Translation axis angle error measurement method and device

Abstract

The present application relates to the field of geometric error measurement technology for CNC machine tools, and in particular to a method and device for measuring the angle error of a translation axis, wherein the method includes: establishing a geometric error model for a translation axis system as a theoretical basis for error analysis; using an improved Shapley method to perform sensitivity analysis on each geometric error term, quantitatively evaluating the influence of each angle error term on the volume error and the end posture error, and then identifying the key angle error term; measuring the angle error of the translation axis based on the dual normal vector method, by comparing the deviation between the ideal and actual normal vectors, and combining the projection angle of the normal vector on different planes, accurately measuring multiple angle error components in the translation axis feed system. Thus, the problem that the existing technology is difficult to take into account both measurement accuracy and efficiency due to the complexity of optical adjustment and operation process, which greatly limits the industrial promotion and application of the translation axis angle error measurement technology, is solved.

Description

Technical Field

[0001] The present application relates to the technical field of geometric error measurement of numerically controlled machine tools, and in particular to a method and device for measuring the angle error of a translation axis. Background Art

[0002] As the core functional component of precision mechanical equipment, the translation axis plays a key role in the fields of robots and CNC machine tools. Its performance directly determines the processing accuracy, operating efficiency and system stability of the equipment. As a key mechanism for achieving high-precision linear motion, the translation axis not only undertakes the basic power transmission function, but also ensures the high precision of spatial positioning and the stability of complex motion.

[0003] In the measurement technology of the angular error of the translation axis, laser interferometry is currently a widely used method. This method collects positioning error data during the motion process by designing specific measurement trajectories (such as 13-line, 14-line, 15-line and other modes) in the workspace, and then combines the geometric error model for error identification and compensation. Although this method based on multi-track measurement can achieve high theoretical accuracy, it faces multiple challenges in practical applications. In terms of measurement complexity, a large number of measurement trajectories significantly increases the complexity of data acquisition and processing, reducing the practicality of the method in industrial scenarios. In terms of operational requirements, existing technologies mostly require two-axis or three-axis linkage measurement (such as face diagonal or body diagonal trajectories), which not only increases the measurement workload, but also puts forward high technical requirements for optical path adjustment. In terms of efficiency, even experienced operators need to invest a lot of time in optical path adjustment and data acquisition. For inexperienced operators, it takes longer to complete the measurement and is prone to errors.

[0004] As the structure of current robots and machine tools becomes increasingly complex, the workpiece manufacturing process is also becoming more and more sophisticated. After the robot and machine tool are assembled, technicians need to verify the performance and accuracy of the whole machine, and calibrate and compensate when necessary. Geometric error is a key factor affecting the performance and quality of robots and machine tools, and has a significant impact on processing accuracy and productivity. Geometric error is divided into linear error and angular error. Although linear geometric errors related to translational deviations are relatively easy to measure and compensate, it is far from enough to measure linear performance alone. The friction effect and other faults of the axis structure can cause the axis to rotate while moving, causing deviations between the specified position and the actual position of the machine tool components. These angular errors will affect the profile and surface deviations, ultimately resulting in substandard workpiece dimensional errors and increased scrap rates.

[0005] However, the angular error measurement process is highly complex, and there is an urgent need to explore new methods and ideas to achieve both accuracy and efficiency in translational axis measurement.

[0006] In summary, due to the complexity of optical adjustment and operation process, it is difficult for existing technologies to take into account both measurement accuracy and efficiency at the same time, which greatly limits the industrial promotion and application of translational axis angle error measurement technology and needs to be solved urgently. Summary of the invention

[0007] The present application provides a method and device for measuring the angle error of a translational axis to solve the problem that due to the complexity of optical adjustment and operating procedures, the existing technology is difficult to take into account both measurement accuracy and efficiency, which greatly limits the industrial promotion and application of the translational axis angle error measurement technology.

[0008] The first aspect of the present application provides a method for measuring the angular error of a translation axis, comprising the following steps: obtaining multiple geometric angular error term parameters of a target translation axis system; performing a sensitivity analysis on each of the multiple geometric angular error term parameters through a pre-constructed geometric error model to extract key geometric angular error terms of the target translation axis system; based on the key geometric angular error terms, determining an ideal normal vector corresponding to the target translation axis system in a completely stationary state and an actual normal vector corresponding to the target translation axis system during operation, and respectively obtaining the projection angles of the ideal normal vector and the actual normal vector in different planes to determine multiple angular error components of the target translation axis system according to the projection angles.

[0009] Optionally, in one embodiment of the present application, the sensitivity analysis of each of the multiple geometric angle error term parameters is performed through a pre-constructed geometric error model to extract the key geometric angle error terms of the target translation axis system, including: constructing an error term parameter set corresponding to the multiple geometric angle error term parameters, and using a preset quasi-Monte Carlo sampling strategy to collect multiple target input parameters corresponding to the geometric error model from the error term parameter set to construct corresponding multiple parameter subsets according to the multiple target input parameters; based on the multiple parameter subsets and a preset improved Shapley strategy, calculating the improved Shapley value of each target input parameter in the multiple target input parameters, and determining the sensitivity coefficient value of the corresponding target input parameter according to the improved Shapley value; inputting the sensitivity coefficient value of each target input parameter into the geometric error model to calculate the scalar output data corresponding to each target input parameter; based on the sensitivity coefficient value and the scalar output data, quantitatively evaluating the influence of each geometric angle error term parameter on the volume error and end posture error of the target translation axis system to obtain a quantitative evaluation result, and extracting the key geometric angle error term according to the quantitative evaluation result.

[0010] Optionally, in one embodiment of the present application, based on the key geometric angle error term, determining the ideal normal vector corresponding to the target translation axis system in a completely stationary state and the actual normal vector corresponding to the target translation axis system during operation, and respectively obtaining the projection angles between the ideal normal vector and the actual normal vector in different planes, so as to determine multiple angular error components of the target translation axis system according to the projection angles, including: detecting the motion state of the target translation axis system; when the motion state of the target translation axis system is the completely stationary state, selecting multiple first target reference points along the translation axis of the target translation axis system, and generating two ideal triangles based on the multiple first target reference points, and respectively calculating the first inscribed circle center of the inscribed circle of each ideal triangle, so as to determine the first inscribed circle center perpendicular to each ideal triangle according to the first inscribed circle center. a first ideal normal vector and a second ideal normal vector of the inscribed circle plane of the shape; when the motion state of the target translation axis system is the running state, obtaining the current running state information of the target translation axis system, and judging whether the target translation axis system meets the preset stable running requirements according to the current running state information, wherein if the target translation axis system meets the stable running requirements, a plurality of second target reference points are selected along the translation axis; based on the plurality of second target reference points, two actual triangles are determined, and the second inscribed circle center of the inscribed circle of each actual triangle is calculated respectively, so as to determine the first actual normal vector and the second actual normal vector perpendicular to the inscribed circle plane of each actual triangle according to the second inscribed circle center; respectively obtaining the first ideal normal vector, the second ideal normal vector, the first actual normal vector and the second actual normal vector in the horizontal direction. HEY Planar and vertical SUMMER A projection angle on a plane is determined, and a yaw error and a pitch error of the target translation axis system are determined by using the projection angle, so as to measure multiple angular error components of the target translation axis system during operation according to the yaw error and the pitch error.

