Geometric error parameterization rapid modeling method for multi-configuration five-axis machine tool

Abstract

The invention discloses a geometric error parameterization rapid modeling method for a multi-configuration five-axis machine tool. The method comprises the following steps: constructing a general transfer vector table with parameters of a five-axis machine tool of a target type; the parameter set of the five-axis machine tool is input into a general transfer vector table, the general transfer vector table generates transfer vectors of all geometric error items of the five-axis machine tool, and therefore a geometric error model is constructed; and inputting the geometric error item and the five-axis coordinate into the model, and outputting the position deviation and the attitude deviation of the cutter by the model so as to compensate the geometric error of the cutter of the five-axis machine tool. According to the method, the constructed transfer vector table can be reused, and the constructed geometric error model can be suitable for most of conventional configuration machine tools; according to the method, parameterized rapid modeling of geometric errors of the five-axis machine tool can be realized, experience requirements of research and operators can be reduced, and convenience is provided for precision design and error compensation research of various conventional five-axis machine tools and transverse comparison research between various machine tool configurations and layouts.

Description

Technical Field

[0001] The invention relates to a geometric error modeling method and to the field of machine tool processing precision design, in particular to a geometric error parameterized rapid modeling method for multi-configuration five-axis machine tools. Background Art

[0002] Five-axis machine tools have unique advantages in the field of complex surface processing and manufacturing, and are widely used in aviation, aerospace, shipbuilding, automobiles, national defense and military industries. The processing accuracy of five-axis machine tools directly reflects the advanced manufacturing technology level of a country. Geometric error is one of the main factors affecting the processing accuracy of machine tools. It has the characteristics of high systematicity, good repeatability and long-term stability. Therefore, compensating for the geometric error of machine tools and reasonably designing the geometric accuracy have become feasible methods to improve the overall processing accuracy of machine tools.

[0003] Both of the above methods for reducing the impact of geometric errors need to rely on a correct geometric error model, that is, the functional relationship between the geometric errors and positioning deviations of the five-axis machine tool. The existing modeling method is cumbersome and error-prone, has low robustness, and requires a large amount of calculation, which puts a lot of pressure on the subsequent mathematical analysis of the model, such as sensitivity analysis. In addition, the existing methods are difficult to cope with changes in the machine tool configuration. During the design phase of the machine tool, when the machine tool structure, layout, and kinematic chain are reconstructed, or during the error measurement phase, when the measuring instruments and schemes change, the model needs to be rebuilt from scratch, which causes inconvenience to the research. Summary of the invention

[0004] In order to solve the problems existing in the background technology, the present invention provides a geometric error parameterized rapid modeling method for multi-configuration five-axis machine tools. The method of the present invention solves the problems of the existing method that the modeling process is cumbersome and error-prone, the robustness is not high, the amount of calculation is huge, and it is difficult to cope with the change of machine tool configuration.

[0005] The technical solution adopted by the present invention is:

[0006] The geometric error parameterization rapid modeling method for a multi-configuration five-axis machine tool of the present invention comprises:

[0007] 1) According to the machine tool topology parameters of the target type of five-axis machine tool, the linear approximation assumption is used to obtain the transfer vectors of various geometric error terms of the five-axis machine tool, so as to construct a general transfer vector table with parameters for the target type of five-axis machine tool; the types of five-axis machine tools include double turntable, double swing head, hybrid type, etc.

[0008] 2) According to the configuration of the target type of five-axis machine tool, the parameter set of the five-axis machine tool is obtained, and the parameter set includes three parameters: motion chain code, offset vector between local coordinate systems, and verticality error reference information; the parameter set is input into the universal transfer vector table, and the universal transfer vector table generates transfer vectors of various geometric error terms of the five-axis machine tool, so as to construct the geometric error model of the five-axis machine tool using the linear combination method, and realize the parametric rapid modeling of the geometric error of the five-axis machine tool.

[0009] In the step 1), the general transfer vector table is constructed based on the local transfer vector, transfer matrix, motion axis conditional displacement, cumulative displacement between coordinate systems and the limitation of the motion axis to which the error belongs, as well as the constraint of the workpiece end motion axis of the five-axis machine tool based on the target type.

[0010] Linear approximation is used to simplify the traditional matrix multiplication geometric error model based on homogeneous coordinate transformation into a transfer vector model expressed by a linear combination of 41 transfer vectors. Based on the general rules in the geometric error modeling process of five-axis machine tools, the definitions of local transfer vectors, transfer matrices, conditional displacements of motion axes, cumulative displacements between coordinate systems, and motion axes to which errors belong, as well as two special constraints on the motion axes at the workpiece end, are proposed. Using the proposed definitions and rules, for a specific type of five-axis machine tool, the transfer vectors of 41 geometric error terms are directly solved using machine tool parameters under the assumption of linear approximation, forming a universal transfer vector table containing parameters.

[0011] The local transfer vector LV is specifically as follows:

[0012] The i-th geometric error term E of the five-axis machine tool for the target type i In one of the local coordinate systems of the five-axis machine tool, the reference point of the tool tip position of the five-axis machine tool has a displacement of Δl, Δl = E i LVP, where LVP represents the four-dimensional preset position deviation local transfer vector. At this time, the four-row and two-column vector composed of the four-dimensional preset position deviation local transfer vector LVP and the four-dimensional preset posture deviation local transfer vector LVV is the i-th geometric error term E of the target type of five-axis machine tool i Local transfer vector LV in the current local coordinate system, LV = [LVP LVV].

[0013] In a single geometric error E i Under the action of , in the local coordinate system AxisCS of the motion axis Axis (Axis∈[X,Y,Z,A,B,C,M]), the reference point of the tool tip position produces a small displacement E i LVP, the tool vector has a small offset E iLVV, then the vector LV consisting of four rows and two columns consisting of vectors LVP and LVV is the geometric error E i The local transfer vector LV in the local coordinate system AxisCS Axis (E i ), LV Axis (E i )=[LVP Axis (E i )LVV Axis (E i )], where LV Axis (E i ) is the geometric error E i Local transfer vector, LVP, in the local coordinate system AxisCS Axis (E i ) is the geometric error E i Local transfer vector of position deviation in local coordinate system AxisCS, LVV Axis (E i ) is the geometric error E i Local transfer vector of the attitude deviation in the local coordinate system AxisCS.

[0014] The transfer matrix M is as follows:

[0015] The local transfer vector LV in the current local coordinate system is multiplied on the left by a homogeneous transformation matrix to obtain the transfer vector J in the workpiece coordinate system. The homogeneous transformation matrix is ​​the transfer matrix M of the local transfer vector LV in the current local coordinate system. At this time, the current local coordinate system is converted to the workpiece coordinate system.

