compared with traditional pitch error compensation, spatial error compensation not only compensates for the positioning error of each point in the workspace, but also compensates for two straightness errors and three angle errors, which can greatly improve the machining accuracy of the machine tool. However, when the spatial error compensation method of the prior art compensates for the angle error of five-axis machine tools, it only considers the linear error of each linear axis caused by the angle error, and does not compensate for the angle error itself, which affects the machining accuracy of the machine tool. Summary of the invention

[0004] The purpose of the present application is to provide a method and related device for compensating spatial errors of a dual-turntable five-axis machine tool, so as to solve the technical problem that the spatial error compensation method in the prior art only considers the linear errors of each linear axis caused by the angular error, does not compensate for the angular error itself, and affects the machining accuracy of the machine tool.

[0005] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a method for compensating spatial errors of a five-axis machine tool, comprising:

[0006] Acquire machining error data of the machine tool, wherein the machining error data includes linear errors and angular errors of each linear axis caused by movement in each linear axis direction;

[0007] Constructing a spatial error model, and calculating the initial error compensation amount of each linear axis based on the machining error data;

[0008] Based on the processing error data, construct an error matrix;

[0009] Based on the machine tool structure, construct the rotation matrix;

[0010] Based on the rotation matrix and the error matrix, an angle compensation amount of each rotation axis is calculated;

[0011] Based on the angle compensation amount of each rotation axis, the error compensation amount correction value of each linear axis is calculated;

[0012] Based on the initial error compensation amount and the error compensation amount correction value of each linear axis, the error compensation amount of each linear axis is obtained.

[0013] In one or more embodiments, the five-axis machine tool is an FXYZ machine tool, and the spatial error model is as follows:

[0014] ;

[0015] ;

[0016] ;

[0017] In the formula, E x 、E y and E z They are the initial error compensation values ​​for the X-axis, Y-axis, and Z-axis, respectively. x, y, and z are the programmed values. E ab Represents the linear error of the b-axis caused by the motion of the a-axis, R ab represents the angle error of the b-axis caused by the motion of the a-axis, S ab Represents the perpendicularity error of the ab plane, where a and b are independently selected from one of X, Y, and Z.

[0018] In one or more embodiments, the step of constructing an error matrix based on the processing error data is specifically as follows:

[0019] Based on the angular errors of each linear axis caused by the movement of the target linear axis, an angular error matrix of the target linear axis is constructed;

[0020] The angular error matrices of each linear axis are multiplied to obtain an error matrix.

[0021] In one or more embodiments, the angle error matrix of the target linear axis is as follows:

[0022] ;

[0023] The error matrix is ​​as follows:

[0024] ;

[0025] Where a is the target linear axis, and a is selected from one of the X, Y, and Z axes, R ax , R ay , R az They represent the angular errors of the X-axis, Y-axis, and Z-axis caused by the motion of the target axis a.

[0026] In one or more embodiments, the step of constructing the rotation matrix is ​​specifically:

[0027] Constructing a target rotation matrix of a target rotation axis, wherein the target rotation matrix is ​​related to a rotation angle of the target rotation axis;

[0028] The target rotation matrix of each rotation axis is multiplied to obtain a rotation matrix.

[0029] In one or more embodiments, the five-axis machine tool includes rotation axes A and C, and the rotation matrix is ​​as follows:

[0030] ;

[0031] In the formula, is the target rotation matrix of the rotation axis A, which is associated with the rotation angle ΔA of the rotation axis A; is the target rotation matrix of the rotation axis C, which is associated with the rotation angle ΔC of the rotation axis C.

[0032] In one or more embodiments, the step of calculating the angle compensation amount of each rotation axis based on the rotation matrix and the error matrix is ​​specifically:

[0033] Let the corresponding bits of the rotation matrix and the error matrix be equal, construct a first equation related to the rotation angle of the first rotation axis, and a second equation related to the rotation angle of the first rotation axis and the rotation angle of the second rotation axis;

[0034] Solving the first equation to obtain an angle compensation amount of the first rotation axis;

[0035] The sum of the rotation angle programming value of the first rotation axis and the angle compensation amount of the first rotation axis is substituted into the second equation as the rotation angle of the first rotation axis to obtain the angle compensation amount of the second rotation axis.