[0011] Optionally, in one embodiment of the present application, the mathematical expression of the geometric error model is:

[0012]

[0013] in, outputting data for the scalar; is an integrable function; for k Dimension input parameter.

[0014] Optionally, in one embodiment of the present application, the mathematical expressions of the yaw error and the pitch error are:

[0015]

[0016] in, ω 1 and ω 2 is the adjustable weighting factor; represents the yaw error or the pitch error of the target translation axis system; Indicates that the first actual normal vector and the first ideal normal vector are perpendicular to each other. SUMMER The projection angle on the plane or the angle between the first actual normal vector and the first ideal normal vector on the horizontal plane HEY Projection angle on the plane; The second actual normal vector and the second ideal normal vector are perpendicular to each other. SUMMER The projection angle on the plane or the angle between the second actual normal vector and the second ideal normal vector on the horizontal plane HEY The projection angle on the plane; v equal x hour, represents the pitch error, Indicates that the first actual normal vector and the first ideal normal vector are perpendicular to each other. SUMMER The projection angle on the plane, The second actual normal vector and the second ideal normal vector are perpendicular to each other. SUMMER The projection angle on the plane is v equal z hour, represents the yaw error, Indicates that the first actual normal vector and the first ideal normal vector are at the same level HEY The projection angle on the plane, It indicates that the second actual normal vector and the second ideal normal vector are at the same level. HEY The projection angle on the plane.

[0017] Optionally, in one embodiment of the present application, the mathematical expression of the projection angle between the actual normal vector and the ideal normal vector on different planes is:

[0018]

[0019] in, Indicates that the first actual normal vector and the first ideal normal vector are perpendicular to each other. SUMMER Projection angle on the plane; Indicates that the first actual normal vector and the first ideal normal vector are at the same level HEY Projection angle on the plane; The second actual normal vector and the second ideal normal vector are perpendicular to each other. SUMMER Projection angle on the plane; It indicates that the second actual normal vector and the second ideal normal vector are at the same level. HEY Projection angle on the plane; represents the first actual normal vector x Directional component; represents the first actual normal vector y Directional component; represents the first actual normal vector z Directional component; The second actual normal vector is x Directional component; The second actual normal vector is y Directional component; The second actual normal vector is z Directional component.

[0020] The second aspect of the present application provides a device for measuring the angle error of a translation axis, including: an acquisition module, used to acquire multiple geometric angle error term parameters of a target translation axis system; an extraction module, used to perform sensitivity analysis on each of the multiple geometric angle error term parameters through a pre-constructed geometric error model, so as to extract the key geometric angle error terms of the target translation axis system; a measurement module, used to determine, based on the key geometric angle error terms, an ideal normal vector corresponding to the target translation axis system in a completely stationary state and an actual normal vector corresponding to the target translation axis system during operation, and respectively acquire the projection angles of the ideal normal vector and the actual normal vector in different planes, so as to determine multiple angle error components of the target translation axis system according to the projection angles.

[0021] Optionally, in one embodiment of the present application, the extraction module includes: a collection unit, used to construct an error term parameter set corresponding to the multiple geometric angle error term parameters, and use a preset quasi-Monte Carlo sampling strategy to collect multiple target input parameters corresponding to the geometric error model from the error term parameter set, so as to construct corresponding multiple parameter subsets according to the multiple target input parameters; a first calculation unit, used to calculate the improved Shapley value of each target input parameter in the multiple target input parameters based on the multiple parameter subsets and a preset improved Shapley strategy, and determine the sensitivity coefficient value of the corresponding target input parameter according to the improved Shapley value; a second calculation unit, used to input the sensitivity coefficient value of each target input parameter into the geometric error model, so as to calculate the scalar output data corresponding to each target input parameter; a quantitative evaluation unit, used to quantitatively evaluate the influence of each geometric angle error term parameter on the volume error and end posture error of the target translation axis system based on the sensitivity coefficient value and the scalar output data, so as to obtain a quantitative evaluation result, and extract the key geometric angle error term according to the quantitative evaluation result.

[0022] Optionally, in one embodiment of the present application, the measurement module includes: a detection unit, used to detect the motion state of the target translation axis system; an ideal normal vector determination unit, used to select multiple first target reference points along the translation axis of the target translation axis system when the motion state of the target translation axis system is the completely stationary state, and generate two ideal triangles based on the multiple first target reference points, and respectively calculate the first inscribed circle center of the inscribed circle of each ideal triangle to determine the first ideal normal vector and the second ideal normal vector perpendicular to the inscribed circle plane of each ideal triangle according to the first inscribed circle center; an actual normal vector determination unit, used to obtain the target translation axis system when the motion state of the target translation axis system is the running state. The current operating status information of the axis system is obtained, and whether the target translation axis system meets the preset stable operating requirements is determined according to the current operating status information, wherein if the target translation axis system meets the stable operating requirements, a plurality of second target reference points are selected along the translation axis; a third calculation unit is used to determine two actual triangles based on the plurality of second target reference points, and respectively calculate the second inscribed circle center of the inscribed circle of each actual triangle, so as to determine the first actual normal vector and the second actual normal vector perpendicular to the inscribed circle plane of each actual triangle according to the second inscribed circle center; a projection unit is used to respectively obtain the first ideal normal vector, the second ideal normal vector, the first actual normal vector and the second actual normal vector in the horizontal HEY Planar and vertical SUMMERA projection angle on a plane is obtained, and a yaw error and a pitch error of the target translation axis system are determined by using the projection angle, so as to measure multiple angular error components of the target translation axis system during operation according to the yaw error and the pitch error.

[0023] Optionally, in one embodiment of the present application, the mathematical expression of the geometric error model is:

[0024]

[0025] in, outputting data for the scalar; is an integrable function; for k Dimension input parameter.

[0026] Optionally, in one embodiment of the present application, the mathematical expressions of the yaw error and the pitch error are:

[0027]

[0028] in, ω 1 and ω 2 is the adjustable weighting factor; represents the yaw error or the pitch error of the target translation axis system; Indicates that the first actual normal vector and the first ideal normal vector are perpendicular to each other. SUMMER The projection angle on the plane or the angle between the first actual normal vector and the first ideal normal vector on the horizontal plane HEY Projection angle on the plane; The second actual normal vector and the second ideal normal vector are perpendicular to each other. SUMMER The projection angle on the plane or the angle between the second actual normal vector and the second ideal normal vector on the horizontal plane HEY The projection angle on the plane; v equal x hour, represents the pitch error, Indicates that the first actual normal vector and the first ideal normal vector are perpendicular to each other. SUMMER The projection angle on the plane, The second actual normal vector and the second ideal normal vector are perpendicular to each other. SUMMER The projection angle on the plane is v equal z hour, represents the yaw error, Indicates that the first actual normal vector and the first ideal normal vector are at the same level HEY The projection angle on the plane, It indicates that the second actual normal vector and the second ideal normal vector are at the same level. HEY The projection angle on the plane.

