Non-linear error compensation device and compensation method for five-axis machine tool

Abstract

The invention discloses a nonlinear error compensation device and compensation method for a five-axis machine tool, in the device, an X-axis compensation assembly is fixed on a bottom fixing plate, a Y-axis compensation assembly is fixed on an X-axis sliding block of the X-axis compensation assembly, and the X-axis sliding block can drive the Y-axis compensation assembly to linearly move back and forth in the X-axis direction; the Z-axis compensation assembly is fixed to a Y-axis sliding block of the Y-axis compensation assembly, and the Y-axis sliding block can drive the Z-axis compensation assembly to linearly move back and forth in the Y-axis direction. The workbench is fixed to a Z-axis sliding block of the Z-axis compensation assembly, and the Z-axis sliding block can drive the workbench to linearly move back and forth in the Z-axis direction. According to the technical scheme, movement of the workbench in three directions is achieved, compensation of nonlinear errors is achieved, post-processing software and a built-in kinematics model do not need to be modified, calculation of nonlinear error compensation is simplified, the machining precision of the five-axis machine tool is improved, and production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of machine tool processing, and in particular to a nonlinear error compensation device of a five-axis machine tool and a nonlinear error compensation method of a five-axis machine tool. Background Art

[0002] Nonlinear error is a unique error of multi-axis linkage machine tools. Compared with three-axis machine tools, multi-axis machine tools have added a rotary axis, which causes the movement of the tool tip point to change from linear motion to the coupling of rotary motion and linear motion, which will cause the tool tip point trajectory to deviate from the programmed trajectory and produce nonlinear errors.

[0003] Normally, nonlinear errors require the RTCP function of the machine tool to compensate. However, for machines without the RTCP function, the current common method is more complicated when performing nonlinear error compensation: it is necessary to add the swing length of the machine tool's rotary axis and the tool length to the kinematic calculation module of the post-processing software in advance during post-processing, and set them as variables, and complete the kinematic calculation including the variables during the post-processing process. This processing method has the following disadvantages:

[0004] (1) Post-processing software needs to be developed secondary. For example, the post-processing module Post Builder of NX software needs to be edited and modified using the professional Tcl programming language, which is not only cumbersome but also difficult to operate.

[0005] (2) The kinematic model needs to be re-derived and recalculated. The machine tool's swing length and tool length need to be added as variables to the kinematic model, and accurate results need to be calculated, which is quite difficult. Summary of the invention

[0006] In view of the above problems, the present invention provides a nonlinear error compensation device and compensation method for a five-axis machine tool. By setting X-axis, Y-axis and Z-axis compensation components with three-directional translational freedom, the calculation of the error compensation displacement in the three directions only needs to be completed through trigonometric function formulas. For CNC machine tools that do not have the RTCP compensation function, the movement of the worktable in three directions is realized to achieve nonlinear error compensation. There is no need to modify the post-processing software and its built-in kinematic model, which simplifies the calculation of nonlinear error compensation, improves the machining accuracy of the five-axis machine tool, and improves production efficiency.

[0007] To achieve the above object, the present invention provides a nonlinear error compensation device for a five-axis machine tool, comprising: a bottom fixing plate, an X-axis compensation component, a Y-axis compensation component, a Z-axis compensation component and a workbench;

[0008] The X-axis compensation component is fixed on the bottom fixed plate, and the Y-axis compensation component is fixed on the X-axis slider of the X-axis compensation component, and the X-axis slider can drive the Y-axis compensation component to perform a linear reciprocating motion along the X-axis direction;

[0009] The Z-axis compensation component is fixed on the Y-axis slider of the Y-axis compensation component, and the Y-axis slider can drive the Z-axis compensation component to perform linear reciprocating motion along the Y-axis direction;

[0010] The workbench is fixed on the Z-axis slider of the Z-axis compensation assembly, and the Z-axis slider can drive the workbench to perform linear reciprocating motion along the Z-axis direction.

[0011] In the above technical solution, preferably, the nonlinear error compensation device of the five-axis machine tool also includes a control main board, the X-axis compensation component, the Y-axis compensation component and the Z-axis compensation component are respectively connected to the control main board, and the control main board is connected to the power distribution cabinet of the five-axis machine tool through a signal transmission line.