[0036] In one or more embodiments, the step of calculating the error compensation correction value of each linear axis based on the angle compensation of each rotation axis is specifically as follows:

[0037] The mechanical coordinate difference before and after angle compensation of each rotary axis is calculated based on the RTCP algorithm to obtain the error compensation correction value of each linear axis.

[0038] In order to achieve the above-mentioned purpose, the second aspect of the present application provides a five-axis machine tool spatial error compensation device, comprising:

[0039] An acquisition module, used for acquiring machining error data of the machine tool, wherein the machining error data includes linear errors and angular errors of each linear axis caused by movement in the direction of each linear axis;

[0040] An initial linear compensation module is used to construct a spatial error model and calculate the initial error compensation amount of each linear axis based on the machining error data;

[0041] A first construction module is used to construct an error matrix based on the processing error data;

[0042] The second building block is used to build a rotation matrix;

[0043] An angle compensation module, used to calculate the angle compensation amount of each rotation axis based on the rotation matrix and the error matrix;

[0044] A correction module, used for calculating the error compensation correction value of each linear axis based on the angle compensation amount of each rotation axis;

[0045] The linear compensation module is used to obtain the error compensation amount of each linear axis based on the initial error compensation amount and the error compensation amount correction value of each linear axis.

[0046] In order to achieve the above-mentioned object, the third aspect of the present application provides an electronic device, including:

[0047] at least one processor; and

[0048] A memory storing instructions, which, when executed by the at least one processor, enables the at least one processor to perform the compensation method as described in any of the above embodiments.

[0049] In order to achieve the above-mentioned purpose, the fourth aspect of the present application provides a machine-readable storage medium, which stores executable instructions, and when the instructions are executed, the machine executes the compensation method described in any of the above-mentioned embodiments.

[0050] Different from the prior art, the beneficial effects of this application are:

[0051] The present application calculates the angle compensation of the rotary axis based on the angle errors of the three linear axes, and then calculates the error compensation correction value of the linear axis caused by the compensating motion of the rotary axis, and superimposes it on the error compensation of the linear axis. The angle error of the linear axis is compensated by the motion of the rotary axis, thereby improving the machining accuracy of the five-axis machine tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0053] Figure 1 It is a flow chart of an implementation method of a method for compensating spatial errors of a dual-turntable five-axis machine tool of the present application;

[0054] Figure 2 yes Figure 1 A schematic diagram of a flow chart of an implementation method corresponding to S400;

[0055] Figure 3 yes Figure 1 A schematic flow chart of an implementation method corresponding to S500;

[0056] Figure 4 It is a structural schematic diagram of an implementation method of a five-axis machine tool spatial error compensation device of the present application;

[0057] Figure 5 It is a schematic structural diagram of an embodiment of an electronic device of the present application. DETAILED DESCRIPTION

[0058] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present application.

[0059] The dual-turret five-axis machine tool includes three linear axes and two rotary axes. During the machining process, linear errors of the linear axes and angular errors of the rotary axes will inevitably occur. Therefore, real-time error compensation during the machining process is very important to improve machining accuracy.

[0060] At present, the compensation of angular error by spatial error compensation only considers the linear error caused by the angular error, and does not compensate the angular error itself. That is, the current spatial error compensation realizes the compensation of angle in the form of linear error. This method affects the angular accuracy of each rotating axis and is not conducive to improving the machining accuracy of the five-axis machine tool.

[0061] In order to solve the above problems, the applicant has developed a new method for compensating spatial errors, which can compensate for the angle error itself and correct the linear error based on the compensated angle, thereby effectively improving the processing accuracy.

[0062] Specifically, see Figure 1 , Figure 1 It is a flow chart of an implementation method of a method for compensating spatial errors of a dual-turntable five-axis machine tool of the present application.