[0029] Optionally, in one embodiment of the present application, the mathematical expression of the projection angle between the actual normal vector and the ideal normal vector on different planes is:

[0030]

[0031] in, Indicates that the first actual normal vector and the first ideal normal vector are perpendicular to each other. SUMMER Projection angle on the plane; Indicates that the first actual normal vector and the first ideal normal vector are at the same level HEY Projection angle on the plane; The second actual normal vector and the second ideal normal vector are perpendicular to each other. SUMMER Projection angle on the plane; It indicates that the second actual normal vector and the second ideal normal vector are at the same level. HEY Projection angle on the plane; represents the first actual normal vector x Directional component; represents the first actual normal vector y Directional component; represents the first actual normal vector z Directional component; The second actual normal vector is x Directional component; The second actual normal vector is y Directional component; The second actual normal vector is z Directional component.

[0032] The third aspect of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method for measuring the angle error of the translation axis as described in the above embodiment.

[0033] The fourth aspect of the present application provides a computer-readable storage medium, which stores a computer program. When the program is executed by a processor, it implements the above-mentioned method for measuring the angle error of the translation axis.

[0034] The fifth aspect of the present application provides a computer program product, including a computer program, which is executed to implement the above-mentioned method for measuring the angle error of the translation axis.

[0035] Therefore, the embodiments of the present application have the following beneficial effects:

[0036] The embodiments of the present application can obtain multiple geometric angle error term parameters of the target translation axis system; perform sensitivity analysis on each of the multiple geometric angle error term parameters through a pre-constructed geometric error model to extract the key geometric angle error term of the target translation axis system; based on the key geometric angle error term, determine the ideal normal vector corresponding to the target translation axis system in a completely static state and the actual normal vector corresponding to the target translation axis system during operation, and obtain the projection angles of the ideal normal vector and the actual normal vector in different planes respectively, so as to determine multiple angle error components of the target translation axis system according to the projection angle, thereby significantly improving the accuracy and efficiency of the translation axis angle measurement. Thus, the problem that the existing technology is difficult to take into account both measurement accuracy and efficiency due to the complexity of optical adjustment and operation process, which greatly limits the industrial promotion and application of translation axis angle error measurement technology, is solved.

[0037] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0039] tú1 A flowchart of a method for measuring a translation axis angle error provided according to an embodiment of the present application;

[0040] tú2 A schematic diagram of measuring a translation axis angle error based on dual normal vectors provided in one embodiment of the present application;

[0041] tú3 A schematic diagram of a projection angle of a normal vector provided for one embodiment of the present application;

[0042] tú4 A schematic diagram showing a comparison of the evaluation results of the pitch and yaw angle errors of the translation axis by a direct measurement method and a dual normal vector method provided in one embodiment of the present application;

[0043] tú5A schematic diagram of the comparison results of MAE (Mean Absolute Error) and RMSE (Root Mean Squared Error) for measuring the pitch and yaw angle errors of the translation axis using three methods provided for one embodiment of the present application;

[0044] tú6 A schematic diagram of the execution logic of a translation axis angle error measurement method provided by one embodiment of the present application;

[0045] tú7 is an exemplary diagram of a translation axis angle error measurement device according to an embodiment of the present application;

[0046] tú8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0047] Among them, 10 is a translation axis angle error measuring device; 100 is an acquisition module, 200 is an extraction module, 300 is a measurement module; 801 is a memory, 802 is a processor, and 803 is a communication interface. DETAILED DESCRIPTION

[0048] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0049] The following describes the method and device for measuring the angle error of the translation axis of an embodiment of the present application with reference to the accompanying drawings. The large number of measurement trajectories in the related technologies mentioned in the above background technology significantly increase the complexity of the algorithm, making these methods lack of feasibility in industrial scenarios that emphasize cost-effectiveness and ease of operation; secondly, the existing technology usually requires the measurement of two-axis or three-axis trajectories (such as face diagonals or body diagonals). These complex measurement paths not only increase the measurement workload, but also place high demands on the optical path adjustment. Even experienced operators need to spend a lot of time to complete the operation. Inexperienced personnel are more likely to cause the problem of too long measurement time. The present application provides a method for measuring the angle error of the translation axis. In this method, by obtaining the target translation, The method comprises the following steps: determining multiple geometric angle error term parameters of the target translation axis system; performing sensitivity analysis on each of the multiple geometric angle error term parameters through a pre-constructed geometric error model to extract the key geometric angle error term of the target translation axis system; determining the ideal normal vector corresponding to the target translation axis system in a completely stationary state and the actual normal vector corresponding to the target translation axis system during operation based on the key geometric angle error term, and obtaining the projection angles of the ideal normal vector and the actual normal vector in different planes respectively, so as to determine multiple angle error components of the target translation axis system according to the projection angles, thereby significantly improving the accuracy and efficiency of the translation axis angle measurement. Thus, the problem that the existing technology is difficult to take into account both measurement accuracy and efficiency due to the complexity of optical adjustment and operation process, which greatly limits the industrial promotion and application of translation axis angle error measurement technology, is solved.

[0050] Specifically, tú1 A flow chart of a method for measuring a translation axis angle error provided in an embodiment of the present application.

[0051] like tú1 As shown, the translation axis angle error measurement method includes the following steps:

[0052] In step S101 , multiple geometric angle error term parameters of a target translation axis system are obtained.

[0053] In step S102, a sensitivity analysis is performed on each of the plurality of geometric angle error term parameters using a pre-constructed geometric error model to extract key geometric angle error terms of the target translation axis system.

[0054] In the specific implementation process, the embodiment of the present application can first establish a geometric error model for the translation axis system (i.e., a CNC machine tool), and use it as the theoretical basis for error analysis, so as to utilize the geometric error model and adopt the improved Shapley strategy to perform sensitivity analysis on each geometric error term, so as to quantitatively evaluate the influence of each angular error term on the volume error and the end posture error, and then identify and extract the key geometric error terms of the CNC machine tool, thereby effectively improving the feasibility of measuring the angular error of the translation axis of the CNC machine tool.

[0055] For example, in an embodiment of the present application, the CNC machine tool object may be a special grinding machine for slider processing, wherein the special grinding machine for slider processing X The axis travel is 1000 mm, Y The axis travel is 190 mm, Z The axis stroke is 260 mm. In order to facilitate those skilled in the art to understand the execution logic of the method for measuring the angle error of the translational axis in the embodiment of the present application, the method for measuring the angle error of the translational axis is described below using a special grinder for slider processing as an example.

[0056] In the embodiment of the present application, the grinding machine structure can be divided into a bed, X Axis, worktable, two symmetrical motion axes, each set of motion axes has Y 1 translation axis, Y 2 translation axis, Z 1 translation axis, Z 2 translation axes, each of which includes 6 geometric errors (angular error and linear error); the geometric error items of the translation axis can be divided into one position error, two straightness errors and three angular errors (pitch, yaw and roll). The embodiment of the present application can simultaneously consider 8 verticality errors between adjacent axis systems, and the grinder has a total of 38 geometric errors.

[0057] Secondly, based on the MBS (Multibody System) theory, the embodiment of the present application can use the 4×4HTM (Homogeneous Transformation Matrix) method to describe the motion coordinate relationship between two adjacent bodies, where the transformation matrix between two adjacent objects is divided into four parts: the position transformation matrix shown in Table 1 and position error Transformation matrix, and the motion-static transformation matrix shown in Table 2 and the motion error transformation matrix .

[0058] Among them, Table 1 is the position homogeneous transformation matrix table between adjacent bodies:

[0059] Table 1

[0060]

[0061] Among them, Table 2 is the motion homogeneous transformation matrix table between adjacent bodies:

[0062] Table 2

[0063]

[0064] It should be noted that the symbols in Table 2 i for j The lower level body, p and s Represents static and motion respectively.