[0012] In the above technical solution, preferably, the X-axis compensation assembly includes an X-axis motor, an X-axis screw, an X-axis guide rail and the X-axis slider, the X-axis motor is fixed to the bottom fixed plate through an X-axis motor fixing bracket, the X-axis screw is fixed to the bottom fixed plate through an X-axis screw fixing bracket, the X-axis screw is connected to the X-axis motor, the X-axis motor can drive the X-axis screw to rotate, the X-axis slider is connected to the X-axis screw, and the X-axis slider performs linear motion in the X-axis direction along the X-axis guide rail under the drive of the X-axis motor.

[0013] In the above technical solution, preferably, the Y-axis compensation assembly includes a Y-axis motor, a Y-axis lead screw, a Y-axis guide rail and the Y-axis slider, the Y-axis motor is fixed to the X-axis slider through a Y-axis motor fixing bracket, the Y-axis lead screw is connected to the Y-axis motor, the Y-axis motor can drive the Y-axis lead screw to rotate, the Y-axis slider is connected to the Y-axis lead screw, and the Y-axis slider performs linear motion in the Y-axis direction along the Y-axis guide rail under the drive of the Y-axis motor.

[0014] In the above technical solution, preferably, the Z-axis compensation assembly includes a Z-axis motor, a Z-axis lead screw, a transmission gear, a Z-axis guide rail and the Z-axis slider, the Z-axis motor is fixed to the Y-axis slider through a Z-axis motor fixing bracket, the Z-axis lead screw and the transmission gear are fixed to the Y-axis slider, the Z-axis motor can drive the transmission gear to drive the Z-axis lead screw to rotate, and at the same time, the Z-axis slider connected to the Z-axis lead screw performs a linear motion in the Z-axis direction along the Z-axis guide rail, and the workbench fixed on the Z-axis slider moves synchronously with the Z-axis slider.

[0015] The present invention further proposes a nonlinear error compensation method for a five-axis machine tool, which is applied to a nonlinear error compensation device for a five-axis machine tool disclosed in any one of the above technical solutions, comprising:

[0016] Reading a machining program of a five-axis machine tool and triggering nonlinear error compensation when there is a rotation axis movement in the machining program;

[0017] According to the preset nonlinear error compensation calculation method, the error compensation displacement of the X-axis, Y-axis and Z-axis is calculated;

[0018] According to the error compensation displacement, the X-axis compensation component, the Y-axis compensation component and the Z-axis compensation component are controlled to move correspondingly, so as to realize compensation in three directions of X-axis, Y-axis and Z-axis.

[0019] In the above technical solution, preferably, for a five-axis machine tool in the form of an AC double-swing head, the nonlinear error compensation calculation method is:

[0020] X1=sinαsinγ(L B +L T )

[0021] Y1=sinα(L B +L T )-cosαcosγ(L B +L T )

[0022] Z1=(L B +L T )-cosα(L B +L T )

[0023] Among them, X1, Y1, and Z1 are the error compensation displacements of the X-axis, Y-axis, and Z-axis of the AC double-swing head five-axis machine tool, α and γ are the rotation angles of the A-axis and C-axis of the five-axis machine tool, respectively. B and L T are the swing length and tool length of the five-axis machine tool respectively;

[0024] For the BC double-swing head five-axis machine tool, the nonlinear error compensation calculation method is:

[0025] X2=sinβ(L B +L T )-cosβcosγ(L B +L T )

[0026] Y2=sinβsinγ(L B +L T )

[0027] Z2=(L B +L T )-cosβ(L B +L T )

[0028] Among them, X2, Y2, and Z2 are the error compensation displacements of the X-axis, Y-axis, and Z-axis of the five-axis machine tool in the form of a BC double swing head, β and γ are the rotation angles of the B-axis and C-axis of the five-axis machine tool, and L B and L T are the swing length and tool length of the five-axis machine tool respectively;

[0029] For the five-axis machine tool with AB double swing head, the nonlinear error compensation calculation method is:

[0030] X3=sinβ(L B +L T )

[0031] Y3=sinα(L B +L T )

[0032] Z3=(L B +L T )-cosαcosβ(L B +L T )

[0033] Among them, X3, Y3, and Z3 are the error compensation displacements of the X-axis, Y-axis, and Z-axis of the five-axis machine tool in the form of AB double swing head, α and β are the rotation angles of the A-axis and B-axis of the five-axis machine tool, respectively. B and L T are the swing length and tool length of the five-axis machine tool respectively.