[0063] like Figure 1 As shown, the compensation method includes:

[0064] S100, obtaining machining error data of a machine tool.

[0065] The processing error data includes the linear error and angular error of each linear axis caused by the movement in the direction of each linear axis.

[0066] Specifically, the processing error data can be obtained by detecting with a laser tracker, such as Renishaw XM80, and can be detected with reference to the machine tool test specification ISO 230-1.

[0067] In a five-axis machine tool, the motion of each linear axis corresponds to 6 errors, namely three linear errors and three angular errors, and the three linear axes have a total of 18 errors. For example, the errors caused by the motion of the X axis are: E xx 、E xy 、E xz , R xx , R xy , R xz , where E xx 、E xy 、E xz are the linear errors of the X-axis, Y-axis and Z-axis caused by the movement of the X-axis, R xx , R xy , R xz They are the angular errors of the X-axis, Y-axis, and Z-axis caused by the movement of the X-axis.

[0068] S200, constructing a spatial error model, and calculating the initial error compensation amount of each linear axis based on the processing error data.

[0069] The spatial error model is a well-known model in the art, and is used to describe the functional relationship between the error of each linear axis and the above 18 errors.

[0070] It can be understood that after the error of each linear axis is calculated by the spatial error model, the error can be used as the initial error compensation amount of the linear axis.

[0071] The spatial error model is associated with the machine tool type. Common five-axis machine tool models include FXYZ, XFYZ, XYFZ, and XYZF, where F is the fixed end and the arrangement position of XYZ is used to describe its relative distance position from the fixed end. The following introduces the formula of the corresponding spatial error model, taking the five-axis machine tool as the FXYZ type machine tool.

[0072] When the five-axis machine tool is an FXYZ machine tool, the spatial error model is as follows:

[0073] ;

[0074] ;

[0075] ;

[0076] In the formula, E x 、E y and E z are the initial error compensation values ​​of the X-axis, Y-axis, and Z-axis respectively, and x, y, and z are the programmed values, i.e., the tool head coordinates controlled by the machining program; E ab Represents the linear error of the b-axis caused by the motion of the a-axis, R ab represents the angle error of the b-axis caused by the motion of the a-axis, S ab Represents the perpendicularity error of the ab plane, where a and b are independently selected from one of X, Y, and Z.

[0077] Among them, the verticality error of each plane can be calculated based on the angle error of each linear axis; the specific model construction process can be as follows:

[0078] Based on the angular error of each linear axis, the perpendicularity error of each plane is calculated;

[0079] Based on the programmed coordinates, the linear errors of each linear axis caused by the X-axis motion, the perpendicularity errors of the XZ plane and the XY plane, the X-axis and Y-axis angle errors caused by the Y-axis motion, and the X-axis angle error caused by the Z-axis motion, the initial error compensation of the X-axis is calculated;

[0080] Based on the programmed coordinates, the linear errors of each linear axis caused by the Y-axis motion, the perpendicularity error of the YZ plane, and the angular errors of the X-axis and Y-axis caused by the X-axis motion, the initial error compensation of the Y-axis is calculated;

[0081] Based on the programmed coordinates, the linear errors of each linear axis caused by the Z-axis motion, and the angular error of the X-axis caused by the X-axis motion, the initial error compensation amount of the Z-axis is calculated.

[0082] It should be understood that the initial error compensation amount of each linear axis calculated in S200 is the error compensation amount before angle compensation, which does not take into account the subsequent possible angle compensation of the rotation axis. Therefore, after the angle compensation amount of the rotation axis is calculated subsequently, the initial error compensation amount needs to be corrected.

[0083] S300: construct an error matrix based on the processing error data.

[0084] The error matrix is ​​calculated by multiplying the angle error matrices of each linear axis, which is used to describe the overall angle error.

[0085] The angular error matrix of each linear axis is used to describe the product of the angular errors of each linear axis caused by the movement of the linear axis.