[0065] As a possible implementation method, the embodiments of the present application may assume that Pw is the coordinate of the processed point on the workpiece in the workpiece coordinate system, Pt is the coordinate of the processed point on the workpiece in the grinding wheel coordinate system:

[0066]

[0067] in, Pw is the coordinate of the processed point on the workpiece in the workpiece coordinate system; Pt is the coordinate of the processed point on the workpiece in the grinding wheel coordinate system.

[0068] According to the topological structure of the grinding machine, under the ideal forming motion conditions, the coordinates of the processed points in the workpiece coordinate system are It can be calculated by multiplying the position and motion homogeneous transformation matrices, as shown below:

[0069]

[0070] in, is the coordinates of the processed point in the workpiece coordinate system under ideal forming motion conditions; is the homogeneous transformation matrix of the workpiece branch; It represents the ideal product of all the calculation matrices from the bed to the workpiece; is the homogeneous transformation matrix of the grinding wheel branch; It represents the ideal product of all the calculation matrices from the bed to the grinding wheel; p and s Represents static and motion respectively. Represents the workpiece branch position transformation matrix; Represents the workpiece branch motion transformation matrix; Indicates bed to X Axis position transformation matrix; Indicates bed to X The motion transformation matrix of the axis; express X The axis to workpiece position transformation matrix; express X The motion transformation matrix from axis to workpiece; Represents the grinding wheel branch position transformation matrix; Represents the grinding wheel branch motion transformation matrix.

[0071] In the actual processing process, the actual position of the grinding wheel forming point will deviate from the ideal position, resulting in spatial positioning errors. Therefore, the actual coordinates of the processed point in the workpiece coordinate system for:

[0072]

[0073] in, It is the coordinates of the actual processed point in the workpiece coordinate system during the actual processing; is the error homogeneous transformation matrix of the workpiece branch; It represents the item-by-item product of all the calculation matrices from the bed to the workpiece in actual situations; is the error homogeneous transformation matrix of the grinding wheel branch; It represents the item-by-item product of all calculation matrices from the bed to the grinding wheel in actual situations; represents the position error transformation matrix; represents the motion error transformation matrix.

[0074] It can be understood that the spatial geometric error is the error of the processed point in the workpiece coordinate system. and The difference can be expressed as:

[0075]

[0076] in, E X 、E Y 、E Z is the spatial position error X , Y , Z Components in three directions.

[0077] Therefore, the embodiment of the present application can be realized by the machining point in the workpiece coordinate system in the above steps. and The spatial geometric error model of the grinder is constructed based on the expression of the difference, which is composed of the geometric errors of each translation axis component of the grinder. There are 15 angular errors in total, which effectively improves the feasibility of the angular error measurement of the translation axis of the CNC machine tool.

[0078] Optionally, in one embodiment of the present application, a sensitivity analysis is performed on each of a plurality of geometric angle error term parameters through a pre-constructed geometric error model to extract key geometric angle error terms of the target translation axis system, including: constructing an error term parameter set corresponding to the plurality of geometric angle error term parameters, and using a preset quasi-Monte Carlo sampling strategy to collect a plurality of target input parameters corresponding to the geometric error model from the error term parameter set, so as to construct a corresponding plurality of parameter subsets according to the plurality of target input parameters; based on the plurality of parameter subsets and a preset improved Shapley strategy, calculating an improved Shapley value of each of the plurality of target input parameters, and determining a sensitivity coefficient value of the corresponding target input parameter according to the improved Shapley value; inputting the sensitivity coefficient value of each target input parameter into the geometric error model to calculate scalar output data corresponding to each target input parameter; based on the sensitivity coefficient value and the scalar output data, quantitatively evaluating the influence of each geometric angle error term parameter on the volume error and the end attitude error of the target translation axis system to obtain a quantitative evaluation result, and extracting key geometric angle error terms according to the quantitative evaluation result.

[0079] From the above analysis, it can be seen that the grinding machine has a total of 38 geometric errors (i.e., 38 geometric error parameters). The embodiments of the present application can construct an error item parameter set (i.e., a geometric error parameter space) based on the 38 geometric error parameters, and combine some parameters selected from the geometric error parameter set to construct multiple parameter subsets, which may include one or more geometric error parameters.

[0080] In order to improve computational efficiency, the embodiment of the present application improves the traditional Shapley sensitivity analysis strategy and introduces the Quasi Monte Carlo (QMC) sampling strategy in the parameter space sampling link. Compared with the traditional Monte Carlo (MC) random sampling, the QMC method significantly improves the spatial coverage uniformity of the samples by generating a deterministic low-difference sequence as sampling points; this strategy not only improves the sampling error convergence rate, but also greatly reduces the required sample size while ensuring the computational accuracy, thereby achieving the optimal balance between computational efficiency and analysis accuracy.

[0081] It should be noted that the embodiments of the present application can use the improved Shapley strategy to perform sensitivity analysis, comprehensively consider all subset combinations, accurately calculate the sensitivity value of each parameter, and systematically evaluate the independent contribution of the parameter and its interaction with other parameters. Therefore, the embodiments of the present application determine the key geometric error terms by extracting the sensitivity coefficients of the key geometric error terms, thereby providing a basis for accurately evaluating the impact of angle error on volume error and end attitude error.

[0082] Optionally, in one embodiment of the present application, the mathematical expression of the geometric error model is:

[0083]

[0084] in, Output data for scalar; is an integrable function; for k Dimension input parameter.

[0085] In the actual implementation process, the embodiment of the present application can first determine the geometric error model expression as:

[0086]

[0087] in, is a scalar output; is an integrable function; for k Dimensional input parameters, among which the grinding machine has a total of 38 geometric error acceptance parameters, so k is 38.

[0088] Secondly, the embodiment of the present application can adopt an improved Shapley sensitivity analysis strategy to comprehensively consider all subset combinations and calculate each parameter Improved Shapley value of , and use it as its sensitivity coefficient value, as shown in the following formula:

[0089]

[0090] in, Indicates that no parameters are included A subset of For subset S The number of elements of ; Indicates that the parameter Add to Subset S The expected output of the model after Indicates that only a subset is considered S The expected output of the model when The contributions of all possible permutations are adjusted to ensure fair contribution distribution, where N Indicates the total number of parameters.

[0091] It is understandable that the framework based on the Shapley method in the embodiment of the present application evaluates the output Y For each parameter The sensitivity of all subset combinations is comprehensively considered, the sensitivity coefficient value of each parameter is accurately calculated, and the independent contribution of the parameter and its interaction with other parameters are systematically evaluated, which provides a basis for accurately evaluating the impact of angle error on the volume error model.

[0092] Afterwards, in order to further explore the error generation mechanism and its multi-dimensional impact, the embodiment of the present application can carry out a systematic sensitivity analysis on the volume error and posture error of the grinding head, and the results are shown in Table 3.

[0093] Table 3

[0094]

[0095] As shown in Table 3, the angular error term is a key factor affecting the accuracy. Specifically, seven key angular error components have a significant impact on the spatial accuracy of the machine tool, while ten different key angular errors play an important role in the posture of the grinding head. In addition, six of these angular error components affect both the overall error and the posture error, further highlighting their importance. Therefore, it is particularly necessary to develop accurate and efficient measurement technologies for these angular error terms.