[0016] The relationship between the transfer matrix and the local transfer vector is as follows:

[0017] J i =M i ·LV i

[0018] Among them, J i 、M i and LV i represent the transfer vector, transfer matrix and local transfer vector of the i-th geometric error respectively.

[0019]

[0020] Among them, R(A), R(B) and R(C) represent the rotation matrices under the nominal angular displacement A of the machine tool A axis, the nominal angular displacement B of the B axis and the nominal angular displacement C of the C axis, respectively; M(C) represents the transfer matrix under the nominal angular displacement C of the machine tool C axis; M(AC) represents the transfer matrix under the nominal angular displacement A of the machine tool A axis and the nominal angular displacement C of the C axis; and M(BC) represents the transfer matrix under the nominal angular displacement B of the machine tool B axis and the nominal angular displacement C of the C axis.

[0021] Take the double-rotary table five-axis machine tool as an example, the details are as follows:

[0022]

[0023] Among them, M(Axis) represents the transfer matrix of the motion axis Axis, R(Axis) represents the rotation matrix of the motion axis Axis, Axis1 and Axis2 represent the first and second motion axes respectively, M(Axis1Axis2) represents the transfer matrix of the first and second motion axes, R(Axis1) and R(Axis2) represent the rotation matrices of the first and second motion axes respectively.

[0024] The motion axis condition displacement is as follows:

[0025] The three linear axes and two rotary axes of the target type of five-axis machine tool are taken as motion axes. For two of the motion axes, the motion axis closer to the tool end is taken as the high-order body, and the motion axis closer to the workpiece end is taken as the low-order body. The conditional displacement of the motion axis is the nominal displacement of one of the motion axes obtained when the high-order body condition is met. The nominal displacement of the motion axis is the displacement of the motion axis from the initial position to the current position. The selected motion axis has an impact on the form of the transfer vector.

[0026] The cumulative displacement between the coordinate systems is as follows:

[0027] In an initial state where the nominal displacements of all motion axes of the target type of five-axis machine tool are zero, the cumulative displacement vector between the start and end coordinate systems of the target type of five-axis machine tool is used as the cumulative displacement between coordinate systems.

[0028] The accumulated displacement vector between the local coordinate system Axis1CS of the first motion axis Axis1 of the machine tool and the local coordinate system Axis2CS of the second motion axis Axis2 The details are as follows:

[0029]

[0030] in, and They respectively represent the displacement in the X, Y and Z directions between the local coordinate system Axis1CS of the first motion axis Axis1 of the machine tool and the local coordinate system Axis2CS of the second motion axis Axis2.

[0031] The motion axes to which the errors belong are as follows:

[0032] For the verticality error of two of the moving axes of the target type of five-axis machine tool, when the verticality error takes one of the moving axes as a reference, the other moving axis is used as the moving axis to which the verticality error belongs.

[0033] The general transfer vector table with parameters specifies the local transfer vectors and transfer matrices of 41 geometric errors of a specific type of five-axis machine tool, so the transfer vector of the geometric error can be obtained. Under the linear approximation assumption, the transfer vectors of the 41 geometric error terms are directly solved using machine tool parameters. For a specific type of five-axis machine tool, it only needs to be solved once, and the obtained transfer vector table can be reused.

[0034] In the motion axis conditional displacement, the motion axis conditional displacement is divided into a high-order conditional displacement and a low-order conditional displacement. When the high-order body condition is met, the high-order conditional displacement and the low-order conditional displacement are obtained as the nominal displacement, which are as follows:

[0035]

[0036] in, It represents the high-order conditional displacement of the first motion axis Axis1 relative to the second motion axis Axis2. is the nominal displacement of the first motion axis Axis1, Axis1∈[X,Y,Z,A,B,C]; Indicates the low-order conditional displacement of the first motion axis Axis1 relative to the second motion axis Axis2.

[0037] The constraints of the workpiece end motion axis of the target type-based five-axis machine tool are as follows:

[0038] For each linear axis of the target type of five-axis machine tool, when the linear axis is located at the end of the workpiece, the linear axis nominal displacement of the linear axis is reversed; when the motion axis to which the error belongs is located at the end of the workpiece, the transfer vector is reversed.

[0039] In the step 2), the geometric error model of the five-axis machine tool is as follows:

[0040]

[0041] Where E represents the geometric error model of the five-axis machine tool. E is a vector with 4 rows and 2 columns, which represents the comprehensive deviation of the five-axis machine tool including position deviation and posture deviation. irepresents the i-th geometric error term of the five-axis machine tool; and They represent the i-th geometric error term E of the five-axis machine tool. i The projection coefficients of the position deviation in the X, Y and Z directions; and They represent the i-th geometric error term E of the five-axis machine tool. i The projection coefficient of the posture deviation in the X, Y and Z directions; JP i and JV i They represent the i-th geometric error term E of the five-axis machine tool. i Position deviation transfer vector and attitude deviation transfer vector; J i Represents the i-th geometric error term E of the five-axis machine tool i The transfer vector.

[0042] According to the i-th geometric error term E of the five-axis machine tool i Position deviation transfer vector JP i Obtain the position deviation of the tool according to the i-th geometric error term E of the five-axis machine tool i The attitude deviation of the tool is obtained by transferring the attitude deviation vector. The position deviation and attitude deviation caused by each geometric error term acting alone can be directly obtained. The comprehensive deviation requires adding up the deviations caused by each of the 41 geometric error terms.

[0043] The electronic device of the present invention comprises: a memory and a processor coupled to each other, wherein the memory stores program data, and the processor calls the program data to execute the method as described above.

[0044] The computer-readable storage medium of the present invention stores program data thereon, and when the program data is executed by a processor, the method described above is implemented.

[0045] The present invention first proposes the definition of local transfer vectors, transfer matrices, conditional displacements of motion axes, cumulative displacements between coordinate systems, and motion axes to which errors belong, as well as two special constraints for the motion axes at the workpiece end. Then, according to the proposed definitions and constraints, a general mathematical formula with parameters for the responses of various geometric error terms is summarized to form a transfer vector table. When modeling is required, it is only necessary to extract parameters from the machine tool topology and fill in the transfer vector table to directly generate a geometric error model. Since the transfer vector table can be reused, this method of modeling can be applied to most conventional configuration machine tools. The present invention can realize parametric rapid modeling of geometric errors of five-axis machine tools, can reduce the experience requirements of researchers and operators, and provide convenience for the precision design of various conventional five-axis machine tools, error compensation research, and horizontal comparative research between various machine tool configurations and layouts.