[0034] In the above technical solution, preferably, for a five-axis machine tool in the form of an AC double-turntable, the nonlinear error compensation calculation method is:

[0035] X4=x0cosγ-y0 cosαsinγ+z0 cosγsinα-x0

[0036] Y4=x0sinγ+y0 cosβcosα-z0 cosγsinα-y0

[0037] Z4=z0cosα-LS+y0sinα-z0

[0038] Among them, X4, Y4 and Z4 are the error compensation displacements of the X-axis, Y-axis and Z-axis of the AC double-turntable five-axis machine tool, respectively; x0, y0 and z0 are the contact point coordinates of the machining tool; LS is the distance between the rotation centers of the two rotation axes of the five-axis machine tool;

[0039] For the BC dual-turntable five-axis machine tool, the nonlinear error compensation calculation method is:

[0040] X5=x0 cosβcosγ-y0sinγ+z0cosγsinβ-x0

[0041] Y5=y0cosγ+x0cosβsinγ+z0 cosγsinβ-y0

[0042] Z3=z0 cosβ-LS-x0sinβ-z0

[0043] Among them, X5, Y5 and Z5 are the error compensation displacements of the X-axis, Y-axis and Z-axis of the five-axis machine tool in the form of a BC double turntable, x0, y0 and z0 are the contact point coordinates of the machining tool, and LS is the distance between the rotation centers of the two rotation axes of the five-axis machine tool.

[0044] In the above technical solution, preferably, for a five-axis machine tool in the form of an A-swing head and a C-turntable, the nonlinear error compensation calculation method is:

[0045] X6=x0 cosγ-LTsinαsinγ-y0 cosαsinγ+z0 sinαsinβ-x0

[0046] Y6=x0sinγ+LTsinαcosγ+y0cosαcosγ-z0 sinαcosγ-y0

[0047] Z6=z0 cosα-LTcosα+y0 sinα-z0

[0048] Among them, X6, Y6 and Z6 are the error compensation displacements of the X-axis, Y-axis and Z-axis of the five-axis machine tool in the form of A swing head and C turntable, x0, y0 and z0 are the contact point coordinates of the machining tool, α, β and γ are the rotation angles of the A-axis, B-axis and C-axis of the five-axis machine tool, respectively;

[0049] For a five-axis machine tool with a B-swing head and a C-turntable, the nonlinear error compensation calculation method is:

[0050] X7=x0cosβcosγ-LTsinβcosγ-y0sinγ+z0cosγsinβ-x0

[0051] Y7=y0cosγ-LTsinβsinγ+x0cosβcosγ+z0sinβsinγ-y0

[0052] Z7=z0cosβ-LTcosβ-x0sinβ-z0

[0053] Among them, X7, Y7 and Z7 are the error compensation displacements of the X-axis, Y-axis and Z-axis of the five-axis machine tool in the form of a B swing head and a C turntable, x0, y0 and z0 are the contact point coordinates of the machining tool, and α, β and γ are the rotation angles of the A-axis, B-axis and C-axis of the five-axis machine tool, respectively.

[0054] In the above technical solution, preferably, the error compensation displacements of the X-axis, Y-axis and Z-axis are obtained according to the nonlinear error compensation calculation, and when the X-axis needs to move, the X-axis motor is controlled to drive the X-axis lead screw to rotate, and at the same time, the X-axis slider is driven to move linearly along the X-axis guide rail;

[0055] When the Y-axis needs to move, the Y-axis motor is controlled to drive the Y-axis screw to rotate, and at the same time, the Y-axis slider is driven to move linearly along the Y-axis guide rail;

[0056] When the Z-axis needs to move, the Z-axis motor is controlled to drive the transmission gear to drive the Z-axis lead screw to rotate, and at the same time drive the Z-axis slider to move linearly along the Z-axis guide rail.

[0057] Compared with the prior art, the beneficial effects of the present invention are as follows: by setting up X-axis, Y-axis and Z-axis compensation components with three-directional translational freedom, the calculation of the error compensation displacement in the three directions only needs to be completed through trigonometric function formulas. For CNC machine tools that do not have the RTCP compensation function, the movement of the workbench in three directions can be achieved to compensate for nonlinear errors. There is no need to modify the post-processing software and its built-in kinematic model, which simplifies the calculation of nonlinear error compensation, improves the machining accuracy of the five-axis machine tool, and improves production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 It is a schematic diagram of the overall structure of a nonlinear error compensation device for a five-axis machine tool disclosed in an embodiment of the present invention;

[0059] Figure 2 A schematic diagram of the structure of an X-axis compensation assembly disclosed in an embodiment of the present invention;

[0060] Figure 3 A schematic diagram of the structure of a Y-axis compensation component disclosed in an embodiment of the present invention;

[0061] Figure 4 The present invention is a schematic structural diagram of a Z-axis compensation assembly disclosed in an embodiment of the present invention.