[0096] In step S103, based on the key geometric angle error terms, the ideal normal vector corresponding to the target translation axis system in a completely stationary state and the actual normal vector corresponding to the target translation axis system during operation are determined, and the projection angles of the ideal normal vector and the actual normal vector in different planes are obtained respectively, so as to determine multiple angular error components of the target translation axis system according to the projection angles.

[0097] Furthermore, the embodiments of the present application can measure the angular error of the translation axis based on the dual normal vector method, and by comparing the deviation between the ideal normal vector and the actual normal vector of the translation axis system (i.e., the translation axis feed system) in the corresponding state, and combining the projection angles of the ideal and actual normal vectors in different planes, the multiple angular error components in the translation axis feed system can be accurately measured.

[0098] Optionally, in one embodiment of the present application, based on the key geometric angle error term, the ideal normal vector corresponding to the target translation axis system in a completely stationary state and the actual normal vector corresponding to the target translation axis system during operation are determined, and the projection angles of the ideal normal vector and the actual normal vector in different planes are respectively obtained to determine multiple angular error components of the target translation axis system according to the projection angles, including: detecting the motion state of the target translation axis system; when the motion state of the target translation axis system is a completely stationary state, selecting multiple first target reference points along the translation axis of the target translation axis system, and generating two ideal triangles based on the multiple first target reference points, and respectively calculating the first inscribed circle center of the inscribed circle of each ideal triangle to determine the angle perpendicular to each ideal triangle according to the first inscribed circle center. The first ideal normal vector and the second ideal normal vector of the inscribed circle plane of the target translation axis system; when the motion state of the target translation axis system is the running state, the current running state information of the target translation axis system is obtained, and whether the target translation axis system meets the preset stable operation requirements is judged according to the current running state information, wherein if the target translation axis system meets the stable operation requirements, a plurality of second target reference points are selected along the translation axis; based on the plurality of second target reference points, two actual triangles are determined, and the second inscribed circle center of the inscribed circle of each actual triangle is calculated respectively, so as to determine the first actual normal vector and the second actual normal vector perpendicular to the inscribed circle plane of each actual triangle according to the second inscribed circle center; the first ideal normal vector, the second ideal normal vector, the first actual normal vector and the second actual normal vector are respectively obtained in the horizontal HEY Planar and vertical SUMMER The projection angle on the plane is used to determine the yaw error and pitch error of the target translation axis system, so as to measure multiple angular error components of the target translation axis system during operation according to the yaw error and the pitch error.

[0099] Specifically, the process of measuring the translation axis angle error according to the dual normal vector strategy in the embodiment of the present application is as follows:

[0100] First, when the machine tool is completely stationary, select four key points along the translation axis as reference points (i.e., multiple first target reference points), and use letters to indicate the direction of movement. l Indicates that it corresponds to X , Y or Z axis, k Indicates k On this basis, the embodiment of the present application calculates the inscribed circle centers (i.e., the first inscribed circle centers) of two triangles (i.e., two ideal triangles) and marks them as and ; Afterwards, the embodiment of the present application can determine the first ideal normal vector and the second ideal normal vector perpendicular to the inscribed circle plane, which are respectively recorded as and ,These inscribed circle centers and their corresponding normal vectors together form the reference frame for the error evaluation.

[0101] Secondly, during the operation of the machine tool, the position of the reference point will shift due to factors such as structural defects, thermal deformation and component wear. In order to quantify these changes, when the machine tool reaches a stable operating state, the embodiment of the present application can re-measure the position of the key point to obtain multiple second target reference points and reconstruct two new actual triangles. At this time, the center of the inscribed circle of each actual triangle moves to a new position to obtain a new inscribed circle center (i.e., the second inscribed circle center), which are marked as and , the corresponding normal vectors (i.e., the first actual normal vector and the second actual normal vector) are adjusted to and ; By comparing the position of the center of the inscribed circle in the initial state and the actual state ( and , and ), so that the position error of the translation axis can be calculated, such as tú2 The specific expression is as follows:

[0102]

[0103]

[0104]

[0105] in, ω 1 and ω 2 is an adjustable weighting factor, which is used to characterize the imbalance phenomenon in the translational shaft structure. Such imbalance usually originates from structural asymmetry or mechanical property changes. By adjusting the weighting factor, effective compensation can be achieved in the error evaluation process. In order to ensure the balance and simplicity of the analysis, in the embodiment of the present application, ω 1 and ω The values ​​of 2 are all set to 0.5.

[0106] Optionally, in one embodiment of the present application, the mathematical expression of the projection angle between the actual normal vector and the ideal normal vector on different planes is:

[0107]

[0108] in, Indicates that the first actual normal vector is perpendicular to the first ideal normal vector SUMMER Projection angle on the plane; Indicates that the first actual normal vector is horizontally aligned with the first ideal normal vector HEY Projection angle on the plane; Indicates that the second actual normal vector is perpendicular to the second ideal normal vector SUMMER Projection angle on the plane; Indicates that the second actual normal vector is horizontally aligned with the second ideal normal vector HEY Projection angle on the plane; represents the first actual normal vector x Directional component; represents the first actual normal vector y Directional component; represents the first actual normal vector z Directional component; Represents the second actual normal vector x Directional component; Represents the second actual normal vector y Directional component; Represents the second actual normal vector z Directional component.

[0109] It should be noted that the embodiment of the present application can be based on the ideal normal vector ( , ) and the actual normal vector ( , ) to identify the angular error, that is, the embodiments of the present application can determine whether there is an angular error component in the translational motion by studying the deviation between the two types of normal vectors, thereby achieving a comprehensive evaluation of the geometric error of the translational axis.

[0110] by Y axis as an example, the embodiment of the present application can analyze the normal vector in HEY Plane and SUMMER The projection angle on the plane is used to quantify the angle error, such as tú3 shown.

[0111] Specifically, the embodiment of the present application can be used to compare the actual normal vector with the ideal normal vector in the horizontal direction. HEY The projection angle on the plane is defined as the yaw error. SUMMER The projection angle on the plane is defined as the pitch error. The above two error parameters respectively reflect the deflection degree of the moving parts in the horizontal plane and the tilt state in the vertical plane, and together constitute the core indicators of angle error evaluation, as shown in the following formula:

[0112]

[0113] Similarly, the embodiment of the present application can more comprehensively evaluate the angle error by calculating the projection angle between the second ideal normal vector and the second actual normal vector, as shown in the following formula:

[0114]

[0115] in, Indicates that the first actual normal vector is perpendicular to the first ideal normal vector SUMMER Projection angle on the plane; Indicates that the first actual normal vector is horizontally aligned with the first ideal normal vector HEY Projection angle on the plane; Indicates that the second actual normal vector is perpendicular to the second ideal normal vector SUMMER Projection angle on the plane; Indicates that the second actual normal vector is horizontally aligned with the second ideal normal vector HEY Projection angle on the plane; represents the first actual normal vector x Directional component; represents the first actual normal vector y Directional component; represents the first actual normal vector z Directional component; Represents the second actual normal vector x Directional component; Represents the second actual normal vector y Directional component; Represents the second actual normal vector z Directional component.