[0046] The beneficial effects of the present invention are:

[0047] 1) The transfer vector table constructed by the present invention can be reused, and the constructed geometric error model can be applicable to most conventional configuration machine tools; 2) The method of the present invention solves the problems of distortion, poor robustness, cumbersomeness and easy errors that may occur in modeling with traditional methods, has the characteristics of parameterization and universality, and is applicable to most conventional five-axis machine tools; 3) The present invention can realize parametric rapid modeling of geometric errors of five-axis machine tools, and can respond quickly to changes in machine tool configuration. It only needs to input the parameter set of the machine tool into the transfer vector table to quickly rebuild the geometric error model of the machine tool, which is convenient for computer programming and has a simple and fast operation process; 4) The present invention can reduce the research in the field of geometric accuracy of five-axis machine tools and the experience requirements of operators, and provide convenience for the accuracy design and error compensation research of various conventional five-axis machine tools, as well as the horizontal comparative research between various machine tool configurations and layouts. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 is a flow chart of a specific embodiment of the method of the present invention;

[0049] Figure 2 The geometric error term δ xx and ε zx The following is a schematic diagram of the local transfer vector solution method for linear axis PDGEs (position-dependent geometric errors), where: Figure 2 (a) is the geometric error term δ xx The following is a schematic diagram of the solution method for the local transfer vector of PDGEs in a linear axis. Figure 2 (b) is the geometric error term ε zx A schematic diagram illustrating the solution method of the local transfer vector of PDGEs of a linear axis as an example;

[0050] Figure 3 The geometric error term S xy A schematic diagram illustrating a method for solving the local transfer vector of verticality error is given as an example;

[0051] Figure 4 A schematic diagram of using the position deviation local transfer vector to solve the attitude deviation local transfer vector;

[0052] Figure 5 The schematic diagram of the dual-rotary table five-axis machine tool structure in the rapid reconstruction modeling case 1;

[0053] Figure 6 This is a schematic diagram of the method of establishing the local coordinate system in the rapid reconstruction modeling case 1, where: Figure 6 (a) is a schematic diagram of the method of establishing the local coordinate system of the X axis in the rapid reconstruction modeling case 1. Figure 6 (b) is a schematic diagram of the establishment of the Y-axis local coordinate system in the rapid reconstruction modeling case 1. Figure 6 (c) is a schematic diagram of the method of establishing the Z-axis local coordinate system in the rapid reconstruction modeling case 1. Figure 6 (d) is a schematic diagram of the establishment method of the B-axis and C-axis local coordinate systems in the rapid reconstruction modeling case 1;

[0054] Figure 7 Schematic diagram of the selection of the verticality error benchmark of the rotation axis in the rapid reconstruction modeling case 1, where: Figure 7 (a) is a schematic diagram of the selection of the B-axis verticality error benchmark in the rapid reconstruction modeling case 1. Figure 7 (b) is a schematic diagram of selecting the C-axis verticality error benchmark in the rapid reconstruction modeling case 1;

[0055] Figure 8 Scatter plot of modeling verification for rapid reconstruction modeling case 1;

[0056] Fig. 9 The schematic diagram of the dual-rotary table five-axis machine tool structure in the rapid reconstruction modeling case 2;

[0057] Fig.10 This is a schematic diagram of the establishment of the local coordinate system in the rapid reconstruction modeling case 2, where: Fig.10 (a) is a schematic diagram of the establishment of the X-axis local coordinate system in the rapid reconstruction modeling case 2. Fig.10 (b) is a schematic diagram of the establishment of the Y-axis local coordinate system in the rapid reconstruction modeling case 2. Fig.10 (c) is a schematic diagram of the method of establishing the Z-axis local coordinate system in the fast reconstruction modeling case 2. Fig.10 (d) is a schematic diagram of the establishment method of the A-axis and C-axis local coordinate systems in the rapid reconstruction modeling case 2;

[0058] Fig.11 Scatter plot of modeling validation for rapid reconstruction modeling case 2. DETAILED DESCRIPTION

[0059] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0060] The geometric error parameterization rapid modeling method for a multi-configuration five-axis machine tool of the present invention comprises:

[0061] 1) According to the machine tool topology parameters of the target type of five-axis machine tool, the linear approximation assumption is used to obtain the transfer vectors of various geometric error terms of the five-axis machine tool, so as to construct a general transfer vector table with parameters for the target type of five-axis machine tool; the types of five-axis machine tools include double turntable, double swing head, hybrid type, etc.

[0062] The universal transfer vector table is constructed based on the local transfer vector, transfer matrix, motion axis conditional displacement, cumulative displacement between coordinate systems, and the limitation of the motion axis to which the error belongs, as well as the constraint of the workpiece end motion axis of the five-axis machine tool based on the target type.

[0063] Linear approximation is used to simplify the traditional matrix multiplication geometric error model based on homogeneous coordinate transformation into a transfer vector model expressed by a linear combination of 41 transfer vectors. Based on the general rules in the geometric error modeling process of five-axis machine tools, the definitions of local transfer vectors, transfer matrices, conditional displacements of motion axes, cumulative displacements between coordinate systems, and motion axes to which errors belong, as well as two special constraints on the motion axes at the workpiece end, are proposed. Using the proposed definitions and rules, for a specific type of five-axis machine tool, the transfer vectors of 41 geometric error terms are directly solved using machine tool parameters under the assumption of linear approximation, forming a universal transfer vector table containing parameters.

[0064] The local transfer vector LV is as follows:

[0065] The i-th geometric error term E of the five-axis machine tool for the target type i In one of the local coordinate systems of the five-axis machine tool, the reference point of the tool tip position of the five-axis machine tool has a displacement of Δl, Δl = E i LVP, where LVP represents the four-dimensional preset position deviation local transfer vector. At this time, the four-row and two-column vector composed of the four-dimensional preset position deviation local transfer vector LVP and the four-dimensional preset posture deviation local transfer vector LVV is the i-th geometric error term E of the target type of five-axis machine tool i Local transfer vector LV in the current local coordinate system, LV = [LVP LVV].