[0062] In the figure, the corresponding relationship between each component and the reference numeral is as follows:

[0063] 1-1, bottom fixing plate; 1-2, X-axis motor; 1-3, X-axis motor fixing frame; 1-4, X-axis screw; 1-5, X-axis screw fixing frame; 1-6, X-axis guide rail; 1-7, X-axis slider; 1-8, Y-axis motor; 1-9, Y-axis motor fixing frame; 1-10, Y-axis screw; 1-11, Y-axis screw fixing frame; 1-12, Y-axis guide rail; 1-13, Y-axis slider; 1-14, Z-axis motor; 1-15, Z-axis motor fixing frame; 1-16, Z-axis screw; 1-17, transmission gear; 1-18, Z-axis guide rail; 1-19, Z-axis slider; 1-20, workbench; 1-21, X-axis motor line; 1-22, Y-axis motor line; 1-23, Z-axis motor line; 2, control motherboard; 3, signal transmission line. DETAILED DESCRIPTION

[0064] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0065] The present invention is further described in detail below in conjunction with the accompanying drawings:

[0066] like Figure 1 As shown, a nonlinear error compensation device for a five-axis machine tool provided according to the present invention comprises: a bottom fixing plate 1-1, an X-axis compensation assembly, a Y-axis compensation assembly, a Z-axis compensation assembly and a workbench 1-20;

[0067] The X-axis compensation assembly is fixed on the bottom fixed plate 1-1, and the Y-axis compensation assembly is fixed on the X-axis slider 1-7 of the X-axis compensation assembly. The X-axis slider 1-7 can drive the Y-axis compensation assembly to perform a linear reciprocating motion along the X-axis direction;

[0068] The Z-axis compensation component is fixed on the Y-axis slider 1-13 of the Y-axis compensation component, and the Y-axis slider 1-13 can drive the Z-axis compensation component to perform a linear reciprocating motion along the Y-axis direction;

[0069] The workbench 1-20 is fixed on the Z-axis slider 1-19 of the Z-axis compensation assembly, and the Z-axis slider 1-19 can drive the workbench 1-20 to perform linear reciprocating motion along the Z-axis direction.

[0070] In this embodiment, by setting up X-axis, Y-axis and Z-axis compensation components with three-directional translational degrees of freedom, the calculation of the error compensation displacement in the three directions only needs to be completed through the trigonometric function formula. For CNC machine tools that do not have the RTCP compensation function, the movement of the worktable 1-20 in three directions can realize the compensation of non-linear errors. There is no need to modify the post-processing software and its built-in kinematic model, which simplifies the calculation of non-linear error compensation, improves the machining accuracy of the five-axis machine tool, and improves production efficiency.

[0071] During the implementation process, the above components are fixed by bolts and nuts.

[0072] In the above technical scheme, preferably, the nonlinear error compensation device of the five-axis machine tool also includes a control main board 2, the X-axis compensation component, the Y-axis compensation component and the Z-axis compensation component are respectively connected to the control main board 2, and the control main board 2 is connected to the power distribution cabinet of the five-axis machine tool through a signal transmission line 3.

[0073] During the implementation process, the X-axis compensation component, the Y-axis compensation component and the Z-axis compensation component are respectively connected to the control main board 2 through the X-axis motor 1-2 line, the Y-axis motor 1-8 line and the Z-axis motor 1-14 line. The control main board 2 is connected to the signal transmission line 3, and the signal transmission line 3 is directly connected to the power distribution cabinet of the five-axis machine tool.

[0074] like Figure 2 As shown, in the above technical scheme, preferably, the X-axis compensation assembly includes an X-axis motor 1-2, an X-axis screw 1-4, an X-axis guide rail 1-6 and an X-axis slider 1-7, the X-axis motor 1-2 is fixed to the bottom fixed plate 1-1 through the X-axis motor 1-2 fixing frame, the X-axis screw 1-4 is fixed to the bottom fixed plate 1-1 through the X-axis screw 1-4 fixing frame, the X-axis screw 1-4 is connected to the X-axis motor 1-2, the X-axis motor 1-2 can drive the X-axis screw 1-4 to rotate, the X-axis slider 1-7 is connected to the X-axis screw 1-4, and the X-axis slider 1-7 performs a linear motion in the X-axis direction along the X-axis guide rail 1-6 under the drive of the X-axis motor 1-2.