[0086] Specifically, the angle error matrix calculation formula of the target linear axis a is as follows:

[0087] ;

[0088] In the formula, a is selected from one of the X, Y, and Z axes, R ax , R ay , R az They represent the angular errors of the X-axis, Y-axis, and Z-axis caused by the motion of the target axis a.

[0089] Furthermore, the calculation formula of the error matrix is ​​as follows:

[0090] .

[0091] Due to R ax , R ay , R az are small quantities, so we can perform approximate calculations, , , , , , .

[0092] Through the above simplification, the calculation formula of the error matrix is ​​as follows:

[0093] (1)

[0094] S400, construct a rotation matrix based on the machine tool structure.

[0095] After the error matrix is ​​calculated in S300 , the rotation angle of the rotation axis may be further calculated to compensate for the angle error.

[0096] By constructing a rotation matrix to describe the functional relationship between the angle error and the rotation angle of the rotation axis, the angle compensation amount of the rotation axis can be calculated based on the known error matrix.

[0097] Specifically, see Figure 2 , Figure 2 yes Figure 1 A flow chart of an implementation method corresponding to S400 in FIG.

[0098] like Figure 2 As shown, the steps to construct a rotation matrix include:

[0099] S401, constructing a target rotation matrix of a target rotation axis, where the target rotation matrix is ​​related to a rotation angle of the target rotation axis.

[0100] S402, multiplying the target rotation matrix of each rotation axis to obtain a rotation matrix.

[0101] Take the AC dual-turret five-axis machine tool as an example. The machine tool includes rotation axes A and C. The rotation matrix can be as follows:

[0102] ;

[0103] In the formula, is the target rotation matrix of the rotation axis A, which is associated with the rotation angle ΔA of the rotation axis A; is the target rotation matrix of the rotation axis C, which is associated with the rotation angle ΔC of the rotation axis C. The rotation matrix is ​​obtained by multiplying the target rotation matrices of the two rotation axes.

[0104] Since ΔA and ΔC are both small quantities, we can perform approximate calculations, , , , , simplify the above formula to get:

[0105] (2)

[0106] It should be noted that the method of the present application is not limited to AC dual-turntable five-axis machine tools. When the five-axis machine tool is of other types, for example, when the five-axis machine tool includes rotation axes A and B, the construction of the rotation matrix can also be implemented based on the above method, and the effect of this embodiment can be achieved.

[0107] S500: Calculate the angle compensation of each rotation axis based on the rotation matrix and the error matrix.

[0108] The error matrix and the rotation matrix are calculated in S300 and S400 respectively, wherein the error matrix is ​​a known matrix calculated based on the processing error data, and the rotation matrix is ​​a matrix associated with the rotation angle of the rotation axis. In order to make the angle compensation of the rotation axis compensate for the error matrix, the rotation matrix and the error matrix can be made equal to construct an equation, thereby calculating the corresponding rotation angle of the rotation axis as the angle compensation of the rotation axis.

[0109] Specifically, see Figure 3 , Figure 3 yes Figure 1 A flow chart of an implementation method corresponding to S500 in FIG.

[0110] like Figure 3 As shown, the calculation method of the angle compensation amount of the rotating axis includes:

[0111] S501, making the corresponding bits of the rotation matrix and the error matrix equal, and constructing the first equation and the second equation.

[0112] The first equation is related to the rotation angle of the first rotation axis, and the second equation is related to the rotation angle of the first rotation axis and the rotation angle of the second rotation axis.

[0113] It can be understood that when the rotation matrix and the error matrix are made equal, their corresponding bits are also equal, so the first equation and the second equation can be obtained.

[0114] It should be noted that because there is a correlation between the compensation amounts of the two rotation axes, when constructing equations for corresponding position selection, two equations respectively associated only with the rotation angle of the first rotation axis and the rotation angle of the second rotation axis cannot be selected simultaneously.

[0115] S502: Solve the first equation to obtain an angle compensation amount of the first rotation axis.