[0116] Optionally, in one embodiment of the present application, the mathematical expressions of the yaw error and the pitch error are:

[0117]

[0118] in, ω 1 and ω 2 is the adjustable weighting factor; Indicates the yaw error or pitch error of the target translation axis system; Indicates that the first actual normal vector is perpendicular to the first ideal normal vector SUMMER The projection angle on the plane or the first actual normal vector and the first ideal normal vector are horizontal HEY Projection angle on the plane; Indicates that the second actual normal vector is perpendicular to the second ideal normal vector SUMMER The projection angle on the plane or the second actual normal vector and the second ideal normal vector are horizontal HEY The projection angle on the plane; v equalx hour, represents the pitch error, Indicates that the first actual normal vector is perpendicular to the first ideal normal vector SUMMER The projection angle on the plane, Indicates that the second actual normal vector is perpendicular to the second ideal normal vector SUMMER The projection angle on the plane is v equal z hour, represents the yaw error, Indicates that the first actual normal vector is horizontally aligned with the first ideal normal vector HEY The projection angle on the plane, Indicates that the second actual normal vector is horizontally aligned with the second ideal normal vector HEY The projection angle on the plane.

[0119] Afterwards, the embodiment of the present application can calculate the pitch and yaw errors of the translation axis by the following formula:

[0120]

[0121] in, ω 1 and ω 2 is the adjustable weighting factor; Indicates the yaw error or pitch error of the target translation axis system; Indicates that the first actual normal vector is perpendicular to the first ideal normal vector SUMMER The projection angle on the plane or the first actual normal vector and the first ideal normal vector are horizontal HEY Projection angle on the plane; Indicates that the second actual normal vector is perpendicular to the second ideal normal vector SUMMER The projection angle on the plane or the second actual normal vector and the second ideal normal vector are horizontal HEY The projection angle on the plane; v equal x hour, represents the pitch error, Indicates that the first actual normal vector is perpendicular to the first ideal normal vector SUMMER The projection angle on the plane, Indicates that the second actual normal vector is perpendicular to the second ideal normal vector SUMMER The projection angle on the plane is v equal z hour, represents the yaw error, Indicates that the first actual normal vector is horizontally aligned with the first ideal normal vector HEY The projection angle on the plane, Indicates that the second actual normal vector is horizontally aligned with the second ideal normal vector HEYThe projection angle on the plane.

[0122] It should be noted that the embodiment of the present application uses the above-mentioned dual normal vector strategy to measure and analyze the extracted key angle error terms, and Y axis, a comparative study was conducted on the direct measurement method and the dual normal vector strategy in evaluating Y The performance in the pitch and yaw errors of the axis; furthermore, the embodiment of the present application comprehensively compares four measurement methods: direct measurement method, traditional 12-line method, single normal vector method and double normal vector method of the embodiment of the present application, among which the direct measurement value is used as the evaluation benchmark.

[0123] In order to objectively evaluate the accuracy of each measurement method, the embodiment of the present application may use mean absolute error MAE and root mean square error RMSE as evaluation indicators; Y The comparison of the measurement results and error indicators of the 2 axes are as follows: tú4 and tú5 as shown; tú4 and tú5 The experimental results shown show that the dual normal vector strategy is highly consistent with the actual value and achieves the smallest MAE and RMSE among all evaluation methods. The specific performance is as follows:

[0124] 1. Translation axis pitch angle error measurement: The RMSE of the dual normal vector strategy is 68.1% lower than that of the 12-line method and 60.0% lower than that of the single normal vector method;

[0125] 2. Translation axis yaw angle error measurement: The RMSE of the dual normal vector strategy is 62.3% lower than that of the 12-line method and 68.6% lower than that of the single normal vector method.

[0126] It is understandable that, according to the above experimental results, the dual normal vector strategy not only achieves a level of accuracy comparable to direct measurement, but also has significant advantages in terms of measurement efficiency; compared with the traditional method that requires complex settings and time-consuming diagonal measurement procedures, the dual normal vector strategy of the embodiment of the present application avoids the cumbersome steps of measuring multi-axis trajectories by optimizing the measurement process. Therefore, the embodiment of the present application significantly improves the operating efficiency while ensuring high precision, and provides a practical and efficient solution for measuring the angular error of the translation axis of a CNC machine tool.

[0127] The following describes the execution logic of the translation axis angle error measurement method of the present application in combination with the accompanying drawings.

[0128] tú6 FIG. 1 is a schematic diagram of the execution logic of the translation axis angle error measurement method of the present application. tú6 As shown, the execution process of the translation axis angle error measurement method of the present application is as follows:

[0129] S601: Establish a geometric error model for the translation axis system as the theoretical basis for error analysis;

[0130] S602: Use the improved Shapley method to perform sensitivity analysis on each geometric error term, quantitatively evaluate the impact of each angle error term on the volume error and end-point posture error, and then identify the key angle error term;

[0131] S603: Measure the angular error of the translation axis based on the dual normal vector method. By comparing the deviation between the ideal and actual normal vectors and combining the projection angles of the normal vectors on different planes, multiple angular error components in the translation axis feed system are accurately measured.

[0132] Therefore, the embodiments of the present application can well solve the problem in the related art that it is difficult to take into account both measurement accuracy and efficiency due to the complexity of optical adjustment and operation process, thereby significantly improving the accuracy and efficiency of translation axis angle measurement.

[0133] According to the translation axis angle error measurement method proposed in the embodiment of the present application, multiple geometric angle error term parameters of the target translation axis system are obtained; a sensitivity analysis is performed on each of the multiple geometric angle error term parameters through a pre-constructed geometric error model to extract the key geometric angle error terms of the target translation axis system; based on the key geometric angle error terms, an ideal normal vector corresponding to the target translation axis system in a completely static state and an actual normal vector corresponding to the target translation axis system during operation are determined, and the projection angles of the ideal normal vector and the actual normal vector in different planes are respectively obtained to determine multiple angle error components of the target translation axis system according to the projection angles, thereby significantly improving the accuracy and efficiency of the translation axis angle measurement.

[0134] Next, a translation axis angle error measuring device proposed in accordance with an embodiment of the present application is described with reference to the accompanying drawings.

[0135] tú7 It is a block diagram of a translation axis angle error measuring device according to an embodiment of the present application.

[0136] like tú7 As shown, the translation axis angle error measuring device 10 includes: an acquisition module 100 , an extraction module 200 and a measurement module 300 .

[0137] The acquisition module 100 is used to acquire multiple geometric angle error term parameters of the target translation axis system.

[0138] The extraction module 200 is used to perform sensitivity analysis on each of the multiple geometric angle error term parameters through a pre-built geometric error model to extract key geometric angle error terms of the target translation axis system.

[0139] The measurement module 300 is used to determine the ideal normal vector corresponding to the target translation axis system in a completely static state and the actual normal vector corresponding to the target translation axis system during operation based on the key geometric angle error terms, and obtain the projection angles of the ideal normal vector and the actual normal vector in different planes respectively, so as to determine multiple angular error components of the target translation axis system according to the projection angles.

[0140] Optionally, in one embodiment of the present application, the extraction module 200 includes: a collection unit, a first calculation unit, a second calculation unit and a quantitative evaluation unit.