[0075] like Figure 3 As shown, in the above technical scheme, preferably, the Y-axis compensation assembly includes a Y-axis motor 1-8, a Y-axis lead screw 1-10, a Y-axis guide rail 1-12 and a Y-axis slider 1-13, the Y-axis motor 1-8 is fixed to the X-axis slider 1-7 through the Y-axis motor 1-8 fixing frame, the Y-axis lead screw 1-10 is connected to the Y-axis motor 1-8, the Y-axis motor 1-8 can drive the Y-axis lead screw 1-10 to rotate, the Y-axis slider 1-13 is connected to the Y-axis lead screw 1-10, and the Y-axis slider 1-13 performs a linear motion in the Y-axis direction along the Y-axis guide rail 1-12 under the drive of the Y-axis motor 1-8.

[0076] like Figure 4 As shown, in the above technical scheme, preferably, the Z-axis compensation assembly includes a Z-axis motor 1-14, a Z-axis screw 1-16, a transmission gear 1-17, a Z-axis guide rail 1-18 and a Z-axis slider 1-19, the Z-axis motor 1-14 is fixed to the Y-axis slider 1-13 through the Z-axis motor 1-14 fixing frame, the Z-axis screw 1-16 and the transmission gear 1-17 are fixed to the Y-axis slider 1-13, the Z-axis motor 1-14 can drive the transmission gear 1-17 to drive the Z-axis screw 1-16 to rotate, and at the same time, the Z-axis slider 1-19 connected to the Z-axis screw 1-16 performs a linear motion in the Z-axis direction along the Z-axis guide rail 1-18, and the workbench 1-20 fixed on the Z-axis slider 1-19 moves synchronously with the Z-axis slider 1-19.

[0077] The present invention further proposes a nonlinear error compensation method for a five-axis machine tool, which is applied to a nonlinear error compensation device for a five-axis machine tool disclosed in any one of the above technical solutions, comprising:

[0078] Read the NC machining program of the five-axis machine tool and trigger nonlinear error compensation when the rotation axis movement is detected in the NC machining program;

[0079] According to the preset nonlinear error compensation calculation method, the error compensation displacement of the X-axis, Y-axis and Z-axis is calculated;

[0080] According to the error compensation displacement, a control instruction is sent to the control main board 2 through the signal transmission line 3 to control the X-axis compensation component, the Y-axis compensation component and the Z-axis compensation component to move corresponding amounts respectively, thereby realizing compensation in the three directions of the X-axis, Y-axis and Z-axis.

[0081] In the above technical solution, preferably, for a five-axis machine tool in the form of an AC double-swing head, the nonlinear error compensation calculation method is:

[0082] X1=sinαsinγ(L B +L T )

[0083] Y1=sinα(L B +L T )-cosαcosγ(L B +L T )

[0084] Z1=(L B +L T )-cosα(L B +L T )

[0085] Among them, X1, Y1, and Z1 are the error compensation displacements of the X-axis, Y-axis, and Z-axis of the AC double-swing head five-axis machine tool, α and γ are the rotation angles of the A-axis and C-axis of the five-axis machine tool, and L B and L T are the swing length and tool length of the five-axis machine tool, respectively;

[0086] For the BC double-swing head five-axis machine tool, the nonlinear error compensation calculation method is:

[0087] X2=sinβ(L B +L T )-cosβcosγ(L B +L T )

[0088] Y2=sinβsinγ(L B +L T )

[0089] Z2=(L B +L T )-cosβ(L B +L T )

[0090] Among them, X2, Y2, and Z2 are the error compensation displacements of the X-axis, Y-axis, and Z-axis of the BC double-swing head five-axis machine tool, β and γ are the rotation angles of the B-axis and C-axis of the five-axis machine tool, and L B and L T are the swing length and tool length of the five-axis machine tool, respectively;

[0091] For the five-axis machine tool with AB double swing head, the nonlinear error compensation calculation method is:

[0092] X3=sinβ(L B +L T )

[0093] Y3=sinα(L B +L T )

[0094] Z3=(L B +L T )-cosαcosβ(L B +L T )

[0095] Among them, X3, Y3, and Z3 are the error compensation displacements of the X-axis, Y-axis, and Z-axis of the five-axis machine tool in the form of AB double swing head, α and β are the rotation angles of the A-axis and B-axis of the five-axis machine tool, respectively. B and L T They are the swing length and tool length of the five-axis machine tool respectively.