[0066] In a single geometric error E i Under the action of , in the local coordinate system AxisCS of the motion axis Axis (Axis∈[X,Y,Z,A,B,C,M]), the reference point of the tool tip position produces a small displacement E i LVP, the tool vector has a small offset E i LVV, then the vector LV consisting of four rows and two columns consisting of vectors LVP and LVV is the geometric error E i The local transfer vector LV in the local coordinate system AxisCS Axis (E i ), LV Axis (E i )=[LVP Axis (E i )LVV Axis (E i )], where LV Axis(E i ) is the geometric error E i Local transfer vector, LVP, in the local coordinate system AxisCS Axis (E i ) is the geometric error E i Local transfer vector of position deviation in local coordinate system AxisCS, LVV Axis (E i ) is the geometric error E i Local transfer vector of the attitude deviation in the local coordinate system AxisCS.

[0067] The transfer matrix M is as follows:

[0068] The local transfer vector LV in the current local coordinate system is multiplied on the left by a homogeneous transformation matrix to obtain the transfer vector J in the workpiece coordinate system. The homogeneous transformation matrix is ​​the transfer matrix M of the local transfer vector LV in the current local coordinate system. At this time, the current local coordinate system is converted to the workpiece coordinate system.

[0069] The relationship between the transfer matrix and the local transfer vector is as follows:

[0070] J i =M i ·LV i

[0071] Among them, J i 、M i and LV i represent the transfer vector, transfer matrix and local transfer vector of the i-th geometric error respectively.

[0072]

[0073] Among them, R(A), R(B) and R(C) represent the rotation matrices under the nominal angular displacement A of the machine tool A axis, the nominal angular displacement B of the B axis and the nominal angular displacement C of the C axis, respectively; M(C) represents the transfer matrix under the nominal angular displacement C of the machine tool C axis; M(AC) represents the transfer matrix under the nominal angular displacement A of the machine tool A axis and the nominal angular displacement C of the C axis; and M(BC) represents the transfer matrix under the nominal angular displacement B of the machine tool B axis and the nominal angular displacement C of the C axis.

[0074] Take the double-rotary table five-axis machine tool as an example, the details are as follows:

[0075]

[0076] Among them, M(Axis) represents the transfer matrix of the motion axis Axis, R(Axis) represents the rotation matrix of the motion axis Axis, Axis1 and Axis2 represent the first and second motion axes respectively, M(Axis1Axis2) represents the transfer matrix of the first and second motion axes, R(Axis1) and R(Axis2) represent the rotation matrices of the first and second motion axes respectively.

[0077] The specific displacement of the motion axis conditions are as follows:

[0078] The three linear axes and two rotary axes of the target type of five-axis machine tool are taken as motion axes. For two of the motion axes, the motion axis closer to the tool end is taken as the high-order body, and the motion axis closer to the workpiece end is taken as the low-order body. The conditional displacement of the motion axis is the nominal displacement of one of the motion axes obtained when the high-order body condition is met. The nominal displacement of the motion axis is the displacement of the motion axis from the initial position to the current position. The selected motion axis has an impact on the form of the transfer vector.

[0079] The cumulative displacement between the coordinate systems is as follows:

[0080] In an initial state where the nominal displacements of all motion axes of the target type of five-axis machine tool are zero, the cumulative displacement vector between the start and end coordinate systems of the target type of five-axis machine tool is used as the cumulative displacement between coordinate systems.

[0081] The accumulated displacement vector between the local coordinate system Axis1CS of the first motion axis Axis1 of the machine tool and the local coordinate system Axis2CS of the second motion axis Axis2 The details are as follows:

[0082]

[0083] in, and They respectively represent the displacement in the X, Y and Z directions between the local coordinate system Axis1CS of the first motion axis Axis1 of the machine tool and the local coordinate system Axis2CS of the second motion axis Axis2.

[0084] The motion axes to which the errors belong are as follows:

[0085] For the verticality error of two of the moving axes of the target type of five-axis machine tool, when the verticality error takes one of the moving axes as a reference, the other moving axis is used as the moving axis to which the verticality error belongs.

[0086] The general transfer vector table with parameters specifies the local transfer vectors and transfer matrices of 41 geometric errors of a specific type of five-axis machine tool, so the transfer vector of the geometric error can be obtained. Under the linear approximation assumption, the transfer vectors of the 41 geometric error terms are directly solved using machine tool parameters. For a specific type of five-axis machine tool, it only needs to be solved once, and the obtained transfer vector table can be reused.

[0087] In the motion axis condition displacement, the motion axis condition displacement is divided into high-order condition displacement and low-order condition displacement. When the high-order body condition is met, the high-order condition displacement and the low-order condition displacement are obtained as the nominal displacement, as follows:

[0088]

[0089] in, It represents the high-order conditional displacement of the first motion axis Axis1 relative to the second motion axis Axis2. is the nominal displacement of the first motion axis Axis1, Axis1∈[X,Y,Z,A,B,C]; Indicates the low-order conditional displacement of the first motion axis Axis1 relative to the second motion axis Axis2. The high-low order comparison is performed through the motion chain code.

[0090] The constraints of the workpiece end motion axis of the five-axis machine tool based on the target type are as follows:

[0091] For each linear axis of the target type of five-axis machine tool, when the linear axis is located at the end of the workpiece, the linear axis nominal displacement of the linear axis is reversed; when the motion axis to which the error belongs is located at the end of the workpiece, the transfer vector is reversed.

[0092] The geometric error model of the five-axis machine tool is as follows:

[0093]

[0094] Where E represents the geometric error model of the five-axis machine tool. E is a vector with 4 rows and 2 columns, which represents the comprehensive deviation of the five-axis machine tool including position deviation and posture deviation. i represents the i-th geometric error term of the five-axis machine tool; and They represent the i-th geometric error term E of the five-axis machine tool. i The projection coefficients of the position deviation in the X, Y and Z directions; and They represent the i-th geometric error term E of the five-axis machine tool. i The projection coefficient of the posture deviation in the X, Y and Z directions; JP i and JV i They represent the i-th geometric error term E of the five-axis machine tool.i Position deviation transfer vector and attitude deviation transfer vector; J i Represents the i-th geometric error term E of the five-axis machine tool i The transfer vector.

[0095] According to the i-th geometric error term E of the five-axis machine tool i Position deviation transfer vector JP i Obtain the position deviation of the tool according to the i-th geometric error term E of the five-axis machine tool i The attitude deviation of the tool is obtained by transferring the attitude deviation vector. The position deviation and attitude deviation caused by each geometric error term acting alone can be directly obtained. The comprehensive deviation requires adding up the deviations caused by each of the 41 geometric error terms.

[0096] 2) According to the configuration of the target type of five-axis machine tool, the parameter set of the five-axis machine tool is obtained, and the parameter set includes three parameters: motion chain code, offset vector between local coordinate systems, and verticality error reference information; the parameter set is input into the universal transfer vector table, and the universal transfer vector table generates transfer vectors of various geometric error terms of the five-axis machine tool, so as to construct the geometric error model of the five-axis machine tool using the linear combination method, and realize the parametric rapid modeling of the geometric error of the five-axis machine tool.