[0141] Among them, the acquisition unit is used to construct an error term parameter set corresponding to multiple geometric angle error term parameters, and use a preset quasi-Monte Carlo sampling strategy to collect multiple target input parameters corresponding to the geometric error model from the error term parameter set, so as to construct corresponding multiple parameter subsets according to the multiple target input parameters.

[0142] The first calculation unit is used to calculate the improved Shapley value of each target input parameter in the multiple target input parameters based on multiple parameter subsets and a preset improved Shapley strategy, and determine the sensitivity coefficient value of the corresponding target input parameter according to the improved Shapley value.

[0143] The second calculation unit is used to input the sensitivity coefficient value of each target input parameter into the geometric error model to calculate the scalar output data corresponding to each target input parameter.

[0144] The quantitative evaluation unit is used to quantitatively evaluate the influence of each geometric angle error term parameter on the volume error and end attitude error of the target translation axis system based on the sensitivity coefficient value and the scalar output data, so as to obtain a quantitative evaluation result, and extract the key geometric angle error term according to the quantitative evaluation result.

[0145] Optionally, in one embodiment of the present application, the measurement module 300 includes: an ideal normal vector determination unit, an actual normal vector determination unit, a third calculation unit and a projection unit.

[0146] Wherein, the detection unit is used to detect the motion state of the target translation axis system.

[0147] The ideal normal vector determination unit is used to select multiple first target reference points along the translation axis of the target translation axis system when the motion state of the target translation axis system is a completely stationary state, and generate two ideal triangles based on the multiple first target reference points, and respectively calculate the first inscribed circle center of the inscribed circle of each ideal triangle to determine the first ideal normal vector and the second ideal normal vector perpendicular to the inscribed circle plane of each ideal triangle according to the first inscribed circle center.

[0148] The actual normal vector determination unit is used to obtain the current operating state information of the target translation axis system when the motion state of the target translation axis system is the operating state, and judge whether the target translation axis system meets the preset stable operation requirements according to the current operating state information, wherein if the target translation axis system meets the stable operation requirements, multiple second target reference points are selected along the translation axis.

[0149] The third calculation unit is used to determine two actual triangles based on multiple second target reference points, and respectively calculate the second inscribed circle center of the inscribed circle of each actual triangle, so as to determine the first actual normal vector and the second actual normal vector perpendicular to the inscribed circle plane of each actual triangle according to the second inscribed circle center.

[0150] A projection unit is used to obtain the first ideal normal vector, the second ideal normal vector, the first actual normal vector and the second actual normal vector in the horizontal direction. HEY Planar and vertical SUMMER The projection angle on the plane is used to determine the yaw error and pitch error of the target translation axis system, so as to measure multiple angular error components of the target translation axis system during operation according to the yaw error and the pitch error.

[0151] Optionally, in one embodiment of the present application, the mathematical expression of the geometric error model is:

[0152]

[0153] in, Output data for scalar; is an integrable function; for k Dimension input parameter.

[0154] Optionally, in one embodiment of the present application, the mathematical expressions of the yaw error and the pitch error are:

[0155]

[0156] in, ω 1 and ω 2 is the adjustable weighting factor; Indicates the yaw error or pitch error of the target translation axis system; Indicates that the first actual normal vector is perpendicular to the first ideal normal vector SUMMER The projection angle on the plane or the first actual normal vector and the first ideal normal vector are horizontal HEY Projection angle on the plane; Indicates that the second actual normal vector is perpendicular to the second ideal normal vector SUMMER The projection angle on the plane or the second actual normal vector and the second ideal normal vector are horizontal HEYThe projection angle on the plane; v equal x hour, represents the pitch error, Indicates that the first actual normal vector is perpendicular to the first ideal normal vector SUMMER The projection angle on the plane, Indicates that the second actual normal vector is perpendicular to the second ideal normal vector SUMMER The projection angle on the plane is v equal z hour, represents the yaw error, Indicates that the first actual normal vector is horizontally aligned with the first ideal normal vector HEY The projection angle on the plane, Indicates that the second actual normal vector is horizontally aligned with the second ideal normal vector HEY The projection angle on the plane.

[0157] Optionally, in one embodiment of the present application, the mathematical expression of the projection angle between the actual normal vector and the ideal normal vector on different planes is:

[0158]

[0159] in, Indicates that the first actual normal vector is perpendicular to the first ideal normal vector SUMMER Projection angle on the plane; Indicates that the first actual normal vector is horizontally aligned with the first ideal normal vector HEY Projection angle on the plane; Indicates that the second actual normal vector is perpendicular to the second ideal normal vector SUMMER Projection angle on the plane; Indicates that the second actual normal vector is horizontally aligned with the second ideal normal vector HEY Projection angle on the plane; represents the first actual normal vector x Directional component; represents the first actual normal vector y Directional component; represents the first actual normal vector z Directional component; Represents the second actual normal vector x Directional component; Represents the second actual normal vector y Directional component; Represents the second actual normal vector z Directional component.

[0160] It should be noted that the above explanations of the embodiment of the translation axis angle error measurement method are also applicable to the translation axis angle error measurement device of this embodiment, and will not be repeated here.

[0161] The translation axis angle error measurement device proposed in the embodiment of the present application includes an acquisition module 100, which is used to obtain multiple geometric angle error term parameters of a target translation axis system; an extraction module 200, which is used to perform sensitivity analysis on each of the multiple geometric angle error term parameters through a pre-constructed geometric error model to extract the key geometric angle error terms of the target translation axis system; a measurement module 300, which is used to determine, based on the key geometric angle error terms, an ideal normal vector corresponding to the target translation axis system in a completely static state and an actual normal vector corresponding to the target translation axis system during operation, and respectively obtain the projection angles of the ideal normal vector and the actual normal vector in different planes to determine multiple angle error components of the target translation axis system according to the projection angles, thereby significantly improving the accuracy and efficiency of the translation axis angle measurement.

[0162] tú8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device may include:

[0163] A memory 801 , a processor 802 , and a computer program stored in the memory 801 and executable on the processor 802 .

[0164] When the processor 802 executes the program, the translation axis angle error measurement method provided in the above embodiment is implemented.

[0165] Furthermore, the electronic device further comprises:

[0166] The communication interface 803 is used for communication between the memory 801 and the processor 802 .

[0167] The memory 801 is used to store computer programs that can be executed on the processor 802 .

[0168] The memory 801 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0169] If the memory 801, the processor 802 and the communication interface 803 are implemented independently, the communication interface 803, the memory 801 and the processor 802 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, tú8 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0170] Optionally, in a specific implementation, if the memory 801, the processor 802 and the communication interface 803 are integrated on a chip, the memory 801, the processor 802 and the communication interface 803 can communicate with each other through an internal interface.

[0171] The processor 802 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0172] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned method for measuring the angle error of a translational axis.

[0173] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed, is used to implement the above-mentioned method for measuring the angle error of the translation axis.

[0174] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0175] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0176] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0177] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection with one or N wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways as necessary and then storing it in a computer memory.