[0096] In the above technical solution, preferably, for a five-axis machine tool in the form of an AC double-turntable, the nonlinear error compensation calculation method is:

[0097] X4=x0cosγ-y0cosαsinγ+z0cosγsinα-x0

[0098] Y4=x0sinγ+y0cosβcosα-z0cosγsinα-y0

[0099] Z4=z0cosα-LS+y0sinα-z0

[0100] Among them, X4, Y4 and Z4 are the error compensation displacements of the X-axis, Y-axis and Z-axis of the AC double-turntable five-axis machine tool, respectively; x0, y0 and z0 are the contact point coordinates of the machining tool; LS is the distance between the rotation centers of the two rotation axes of the five-axis machine tool;

[0101] For the BC dual-turntable five-axis machine tool, the nonlinear error compensation calculation method is:

[0102] X5=x0 cosβcosγ-y0sinγ+z0cosγsinβ-x0

[0103] Y5=y0cosγ+x0cosβsinγ+z0 cosγsinβ-y0

[0104] Z3=z0 cosβ-LS-x0sinβ-z0

[0105] Among them, X5, Y5 and Z5 are the error compensation displacements of the X-axis, Y-axis and Z-axis of the five-axis machine tool in the form of a BC double turntable, x0, y0 and z0 are the contact point coordinates of the machining tool, and LS is the distance between the rotation centers of the two rotation axes of the five-axis machine tool.

[0106] In the above technical solution, preferably, for a five-axis machine tool in the form of an A-swing head and a C-turntable, the nonlinear error compensation calculation method is:

[0107] X6=x0 cosγ-LTsinαsinγ-y0 cosαsinγ+z0 sinαsinβ-x0

[0108] Y6=x0sinγ+LTsinαcosγ+y0cosαcosγ-z0 sinαcosγ-y0

[0109] Z6=z0 cosα-LTcosα+y0 sinα-z0

[0110] Among them, X6, Y6 and Z6 are the error compensation displacements of the X-axis, Y-axis and Z-axis of the five-axis machine tool in the form of A swing head and C turntable, x0, y0 and z0 are the contact point coordinates of the machining tool, α, β and γ are the rotation angles of the A-axis, B-axis and C-axis of the five-axis machine tool, respectively;

[0111] For a five-axis machine tool with a B-swing head and a C-turntable, the nonlinear error compensation calculation method is:

[0112] X7=x0cosβcosγ-LTsinβcosγ-y0sinγ+z0cosγsinβ-x0

[0113] Y7=y0cosγ-LTsinβsinγ+x0cosβcosγ+z0sinβsinγ-y0

[0114] Z7=z0cosβ-LTcosβ-x0sinβ-z0

[0115] Among them, X7, Y7 and Z7 are the error compensation displacements of the X-axis, Y-axis and Z-axis of the five-axis machine tool in the form of a B swing head and a C turntable, x0, y0 and z0 are the contact point coordinates of the machining tool, and α, β and γ are the rotation angles of the A-axis, B-axis and C-axis of the five-axis machine tool.

[0116] In the above technical solution, preferably, the error compensation displacements of the X-axis, Y-axis and Z-axis are obtained according to the nonlinear error compensation calculation, and when the X-axis needs to move, the X-axis motor 1-2 is controlled to drive the X-axis lead screw 1-4 to rotate, and at the same time drive the X-axis slider 1-7 to move linearly along the X-axis guide rail 1-6;

[0117] When the Y-axis needs to move, the Y-axis motor 1-8 is controlled to drive the Y-axis lead screw 1-10 to rotate, and at the same time, the Y-axis slider 1-13 is driven to move linearly along the Y-axis guide rail 1-12;

[0118] When the Z-axis needs to move, the Z-axis motor 1-14 is controlled to drive the transmission gear 1-17 to drive the Z-axis screw 1-16 to rotate, and at the same time drive the Z-axis slider 1-19 to move linearly along the Z-axis guide rail 1-18.

[0119] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A nonlinear error compensation device for a five-axis machine tool, characterized in that: include: Bottom fixing plate, X-axis compensation assembly, Y-axis compensation assembly, Z-axis compensation assembly and workbench; The X-axis compensation component is fixed on the bottom fixed plate, and the Y-axis compensation component is fixed on the X-axis slider of the X-axis compensation component, and the X-axis slider can drive the Y-axis compensation component to perform a linear reciprocating motion along the X-axis direction; The Z-axis compensation component is fixed on the Y-axis slider of the Y-axis compensation component, and the Y-axis slider can drive the Z-axis compensation component to perform linear reciprocating motion along the Y-axis direction; The workbench is fixed on the Z-axis slider of the Z-axis compensation assembly, and the Z-axis slider can drive the workbench to perform linear reciprocating motion along the Z-axis direction.