[0116] S503 , substituting the sum of the rotation angle programming value of the first rotation axis and the angle compensation amount of the first rotation axis as the rotation angle of the first rotation axis into the second equation, and solving to obtain the angle compensation amount of the second rotation axis.

[0117] Since the angle compensation of the second rotation axis is based on the first rotation axis compensation, the second equation needs to use the sum of the rotation angle programming value of the first rotation axis and the angle compensation amount as the rotation angle of the first rotation axis, so as to calculate the corresponding angle compensation amount of the second rotation axis after the rotation angle compensation of the first rotation axis, wherein the rotation angle programming value of the first rotation axis is the real-time rotation angle of the first rotation axis in the machining program.

[0118] The following takes the AC dual-rotary table five-axis machine tools of S300 and S400 as examples to explain the calculation process in detail. Please refer to formula (1) of the error matrix in S300 and formula (2) of the rotation matrix in S400.

[0119] Let the third row and second column of formula (1) and formula (2) be equal, and the first equation is as follows:

[0120] ;

[0121] Due to R xx , R yx , R zx It is known that ΔA1 is calculated as the angle compensation of the rotation axis A;

[0122] Let the third row and first column of formula (1) and formula (2) be equal, and the second equation is as follows:

[0123] ;

[0124] Let ΔA=ΔA1+A in the second equation, where A is the programmed angle value of the rotation axis A, and we get:

[0125] ;

[0126] ΔC1 is calculated as the angle compensation amount of the rotation axis C.

[0127] S600 , based on the angle compensation amount of each rotation axis, calculate and obtain the error compensation amount correction value of each linear axis.

[0128] Since the initial error compensation amount of each linear axis calculated in the above S200 does not take into account the subsequent rotation axis angle compensation, it is necessary to correct the initial error compensation amount based on the rotation axis angle compensation.

[0129] Specifically, in one embodiment, the method for calculating the error compensation correction value of each linear axis may include:

[0130] The mechanical coordinate difference before and after angle compensation of each rotary axis is calculated based on the RTCP algorithm to obtain the error compensation correction value of each linear axis.

[0131] Among them, the RTCP algorithm is a technology used in five-axis linkage CNC machining. It is used to describe the relationship between the tool head coordinates and the rotation angle of the rotation axis. Therefore, by substituting the angle compensation of each rotation axis calculated by S500 into the RTCP algorithm, the change in the tool head coordinates, that is, the mechanical coordinate difference, can be obtained.

[0132] The machine coordinate difference is used as the error compensation correction value of each linear axis, and the error compensation amount of each linear axis can be corrected.

[0133] For example, the calculation process of the RTCP algorithm is introduced below using an AC dual-turret five-axis machine tool as an example:

[0134] The calculation formula of the RTCP algorithm is as follows:

[0135] (3)

[0136] In the formula, (x m1 ,y m1 , z m1 ) is the position vector of the origin of the A-axis coordinate system in the machine tool coordinate system, (x0, y0, z0) is the position vector of the origin of the workpiece coordinate system Ow in the machine tool coordinate system, x, y, z are the programmed values, that is, the coordinate values ​​controlled by the machining program; A, C are the rotation angles of the rotation axes A, C.

[0137] It can be understood that before the angle compensation of the rotating axes A and C, the rotation angles of the rotating axes A and C are programmed values, that is, they are controlled by the machining program and can be recorded as A1 and C1; after the angle compensation, the rotation angles of the rotating axes A and C are (A1-ΔA1) and (C1-ΔC1) respectively.

[0138] Substituting A1 and C1 into the above formula (3), the mechanical coordinates before compensation (X1, Y1, Z1) can be obtained; substituting (A1-ΔA1) and (C1-ΔC1) into the above formula (3), the mechanical coordinates after compensation (X2, Y2, Z2) can be obtained.

[0139] Thus, the additional compensation amount of the linear axis caused by the compensating motion of the rotary axis can be calculated, that is, the error compensation correction value of each linear axis is:

[0140] ; ; .

[0141] S700 , obtaining the error compensation amount of each linear axis based on the initial error compensation amount and the error compensation amount correction value of each linear axis.