[0097] 3) The various geometric error terms and five-axis coordinates of the target type of five-axis machine tool are input into the geometric error model. The geometric error model outputs the position deviation and posture deviation of the tool of the five-axis machine tool. Finally, the tool tip can be returned to the desired position according to the geometric error to achieve geometric error compensation.

[0098] The present invention uses two cases of rapid reconstruction modeling of geometric errors of dual-turntable five-axis machine tools to more completely and clearly describe the specific implementation methods of the present invention.

[0099] like Figure 1 As shown, the specific embodiments of the present invention are as follows:

[0100] 1) Based on the five-axis machine tool to be modeled, first perform layout analysis to determine the type of the five-axis machine tool to be modeled. Here, a double-rotary machine tool is taken as an example, and then the parameter set of the double-rotary machine tool is obtained.

[0101] 2) Based on the general laws in the geometric error modeling process of five-axis machine tools, the local transfer vector, transfer matrix, conditional displacement of the motion axis, the cumulative displacement between coordinate systems and the limitation of the motion axis to which the error belongs, as well as two special constraints for the motion axis at the workpiece end are proposed.

[0102] 3) According to the proposed limitations and constraints, for the specified dual-rotary table five-axis machine tool layout, the transfer vectors of 41 geometric error terms are directly solved using the machine tool topology parameters under the linear approximation assumption to form a general transfer vector table with parameters. First, the local transfer vectors LV of the 41 geometric error terms are solved. i (i=1,2,…,41), and then transfer the vector LV to each local i Define the transfer matrix M i , and finally establish the transfer vector table.

[0103] When solving the transfer vector directly, the transfer vector to be solved can be divided into four categories: the transfer vector of the PDGEs of the linear axis, the transfer vector of the geometric error of the rotary axis other than the verticality error, the transfer vector of the verticality error, and the transfer vector of the attitude deviation, and the corresponding method can be used to quickly solve them. The specific steps are to solve the local transfer vector of the geometric error and define the transfer matrix for it, and then record the local transfer vector and the transfer matrix in a table to construct a transfer vector table. Take one of the geometric error terms ε of the dual-turntable five-axis machine tool as an example. xx For example, the specific construction method of the transfer vector table is:

[0104] Table 1. Example of transfer vector table

[0105]

[0106] Among them, ε xx Indicates the roll angle error around the X-axis, and Respectively represent the conditional displacement between the Z axis and the Y axis and the X axis, and They represent the cumulative displacements from the X-axis local coordinate system XCS to the tool local coordinate system TCS in the Z and Y directions, respectively, and L represents the tool length.

[0107] The geometric error term ε is given in Table 1 xx The local transfer vector and transfer matrix of the position deviation and attitude deviation can be used to obtain the transfer vector.

[0108] The parameter set includes three parameters: motion chain code, offset vector between local coordinate systems, and verticality error reference information. Taking a BC double-rotary table five-axis machine tool as an example, the details are as follows:

[0109] Table 2 Example of machine tool parameter set

[0110]

[0111] Among them, in the motion chain code, W refers to the workpiece, C refers to the C-axis, B refers to the B-axis, M refers to the bed, X refers to the X-axis, Y refers to the Y-axis, Z refers to the Z-axis, and T refers to the tool; v1, v2, v3, v4, v5, v6 and v7 are the offset vectors between the local coordinate systems W→C, C→B, B→M, M→X, X→Y, Y→Z and Z→T respectively; Y0 and Z0 are the X-axis and Z-axis reference positions of the linear axis reference position respectively.

[0112] Under the linear approximation assumption, the local transfer vectors of all geometric errors are solved by classification, and the transfer matrix of all geometric errors is specified as follows:

[0113] a) Linear axis PDGEs:

[0114] There are 18 geometric errors in this category, including δ xx ,δ yx ,δ zx ,δ xy ,δ yy ,δ zy ,δ xz ,δ yz ,δ zz , ε xx , ε yx , ε zx , ε xy , ε yy , ε zy , ε xz , ε yz and ε zz PDGEs refers to position-dependent geometric errors. In its expression, δ represents the straightness error, ε represents the angular error, the first superscript represents the direction of the straightness error or the rotation axis of the angular error, and the second superscript represents the axis where the error is located. For example, δ yx Indicates the straightness error of the X-axis in the Y direction, ε yx Represents the angular error of the X-axis rotating around the Y-axis. When their local transfer vectors are calculated in the machine tool local coordinate system MCS, their transfer matrices are M(AC) or M(BC). Among the 9 straightness errors, the local transfer vectors of the errors in the X-direction, Y-direction, and Z-direction are [1 0 0 0] T , [0 1 0 0] T , [0 0 1 0] T ,like Figure 2 As shown in (a), the geometric error between the ideal tool tip point and the actual tool tip point is expressed as δ xx For example, its local transfer vector is [1 0 0 0] T, the transfer matrix is ​​M(AC) or M(BC). In the process of solving the local transfer vector of the 9 angular errors, it is only necessary to know the coordinates of the tool tip in the local coordinate system XCS of the X axis, the local coordinate system YCS of the Y axis, and the local coordinate system ZCS of the Z axis. The local transfer vector of the angle error term can be obtained. In the figure, XCS i and XCS r are the ideal local coordinate system and the actual local coordinate system of the X axis, i and Y r are the ideal local coordinate system of the X-axis and the actual local coordinate system of the y-axis, i and X r are the x-axis of the ideal local coordinate system and the actual local coordinate system respectively.

[0115] Coordinates in the X-axis local coordinate system XCS The details are as follows:

[0116]

[0117] Where Δx, Δy, and Δz represent the translation of the local coordinate system in the x, y, and z directions, respectively; They represent the conditional displacement between the X-axis and the bed, the Y-axis and the X-axis, and the Z-axis and the X-axis respectively; They represent the cumulative displacement between the coordinate systems from the X-axis local coordinate system XCS to the tool local coordinate system TCS in the X, Y, and Z directions respectively.

[0118] Coordinates in the Y-axis local coordinate system YCS The details are as follows:

[0119]

[0120] in, They represent the conditional displacement between the X-axis and the Y-axis, the Y-axis and the bed, and the Z-axis and the X-axis respectively; They represent the cumulative displacement between the coordinate systems from the Y-axis local coordinate system YCS to the tool local coordinate system TCS in the X, Y, and Z directions respectively.