2. The nonlinear error compensation device for a five-axis machine tool according to claim 1, characterized in that: It also includes a control mainboard, the X-axis compensation component, the Y-axis compensation component and the Z-axis compensation component are respectively connected to the control mainboard, and the control mainboard is connected to the power distribution cabinet of the five-axis machine tool through a signal transmission line.

3. The nonlinear error compensation device for a five-axis machine tool according to claim 1 or 2, characterized in that: The X-axis compensation assembly includes an X-axis motor, an X-axis lead screw, an X-axis guide rail and the X-axis slider. The X-axis motor is fixed to the bottom fixed plate via an X-axis motor fixing frame. The X-axis lead screw is fixed to the bottom fixed plate via an X-axis lead screw fixing frame. The X-axis lead screw is connected to the X-axis motor. The X-axis motor can drive the X-axis lead screw to rotate. The X-axis slider is connected to the X-axis lead screw. Driven by the X-axis motor, the X-axis slider performs linear motion in the X-axis direction along the X-axis guide rail.

4. The nonlinear error compensation device for a five-axis machine tool according to claim 3, characterized in that: The Y-axis compensation assembly includes a Y-axis motor, a Y-axis lead screw, a Y-axis guide rail and the Y-axis slider. The Y-axis motor is fixed to the X-axis slider through a Y-axis motor fixing bracket. The Y-axis lead screw is connected to the Y-axis motor. The Y-axis motor can drive the Y-axis lead screw to rotate. The Y-axis slider is connected to the Y-axis lead screw. Driven by the Y-axis motor, the Y-axis slider performs linear motion in the Y-axis direction along the Y-axis guide rail.

5. The nonlinear error compensation device for a five-axis machine tool according to claim 4, characterized in that: The Z-axis compensation assembly includes a Z-axis motor, a Z-axis lead screw, a transmission gear, a Z-axis guide rail and the Z-axis slider. The Z-axis motor is fixed to the Y-axis slider via a Z-axis motor fixing bracket. The Z-axis lead screw and the transmission gear are fixed to the Y-axis slider. The Z-axis motor can drive the transmission gear to drive the Z-axis lead screw to rotate. At the same time, the Z-axis slider connected to the Z-axis lead screw performs a linear motion in the Z-axis direction along the Z-axis guide rail, and the workbench fixed on the Z-axis slider moves synchronously with the Z-axis slider.

6. A nonlinear error compensation method for a five-axis machine tool, characterized in that: A nonlinear error compensation device for a five-axis machine tool according to any one of claims 1 to 5, comprising: Reading a machining program of a five-axis machine tool and triggering nonlinear error compensation when there is a rotation axis movement in the machining program; According to the preset nonlinear error compensation calculation method, the error compensation displacement of the X-axis, Y-axis and Z-axis is calculated; According to the error compensation displacement, the X-axis compensation component, the Y-axis compensation component and the Z-axis compensation component are controlled to move correspondingly, so as to realize compensation in three directions of X-axis, Y-axis and Z-axis.

7. The nonlinear error compensation method for a five-axis machine tool according to claim 6, characterized in that: For AC double-swing head five-axis machine tools, the nonlinear error compensation calculation method is: X1=sinαsinγ(L B +L T ) Y1=sinα(L B +L T )-cosαcosγ(L B +L T ) Z1=(L B +L T )-cosα(L B +L T ) Among them, X1, Y1, and Z1 are the error compensation displacements of the X-axis, Y-axis, and Z-axis of the AC double-swing head five-axis machine tool, α and γ are the rotation angles of the A-axis and C-axis of the five-axis machine tool, respectively. B and L T are the swing length and tool length of the five-axis machine tool respectively; For the BC double-swing head five-axis machine tool, the nonlinear error compensation calculation method is: X2=sinβ(L B +L T )-cosβcosγ(L B +L T ) Y2=sinβsinγ(L B +L T ) Z2=(L B +L T )-cosβ(L B +L T ) Among them, X2, Y2, and Z2 are the error compensation displacements of the X-axis, Y-axis, and Z-axis of the five-axis machine tool in the form of a BC double swing head, β and γ are the rotation angles of the B-axis and C-axis of the five-axis machine tool, and L B and L T are the swing length and tool length of the five-axis machine tool respectively; For the five-axis machine tool with AB double swing head, the nonlinear error compensation calculation method is: X3=sinβ(L B +L T ) Y3=sinα(L B +L T ) Z3=(L B +L T )-cosαcosβ(L B +L T ) Among them, X3, Y3, and Z3 are the error compensation displacements of the X-axis, Y-axis, and Z-axis of the five-axis machine tool in the form of AB double swing head, α and β are the rotation angles of the A-axis and B-axis of the five-axis machine tool, respectively. B and L T are the swing length and tool length of the five-axis machine tool respectively.