[0142] The error compensation amount of each linear axis obtained in S200 is added to the initial error compensation amount of each linear axis obtained in S600 to obtain the error compensation amount of each linear axis, that is:

[0143] .

[0144] Based on the above embodiments, the angle compensation amount of the rotation axis can be calculated according to the angle errors of the three linear axes, and then the error compensation correction value of the linear axis caused by the compensating motion of the rotation axis can be calculated, and the correction value is superimposed on the error compensation amount of the linear axis. The angle error of the linear axis can be compensated by the motion of the rotation axis, thereby improving the machining accuracy of the five-axis machine tool.

[0145] This application also provides a five-axis machine tool space error compensation device, see Figure 4 , Figure 4 It is a structural schematic diagram of an implementation method of a compensation device for spatial errors of a five-axis machine tool of the present application.

[0146] like Figure 4 As shown, the compensation device includes an acquisition module 21, an initial straight line compensation module 22, a first construction module 23, a second construction module 24, an angle compensation module 25, a correction module 26, and a straight line compensation module 27.

[0147] The acquisition module 21 is used to acquire the machining error data of the machine tool, and the machining error data includes the linear error and angular error of each linear axis caused by the movement in each linear axis direction;

[0148] The initial linear compensation module 22 is used to construct a spatial error model and calculate the initial error compensation amount of each linear axis based on the processing error data;

[0149] The first construction module 23 is used to construct an error matrix based on the processing error data;

[0150] The second construction module 24 is used to construct a rotation matrix;

[0151] The angle compensation module 25 is used to calculate the angle compensation amount of each rotation axis based on the rotation matrix and the error matrix;

[0152] The correction module 26 is used to calculate the error compensation correction value of each linear axis based on the angle compensation of each rotation axis;

[0153] The linear compensation module 27 is used to obtain the error compensation amount of each linear axis based on the initial error compensation amount and the error compensation amount correction value of each linear axis.

[0154] As above Figures 1 to 3 , a method for compensating the spatial error of a five-axis machine tool according to an embodiment of this specification is described. The details mentioned in the above description of the method embodiment are also applicable to the compensation device for the spatial error of a five-axis machine tool in the embodiment of this specification. The above compensation device for the spatial error of a five-axis machine tool can be implemented by hardware, or by software, or by a combination of hardware and software.

[0155] This application also provides an electronic device, see Figure 5 , Figure 5 Schematic diagram of the structure of an electronic device of the present application. Figure 5 As shown, the electronic device 30 may include at least one processor 31, a memory 32 (e.g., a non-volatile memory), a memory 33, and a communication interface 34, and the at least one processor 31, the memory 32, the memory 33, and the communication interface 34 are connected together via a bus 35. At least one processor 31 executes at least one computer-readable instruction stored or encoded in the memory 32.

[0156] It should be understood that the computer executable instructions stored in the memory 32, when executed, cause at least one processor 31 to perform the above combined operations in various embodiments of the present specification. Figure 1-Figure 3 Describes the various operations and functions.

[0157] In the embodiments of the present specification, the electronic device 30 may include, but is not limited to, personal computers, server computers, workstations, desktop computers, laptop computers, notebook computers, mobile electronic devices, smart phones, tablet computers, cellular phones, personal digital assistants (PDAs), handheld devices, messaging devices, wearable electronic devices, consumer electronic devices, and the like.

[0158] According to one embodiment, a program product such as a machine-readable medium is provided. The machine-readable medium may have instructions (i.e., the above-mentioned elements implemented in the form of software), which, when executed by a machine, causes the machine to perform the above-mentioned combination of various embodiments of this specification. Figure 1-Figure 3 Specifically, a system or device equipped with a readable storage medium may be provided, on which a software program code implementing the functions of any of the above-mentioned embodiments is stored, and a computer or processor of the system or device reads and executes the instructions stored in the readable storage medium.