[0121] Coordinates in the Z-axis local coordinate system ZCS The details are as follows:

[0122]

[0123]

[0124] in, They represent the conditional displacement between the X-axis and the Z-axis, the Y-axis and the Z-axis, and the Z-axis and the bed respectively; They represent the cumulative displacement between the coordinate systems from the Z-axis local coordinate system ZCS to the tool local coordinate system TCS in the X, Y, and Z directions respectively.

[0125] like Figure 2 As shown in (b), ε zx For example, the transfer matrix is ​​M(AC) or M(BC), and the local transfer vector is as follows:

[0126] b) Geometric errors of the rotating axis other than perpendicularity error:

[0127] This category includes 12 PDGEs for two rotary axes and 4 PIGEs other than the verticality error. Among them, the 12 PDGEs, taking the AC type double rotary table machine tool as an example, include δ xa ,δ ya ,δ za ,δ xc ,δ yc ,δ zc , ε xa , ε ya , ε za , ε xc , ε yc , ε zc , its definition is consistent with that of the linear axis PDGEs, and its local transfer vector calculation method is similar to that of the linear axis PDGEs, but it is necessary to perform matrix transformation on its basis to obtain the tool tip reference point coordinates in the local coordinate system of the rotary axis. Taking the AC type double rotary table machine tool as an example, the local coordinate system of the A axis is assumed to be ACS0 in the initial state.

[0128] Coordinates of the A-axis local coordinate system ACS The details are as follows:

[0129]

[0130] in, is the coordinate of the A-axis in the local coordinate system ACS, In the initial state, the local coordinate system of the A axis is the coordinate in ACS0; and They represent the accumulated displacements between the A-axis local coordinate system ACS and the tool local coordinate system TCS in the X, Y, and Z directions respectively.

[0131] Depend on The local transfer vector of A-axis PDGEs in ACS can be obtained, and the transfer matrix is ​​M(C).

[0132] Coordinates of the C-axis local coordinate system CCS The details are as follows:

[0133]

[0134] in, is the coordinate in the C-axis local coordinate system CCS, and They are the accumulated displacements between the coordinate systems from the C-axis local coordinate system CCS to the A-axis local coordinate system ACS in the X, Y, and Z directions respectively.

[0135] Depend on The local transfer vector of C-axis PDGEs in CCS can be obtained, and the transfer matrix is ​​the unit matrix E 4×4 .

[0136] The four PIGEs other than verticality error include o ay , o az , o cx , o cy , which are the deviations of the A-axis in the Y and Z directions and the deviations of the C-axis in the X and Y directions respectively.

[0137] Geometric error term o ay and az The local transfer vector of the position deviation is as follows:

[0138]

[0139] Among them, LVP M (o ay ) and LVP M (o az ) represent the geometric error terms o ay and az The local transfer vector of the position deviation; their transfer matrices are both M(AC).

[0140] Geometric error term o cx and O cy The local transfer vector of the position deviation is as follows:

[0141]

[0142] Among them, LVP A (o cx ) and LVP A (o cy ) represent the geometric error terms o cx and cy The local transfer vector of the position deviation; their transfer matrices are both M(C).

[0143] c) Verticality error:

[0144] There are 7 geometric errors in this category, taking AC machine tools as an example, including S xy, S yz , S xz , S at , S az , S cx , S cy The vertical error subscript indicates the two moving axes involved in the vertical error. When the angle between the two axes is greater than 90°, the vertical error is positive. The effect of the vertical error is equivalent to a translation and a rotation. Figure 3 As shown, the verticality error S xy Take the example to explain the method of calculating the local transfer vector of the verticality error. When the X axis is the reference axis, in the verticality error S xy Under the influence of, on the one hand, the Y axis has a translation in the X direction Δx = -S xy ·Δy=-S xy (Y-Y0), where Y represents the nominal displacement of the Y axis and Y0 represents the verticality error S xy The Y axis rotates in the Z direction with an angle of S. xy So the verticality error S xy The local transfer vector of the position deviation is as follows:

[0145] LVP M (S xy )=LVP M (ε zy )-(Y-Y0)LVP M (δ xy )

[0146] Among them, LVP M (S xy )、LVP M (ε zy ) and LVP M (δ xy ) represent the geometric error term S xy , ε zy and δ xy The local transfer vector of the position deviation.

[0147] like Figure 4 As shown in the figure, it is a schematic diagram of the change of tool position and posture caused by a certain geometric error. The posture deviation has a certain correlation with the position deviation. The local transfer vector of the position deviation can be used to cleverly and directly calculate the local transfer vector of the posture deviation. Among them, V i and V r Represent the ideal and actual tool vectors respectively, and LVV represents the local transfer vector of the posture deviation to be determined. The position deviation local transfer vector LVP of the geometric error is regarded as a function of the tool length L. Then, when the other parameters are known, the LVV of the geometric error in the same local coordinate system is as follows:

[0148] LVV=LVP| L＝-1 -LVP| L＝0

[0149] Among them, LVP| L＝-1 and LVP| L＝0 They are the local transfer vectors of position deviation when the tool length is -1 and 0. That is, if L in the geometric error LVP expression is -1 and all other parameters are 0, the LVV of the geometric error can be obtained.

[0150] These four types cover all 41 local transfer vectors and transfer matrices to be determined. The transfer vector table of the dual-rotary table five-axis machine tool can be determined using the above solution method, as follows:

[0151] Table 3 Transfer vector table of double rotary table five-axis machine tool

[0152]

[0153]

[0154]

[0155] Among them, X0, Y0, and Z0 represent the verticality error reference positions of the X-axis, Y-axis, and Z-axis respectively, and X0′, Y0′, and Z0′ represent the verticality error reference positions of the A-axis, B-axis, and C-axis respectively; and They represent the cumulative displacement from the Ax1 local coordinate system to the Ax2 local coordinate system in the X, Y, and Z directions, respectively.

[0156] 4) When modeling is required, extract the parameter set from the specific configuration of the target machine tool, including the three parameters of the kinematic chain code, the offset vector between the local coordinate systems, and the verticality error reference information, substitute the parameter set into the transfer vector table, and determine the transfer vector J i =M i ·LV i (i=1,2,…,41), and finally construct the geometric error model F.

[0157] The kinematic chain code involves substituting parameters into the transfer vector table, such as ε zc The substitution is AC type or BC type, and the values ​​of all conditional displacements. The conditional displacements need to compare the high and low order of the two letters in the kinematic chain code. The offset vector between local coordinate systems is used extensively in the transfer vector table. All such as Such quantities need to be obtained from it. The verticality error benchmark information involves substituting parameters into the transfer vector label, such as S xyThe substitution is whether the X axis is the reference axis or the Y axis is the reference axis.