8. The nonlinear error compensation method for a five-axis machine tool according to claim 6, characterized in that: For AC dual-rotary five-axis machine tools, the nonlinear error compensation calculation method is: X4=x0cosγ-y0 cosαsinγ+z0 cosγsinα-x0 Y4=x0sinγ+y0 cosβcosα-z0 cosγsinα-y0 Z4=z0cosα-LS+y0sinα-z0 Among them, X4, Y4 and Z4 are the error compensation displacements of the X-axis, Y-axis and Z-axis of the AC double-turntable five-axis machine tool, respectively; x0, y0 and z0 are the contact point coordinates of the machining tool; LS is the distance between the rotation centers of the two rotation axes of the five-axis machine tool; For the BC dual-turntable five-axis machine tool, the nonlinear error compensation calculation method is: X5=x0 cosβcosγ-y0sinγ+z0cosγsinβ-x0 Y5=y0cosγ+x0cosβsinγ+z0 cosγsinβ-y0 Z3=z0 cosβ-LS-x0sinβ-z0 Among them, X5, Y5 and Z5 are the error compensation displacements of the X-axis, Y-axis and Z-axis of the five-axis machine tool in the form of a BC double turntable, x0, y0 and z0 are the contact point coordinates of the machining tool, and LS is the distance between the rotation centers of the two rotation axes of the five-axis machine tool.

9. The nonlinear error compensation method for a five-axis machine tool according to claim 6, characterized in that: For a five-axis machine tool with an A-swing head and a C-turntable, the nonlinear error compensation calculation method is: X6=x0 cosγ-LTsinαsinγ-y0 cosαsinγ+z0 sinαsinβ-x0 Y6=x0sinγ+LTsinαcosγ+y0cosαcosγ-z0 sinαcosγ-y0 Z6=z0 cosα-LTcosα+y0 sinα-z0 Among them, X6, Y6 and Z6 are the error compensation displacements of the X-axis, Y-axis and Z-axis of the five-axis machine tool in the form of A swing head and C turntable, x0, y0 and z0 are the contact point coordinates of the machining tool, α, β and γ are the rotation angles of the A-axis, B-axis and C-axis of the five-axis machine tool, respectively; For a five-axis machine tool with a B-swing head and a C-turntable, the nonlinear error compensation calculation method is: X7=x0cosβcosγ-LTsinβcosγ-y0sinγ+z0cosγsinβ-x0 Y7=y0cosγ-LTsinβsinγ+x0cosβcosγ+z0sinβsinγ-y0 Z7=z0cosβ-LTcosβ-x0sinβ-z0 Among them, X7, Y7 and Z7 are the error compensation displacements of the X-axis, Y-axis and Z-axis of the five-axis machine tool in the form of a B swing head and a C turntable, x0, y0 and z0 are the contact point coordinates of the machining tool, and α, β and γ are the rotation angles of the A-axis, B-axis and C-axis of the five-axis machine tool, respectively.

10. The nonlinear error compensation method for a five-axis machine tool according to any one of claims 7 to 9, characterized in that: The error compensation displacements of the X-axis, Y-axis and Z-axis are calculated based on the nonlinear error compensation. When the X-axis needs to move, the X-axis motor is controlled to drive the X-axis lead screw to rotate, and at the same time, the X-axis slider is driven to move linearly along the X-axis guide rail. When the Y-axis needs to move, the Y-axis motor is controlled to drive the Y-axis screw to rotate, and at the same time, the Y-axis slider is driven to move linearly along the Y-axis guide rail; When the Z-axis needs to move, the Z-axis motor is controlled to drive the transmission gear to drive the Z-axis lead screw to rotate, and at the same time drive the Z-axis slider to move linearly along the Z-axis guide rail.

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