[0178] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0179] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0180] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0181] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for measuring the angle error of a translation axis, characterized in that: The following steps are involved: Obtaining multiple geometric angle error term parameters of the target translation axis system; Performing a sensitivity analysis on each of the plurality of geometric angle error term parameters through a pre-constructed geometric error model to extract key geometric angle error terms of the target translation axis system; Based on the key geometric angle error term, determine an ideal normal vector corresponding to the target translation axis system in a completely stationary state and an actual normal vector corresponding to the target translation axis system during operation, and respectively obtain projection angles of the ideal normal vector and the actual normal vector on different planes, so as to determine multiple angle error components of the target translation axis system according to the projection angles; The method of performing sensitivity analysis on each of the plurality of geometric angle error term parameters by using a pre-constructed geometric error model to extract key geometric angle error terms of the target translation axis system includes: Constructing an error term parameter set corresponding to the multiple geometric angle error term parameters, and using a preset quasi-Monte Carlo sampling strategy to collect multiple target input parameters corresponding to the geometric error model from the error term parameter set, so as to construct corresponding multiple parameter subsets according to the multiple target input parameters; Based on the multiple parameter subsets and a preset improved Shapley strategy, calculating an improved Shapley value of each target input parameter in the multiple target input parameters, and determining a sensitivity coefficient value of the corresponding target input parameter according to the improved Shapley value; Inputting the sensitivity coefficient value of each target input parameter into the geometric error model to calculate the scalar output data corresponding to each target input parameter; Based on the sensitivity coefficient value and the scalar output data, the influence of each geometric angle error term parameter on the volume error and end attitude error of the target translation axis system is quantitatively evaluated to obtain a quantitative evaluation result, and the key geometric angle error term is extracted according to the quantitative evaluation result.

2. The method for measuring the translation axis angle error according to claim 1, characterized in that: The method of determining an ideal normal vector corresponding to the target translation axis system in a completely stationary state and an actual normal vector corresponding to the target translation axis system during operation based on the key geometric angle error term, and obtaining projection angles of the ideal normal vector and the actual normal vector on different planes respectively, so as to determine multiple angle error components of the target translation axis system according to the projection angles, includes: Detecting the motion state of the target translation axis system; When the motion state of the target translation axis system is the completely stationary state, a plurality of first target reference points are selected along the translation axis of the target translation axis system, and two ideal triangles are generated based on the plurality of first target reference points, and a first inscribed circle center of the inscribed circle of each ideal triangle is calculated respectively, so as to determine a first ideal normal vector and a second ideal normal vector perpendicular to the inscribed circle plane of each ideal triangle according to the first inscribed circle center; When the motion state of the target translation axis system is the running state, obtaining current running state information of the target translation axis system, and judging whether the target translation axis system meets the preset stable running requirement according to the current running state information, wherein if the target translation axis system meets the stable running requirement, selecting a plurality of second target reference points along the translation axis; Based on the multiple second target reference points, two actual triangles are determined, and a second inscribed circle center of the inscribed circle of each actual triangle is calculated respectively, so as to determine a first actual normal vector and a second actual normal vector perpendicular to the inscribed circle plane of each actual triangle according to the second inscribed circle center; Respectively obtain the first ideal normal vector, the second ideal normal vector, the first actual normal vector and the second actual normal vector in the horizontal XOY Planar and vertical YOZ A projection angle on a plane is obtained, and a yaw error and a pitch error of the target translation axis system are determined by using the projection angle, so as to measure multiple angular error components of the target translation axis system during operation according to the yaw error and the pitch error.

3. The method for measuring the translation axis angle error according to claim 1, characterized in that: The mathematical expression of the geometric error model is: in, outputting data for the scalar; is an integrable function; for k Dimension input parameter.

4. The method for measuring the translation axis angle error according to claim 2, characterized in that: The mathematical expressions of the yaw error and the pitch error are: in, ω 1 and ω 2 is the adjustable weighting factor; represents the yaw error or the pitch error of the target translation axis system; Indicates that the first actual normal vector and the first ideal normal vector are perpendicular to each other. YOZ The projection angle on the plane or the angle between the first actual normal vector and the first ideal normal vector on the horizontal plane XOY Projection angle on the plane; The second actual normal vector and the second ideal normal vector are perpendicular to each other. YOZ The projection angle on the plane or the angle between the second actual normal vector and the second ideal normal vector on the horizontal plane XOY The projection angle on the plane; v equal x hour, represents the pitch error, Indicates that the first actual normal vector and the first ideal normal vector are perpendicular to each other. YOZ The projection angle on the plane, The second actual normal vector and the second ideal normal vector are perpendicular to each other. YOZ The projection angle on the plane is v equal z hour, represents the yaw error, Indicates that the first actual normal vector and the first ideal normal vector are at the same level XOY The projection angle on the plane, It indicates that the second actual normal vector and the second ideal normal vector are at the same level. XOY The projection angle on the plane.

5. The method for measuring the translation axis angle error according to claim 2, characterized in that: The mathematical expression of the projection angle between the actual normal vector and the ideal normal vector on different planes is: in, Indicates that the first actual normal vector and the first ideal normal vector are perpendicular to each other. YOZ Projection angle on the plane; Indicates that the first actual normal vector and the first ideal normal vector are at the same level XOY Projection angle on the plane; The second actual normal vector and the second ideal normal vector are perpendicular to each other. YOZ Projection angle on the plane; It indicates that the second actual normal vector and the second ideal normal vector are at the same level. XOY Projection angle on the plane; represents the first actual normal vector x Directional component; represents the first actual normal vector y Directional component; represents the first actual normal vector z Directional component; The second actual normal vector is x Directional component; The second actual normal vector is y Directional component; The second actual normal vector is z Directional component.

6. A translation axis angle error measuring device, characterized in that: include: An acquisition module, used for acquiring multiple geometric angle error term parameters of a target translation axis system; An extraction module, configured to perform a sensitivity analysis on each of the plurality of geometric angle error term parameters through a pre-built geometric error model, so as to extract a key geometric angle error term of the target translation axis system; A measurement module, configured to determine, based on the key geometric angle error term, an ideal normal vector corresponding to the target translation axis system in a completely stationary state and an actual normal vector corresponding to the target translation axis system during operation, and respectively obtain projection angles of the ideal normal vector and the actual normal vector in different planes, so as to determine multiple angle error components of the target translation axis system according to the projection angles; Wherein, the extraction module comprises: A collection unit, used to construct an error term parameter set corresponding to the multiple geometric angle error term parameters, and collect multiple target input parameters corresponding to the geometric error model from the error term parameter set using a preset quasi-Monte Carlo sampling strategy, so as to construct corresponding multiple parameter subsets according to the multiple target input parameters; a first calculation unit, configured to calculate an improved Shapley value of each target input parameter among the multiple target input parameters based on the multiple parameter subsets and a preset improved Shapley strategy, and determine a sensitivity coefficient value of the corresponding target input parameter according to the improved Shapley value; a second calculation unit, configured to input the sensitivity coefficient value of each target input parameter into the geometric error model to calculate the scalar output data corresponding to each target input parameter; A quantitative evaluation unit is used to quantitatively evaluate the influence of each geometric angle error term parameter on the volume error and the end attitude error of the target translation axis system based on the sensitivity coefficient value and the scalar output data to obtain a quantitative evaluation result, and extract the key geometric angle error term according to the quantitative evaluation result.

7. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method for measuring the angle error of a translation axis as described in any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the method for measuring the angle error of a translation axis as described in any one of claims 1 to 5.

9. A computer program product, comprising a computer program, characterized in that The computer program is executed to implement the method for measuring the translation axis angle error according to any one of claims 1 to 5.

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