[0159] In this case, the program code itself read from the machine-readable medium can realize the function of any one of the above embodiments, and thus the machine-readable code and the machine-readable storage medium storing the machine-readable code constitute part of this specification.

[0160] Examples of readable storage media include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD-RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, the program code may be downloaded from a server computer or a cloud via a communication network.

[0161] Those skilled in the art should understand that the various embodiments disclosed above can be modified and altered in various ways without departing from the essence of the invention. Therefore, the protection scope of this specification should be defined by the appended claims.

[0162] It should be noted that not all steps and units in the above-mentioned processes and system structure diagrams are necessary, and some steps or units can be ignored according to actual needs. The execution order of each step is not fixed and can be determined as needed. The device structure described in the above-mentioned embodiments can be a physical structure or a logical structure, that is, some units may be implemented by the same physical client, or some units may be implemented by multiple physical clients, or some components in multiple independent devices may be implemented together.

[0163] In the above embodiments, the hardware unit or module can be realized by mechanical or electrical means. For example, a hardware unit, module or processor can include permanent dedicated circuit or logic (such as special processor, FPGA or ASIC) to complete the corresponding operation. The hardware unit or processor can also include programmable logic or circuit (such as general-purpose processor or other programmable processor), which can be temporarily set by software to complete the corresponding operation. Specific implementation (mechanical method or dedicated permanent circuit or temporary circuit) can be determined based on cost and time consideration.

[0164] The specific embodiments described above in conjunction with the accompanying drawings describe exemplary embodiments, but do not represent all embodiments that can be implemented or fall within the scope of protection of the claims. The term "exemplary" used throughout this specification means "used as an example, instance or illustration" and does not mean "preferred" or "having advantages" over other embodiments. For the purpose of providing an understanding of the described technology, the specific embodiments include specific details. However, these technologies can be implemented without these specific details. In some instances, in order to avoid making the concepts of the described embodiments difficult to understand, well-known structures and devices are shown in block diagram form.

[0165] The above description of the present disclosure is provided to enable any person of ordinary skill in the art to implement or use the present disclosure. Various modifications to the present disclosure will be apparent to those of ordinary skill in the art, and the general principles corresponding to the present disclosure may be applied to other variations without departing from the scope of protection of the present disclosure. Therefore, the present disclosure is not limited to the examples and designs described herein, but is consistent with the widest range of principles and novel features disclosed herein.

Claims

1. A method for compensating spatial errors of a five-axis machine tool, characterized in that: include: Acquire machining error data of the machine tool, wherein the machining error data includes linear errors and angular errors of each linear axis caused by movement in each linear axis direction; Constructing a spatial error model, and calculating the initial error compensation amount of each linear axis based on the machining error data; Based on the processing error data, construct an error matrix; Based on the machine tool structure, construct the rotation matrix; Based on the rotation matrix and the error matrix, an angle compensation amount of each rotation axis is calculated; Based on the angle compensation amount of each rotation axis, the error compensation amount correction value of each linear axis is calculated; Based on the initial error compensation amount and the error compensation amount correction value of each linear axis, the error compensation amount of each linear axis is obtained; The step of constructing an error matrix based on the processing error data is specifically as follows: Based on the angular errors of each linear axis caused by the movement of the target linear axis, an angular error matrix of the target linear axis is constructed; Multiply the angle error matrices of each linear axis to obtain an error matrix; The angle error matrix of the target linear axis is as follows: ； The error matrix is ​​as follows: ； Where a is the target linear axis, and a is selected from one of the X, Y, and Z axes, R ax , R ay , R az They represent the angular errors of the X-axis, Y-axis, and Z-axis caused by the motion of the target axis a; The steps of constructing the rotation matrix are specifically as follows: Constructing a target rotation matrix of a target rotation axis, wherein the target rotation matrix is ​​related to a rotation angle of the target rotation axis; Multiply the target rotation matrix of each rotation axis to obtain a rotation matrix; The five-axis machine tool includes rotation axes A and C, and the rotation matrix is ​​as follows: ； In the formula, is the target rotation matrix of the rotation axis A, which is associated with the rotation angle ΔA of the rotation axis A; The target rotation matrix of the rotation axis C is associated with the rotation angle ΔC of the rotation axis C.