[0158] 5) When the layout of the machine tool is updated, you can directly return to step 1) for rapid reconstruction; if not updated, end and perform subsequent analysis and compensation.

[0159] like Figure 5 As shown in the figure, it is a BC double rotary table five-axis machine tool, which is used as case 1 for rapid reconstruction modeling. It is assumed that the geometric error modeling is carried out for the purpose of error measurement and compensation. The kinematic chain code of this machine tool is WCBMXYZT, which is also the kinematic chain of the first parameter in the parameter set.

[0160] Assuming that the geometric error of the linear axis is measured by laser interferometer and the geometric error of the rotary axis is measured by ballbar, the local coordinate system of each axis established for the measurement mode is as follows: Figure 6 As shown. Figure 6 (a) Figure 6 (b) Figure 6 (c) and Figure 6 (d) shows the establishment methods of the five local coordinate systems fixedly connected to the X-axis, Y-axis, Z-axis, B-axis and C-axis respectively. The workpiece coordinate system WCS is established at the center of the C-axis turntable surface, and the tool coordinate system TCS is established at the root of the tool. At this time, the second parameter in the parameter set, the offset vector between local coordinate systems, is determined. The three linear axes of the machine tool in Case 1 are all distributed at the tool end, so the reference of the verticality error of the linear axis can be directly obtained from the motion chain code, that is, the X-axis is the first reference and the Y-axis is the second reference. When the machine tool is in the initial state, the Y-axis is located in the middle of the stroke and the Z-axis is located at the top of the stroke. Therefore, the verticality reference positions of the Y-axis and Z-axis are selected as Y=0 and Z=0.

[0161] As shown in (a) of FIG7 , considering the cradle structure of the rotating axis B, the rotating axis fulcrum close to the bed is selected as the verticality error reference of the B axis, and the reference position is Y=430. Figure 7 As shown in (b), the vertical error reference position of the C-axis is selected to be near the interface where it is installed on the B-axis cradle, rather than the origin of the local coordinate system CCS, which is Z = -200. At this time, the third parameter in the parameter set, the vertical error reference information, is determined.

[0162] All three types of parameters have been determined, and the parameter set of the machine tool can be determined, as shown in Table 4, and a complete hierarchical temporal memory HTM (Hierarchical Temporal Memory) model can be established.

[0163] Table 4BC double rotary table five-axis machine tool parameter set

[0164]

[0165] First, according to the information in Table 4, the traditional HTM method is used to model it and obtain the matrix multiplication model, which is as follows:

[0166]

[0167]

[0168] In the above formula, by setting all 41 geometric error terms to zero, we can get T ideal , then the matrix multiplication model obtained by the traditional HTM method is:

[0169]

[0170] Among them, T real and T ideal Respectively represent the actual transformation matrix and the ideal transformation matrix between the two local coordinate systems, ΔP x , ΔP y and ΔP z Respectively represent the position deviation of the tool in the x, y and z directions, ΔV x , ΔV y and ΔV z They represent the tool's posture deviation in the x, y and z directions respectively.

[0171] Then, the parameterized geometric error model E of this method is quickly generated according to the table rapid 10,000 sets of five-axis coordinate points and geometric error values ​​are randomly generated in a uniformly distributed manner within the five-axis travel range of the machine tool, and are substituted into the matrix multiplication model and the parameterized geometric error model E respectively. rapid , the statistical difference rate and model operation time, the difference rate Δ is as follows:

[0172]

[0173] Among them, t and t rapid They represent the model calculation time of the matrix multiplication model and the parameterized geometric error model respectively.

[0174] Finally, the statistical results are displayed in the form of a scatter plot, such as Figure 8 As shown. Figure 8 It can be seen that in most cases, E rapid The difference between E and rapid The premise of discarding the second-order and higher-order small terms is completely acceptable. At the same time, after discarding the second-order and higher-order small terms, E rapid The computation time of E is almost only 1 / 5 of that of E, indicating that E rapid The performance is much better than E.

[0175] Taking a Sobol sensitivity analysis with N value of 1024 for 720 sampling points in the workspace of a five-axis machine tool as an example, according to Saltelli's improved Sobol algorithm, 720×(41+2)×1024=31703040 model operations are required. In this case, E rapid This saves approximately 4.45 hours of time per Sobol analysis.

[0176] like Fig. 9 As shown in the figure, it is an AC dual-rotary table five-axis machine tool, which is used as Case 2 for rapid reconstruction modeling. Assume that the geometric error modeling is carried out for the purpose of forward design. The kinematic chain code of this machine tool is WCAYMXZT. For the purpose of forward design, the local coordinate system is established near the moving parts of each axis, such as Fig.10 shown.

[0177] like Fig.10 (a) Fig.10 (b) Fig.10 (c) and Fig.10 As shown in (d), there are five ways to establish local coordinate systems that are fixed to the X-axis, Y-axis, Z-axis, A-axis and C-axis. The workpiece coordinate system WCS is established at the center of the C-axis turntable surface, and the tool coordinate system TCS is established at the root of the tool.

[0178] For the verticality error of the linear axis, the Y axis is selected as the first reference and the X axis is selected as the second reference. When the machine tool is in the initial state, the X axis is located in the middle of the stroke and the Z axis is located at the top of the stroke. Therefore, the verticality reference positions of the X and Z axes are selected as X=0 and Z=0.

[0179] The structure of the rotating axis shown in Case 2 is exactly the same as that in Case 1, so the parameters related to the verticality error of the rotating axis can also be similarly calculated as follows: Figure 7 As shown, the A axis is X=-430 and the C axis is Z=-60.

[0180] At this point, the parameter set is determined, as shown in Table 5.

[0181] Table 5AC double rotary table five-axis machine tool parameter set

[0182]

[0183] First, according to the information in Table 5, the traditional HTM method is used to model it and obtain the matrix multiplication model, which is as follows:

[0184]

[0185]

[0186] In the above formula, by setting all 41 geometric error terms to zero, we can get T ideal , then the matrix multiplication model obtained by the traditional HTM method is:

[0187]

[0188] Then, the parameterized geometric error model E of this method is quickly generated according to Table 5 rapid . 10,000 sets of five-axis coordinate points and geometric error values ​​are randomly generated in the five-axis travel range of the machine tool in a uniformly distributed manner, and are substituted into the matrix multiplication model and the parameterized geometric error model respectively. The difference rate Δ and the model operation time are statistically analyzed, and the statistical results are displayed in the form of a scatter plot, as shown in Figure 2. Fig.11 shown.

[0189] from Fig.11 It can be seen that in most cases, E rapid The difference between E and rapid The premise of discarding the second-order and higher-order small terms is completely acceptable. At the same time, after discarding the second-order and higher-order small terms, E rapid The computation time of E is almost only 1 / 5 of that of E, indicating that E rapid The performance is much better than E.

[0190] Taking a Sobol sensitivity analysis with an N value of 1024 for 720 sampling points in the workspace of a five-axis machine tool as an example, according to Saltelli's improved Sobol algorithm, 720×(41+2)×1024=31703040 model operations are required. In this case, E rapid This saves approximately 4.64 hours of time for each Sobol analysis.

[0191] The above embodiments are only used to illustrate the design ideas and features of the present invention, and their purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. The protection scope of the present invention is not limited to the above embodiments. Therefore, any equivalent changes or modifications made based on the principles and design ideas disclosed by the present invention are within the protection scope of the present invention.

Claims

1. A geometric error parameterized rapid modeling method for multi-configuration five-axis machine tools, characterized in that: include: 1) According to the machine tool topology parameters of the target type of five-axis machine tool, the transfer vectors of each geometric error term of the five-axis machine tool are obtained using the linear approximation hypothesis, thereby constructing a general transfer vector table with parameters for the target type of five-axis machine tool; 2) According to the configuration of the target type of five-axis machine tool, a parameter set of the five-axis machine tool is obtained, wherein the parameter set includes three parameters: a kinematic chain code, an offset vector between local coordinate systems, and verticality error reference information; The parameter set is input into the universal transfer vector table, which generates the transfer vectors of various geometric error terms of the five-axis machine tool. The geometric error model of the five-axis machine tool is constructed using the linear combination method, thus realizing the rapid parametric modeling of the geometric error of the five-axis machine tool.

2. The method for rapid geometric error parameterization modeling of a multi-configuration five-axis machine tool according to claim 1, characterized in that: In the step 1), the general transfer vector table is constructed based on the local transfer vector, transfer matrix, motion axis conditional displacement, cumulative displacement between coordinate systems and the limitation of the motion axis to which the error belongs, as well as the constraint of the workpiece end motion axis of the five-axis machine tool based on the target type.

3. The geometric error parameterized rapid modeling method for a multi-configuration five-axis machine tool according to claim 2, characterized in that: The local transfer vector LV is specifically as follows: The i-th geometric error term E of the five-axis machine tool for the target type i In one of the local coordinate systems of the five-axis machine tool, the reference point of the tool tip position of the five-axis machine tool has a displacement of Δl, Δl = E i LVP, where LVP represents the four-dimensional preset position deviation local transfer vector. At this time, the four-row and two-column vector composed of the four-dimensional preset position deviation local transfer vector LVP and the four-dimensional preset posture deviation local transfer vector LVV is the i-th geometric error term E of the target type of five-axis machine tool i The local transfer vector LV in the current local coordinate system, LV = [LVP LVP]; The transfer matrix M is as follows: The local transfer vector LV in the current local coordinate system is multiplied by a homogeneous transformation matrix on the left to obtain the transfer vector J in the workpiece coordinate system. The homogeneous transformation matrix is ​​the transfer matrix M of the local transfer vector LV in the current local coordinate system. The motion axis condition displacement is as follows: The three linear axes and two rotary axes of the target type of five-axis machine tool are taken as motion axes. For two of the motion axes, the motion axis closer to the tool end is taken as the high-order body, and the motion axis closer to the workpiece end is taken as the low-order body. The motion axis conditional displacement is the nominal displacement of one of the motion axes obtained when the high-order body condition is met. The cumulative displacement between the coordinate systems is as follows: In an initial state where the nominal displacements of all motion axes of the target type of five-axis machine tool are zero, the cumulative displacement vector between the start and end coordinate systems of the target type of five-axis machine tool is used as the cumulative displacement between coordinate systems; The motion axes to which the errors belong are as follows: For the verticality error of two of the moving axes of the target type of five-axis machine tool, when the verticality error takes one of the moving axes as a reference, the other moving axis is used as the moving axis to which the verticality error belongs.

4. The method for rapid geometric error parameterization modeling of a multi-configuration five-axis machine tool according to claim 3 is characterized in that: In the motion axis conditional displacement, the motion axis conditional displacement is divided into a high-order conditional displacement and a low-order conditional displacement. When the high-order body condition is met, the high-order conditional displacement and the low-order conditional displacement are obtained as the nominal displacement, which are as follows: in, It represents the high-order conditional displacement of the first motion axis Axis1 relative to the second motion axis Axis2. is the nominal displacement of the first motion axis Axis1; Indicates the low-order conditional displacement of the first motion axis Axis1 relative to the second motion axis Axis2.

5. The method for rapid geometric error parameterization modeling of a multi-configuration five-axis machine tool according to claim 2, characterized in that: The constraints of the workpiece end motion axis of the target type-based five-axis machine tool are as follows: For each linear axis of the target type of five-axis machine tool, when the linear axis is located at the end of the workpiece, the linear axis nominal displacement of the linear axis is reversed; when the motion axis to which the error belongs is located at the end of the workpiece, the transfer vector is reversed.

6. The method for rapid geometric error parameterization modeling of a multi-configuration five-axis machine tool according to claim 2, characterized in that: In the step 2), the geometric error model of the five-axis machine tool is as follows: Where E represents the geometric error model of the five-axis machine tool; E i represents the i-th geometric error term of the five-axis machine tool; and They represent the i-th geometric error term E of the five-axis machine tool. i The projection coefficients of the position deviation in the X, Y and Z directions; and They represent the i-th geometric error term E of the five-axis machine tool. i The projection coefficient of the posture deviation in the X, Y and Z directions; JP i and JV i They represent the i-th geometric error term E of the five-axis machine tool. i Position deviation transfer vector and attitude deviation transfer vector; J i Represents the i-th geometric error term E of the five-axis machine tool i The transfer vector of According to the i-th geometric error term E of the five-axis machine tool i Position deviation transfer vector JP i Obtain the position deviation of the tool according to the i-th geometric error term E of the five-axis machine tool i The posture deviation of the tool is obtained by transferring the posture deviation vector.

7. An electronic device, characterized in that: include: A memory and a processor coupled to each other, wherein the memory stores program data, and the processor calls the program data to execute the method according to any one of claims 1 to 6.

8. A computer-readable storage medium having program data stored thereon, characterized in that: When the program data is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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