2. The compensation method according to claim 1, characterized in that: The five-axis machine tool is a FXYZ machine tool, and the spatial error model is as follows: ； ； ； In the formula, E x 、E y and E z They are the initial error compensation values ​​for the X-axis, Y-axis, and Z-axis, respectively. x, y, and z are the programmed values. E ab Represents the linear error of the b-axis caused by the motion of the a-axis, R ab represents the angle error of the b-axis caused by the motion of the a-axis, S ab Represents the perpendicularity error of the ab plane, where a and b are independently selected from one of X, Y, and Z.

3. The compensation method according to claim 1, characterized in that: The step of calculating the angle compensation amount of each rotation axis based on the rotation matrix and the error matrix is ​​specifically as follows: Let the corresponding bits of the rotation matrix and the error matrix be equal, construct a first equation related to the rotation angle of the first rotation axis, and a second equation related to the rotation angle of the first rotation axis and the rotation angle of the second rotation axis; Solving the first equation to obtain an angle compensation amount of the first rotation axis; The sum of the rotation angle programming value of the first rotation axis and the angle compensation amount of the first rotation axis is substituted into the second equation as the rotation angle of the first rotation axis to obtain the angle compensation amount of the second rotation axis.

4. The compensation method according to claim 1, characterized in that: The step of calculating the error compensation correction value of each linear axis based on the angle compensation of each rotation axis is specifically as follows: The mechanical coordinate difference before and after angle compensation of each rotary axis is calculated based on the RTCP algorithm to obtain the error compensation correction value of each linear axis.

5. A five-axis machine tool spatial error compensation device, characterized in that: include: An acquisition module, used for acquiring machining error data of the machine tool, wherein the machining error data includes linear errors and angular errors of each linear axis caused by movement in the direction of each linear axis; An initial linear compensation module is used to construct a spatial error model and calculate the initial error compensation amount of each linear axis based on the machining error data; A first construction module is used to construct an error matrix based on the processing error data; The second building block is used to build a rotation matrix; An angle compensation module, used to calculate the angle compensation amount of each rotation axis based on the rotation matrix and the error matrix; A correction module, used for calculating the error compensation correction value of each linear axis based on the angle compensation amount of each rotation axis; A linear compensation module, used to obtain the error compensation amount of each linear axis based on the initial error compensation amount and the error compensation amount correction value of each linear axis; The step of constructing an error matrix based on the processing error data is specifically as follows: Based on the angular errors of each linear axis caused by the movement of the target linear axis, an angular error matrix of the target linear axis is constructed; Multiply the angle error matrices of each linear axis to obtain an error matrix; The angle error matrix of the target linear axis is as follows: ； The error matrix is ​​as follows: ； Where a is the target linear axis, and a is selected from one of the X, Y, and Z axes, R ax , R ay , R az They represent the angular errors of the X-axis, Y-axis, and Z-axis caused by the motion of the target axis a; The steps of constructing the rotation matrix are specifically as follows: Constructing a target rotation matrix of a target rotation axis, wherein the target rotation matrix is ​​related to a rotation angle of the target rotation axis; Multiply the target rotation matrix of each rotation axis to obtain a rotation matrix; The five-axis machine tool includes rotation axes A and C, and the rotation matrix is ​​as follows: ； In the formula, is the target rotation matrix of the rotation axis A, which is associated with the rotation angle ΔA of the rotation axis A; is the target rotation matrix of the rotation axis C, which is associated with the rotation angle ΔC of the rotation axis C.

6. An electronic device, comprising: at least one processor; as well as A memory storing instructions, which, when executed by the at least one processor, causes the at least one processor to perform the compensation method according to any one of claims 1 to 4.

7. A machine-readable storage medium storing executable instructions, wherein when the instructions are executed, the machine executes the compensation method according to any one of claims 1 to 4.

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