Turbine disc mortise six-axis broaching machine motion error recognition and parameter compensation method

Abstract

The invention belongs to the technical field of machining, and particularly relates to a turbine disc mortise six-axis broaching machine motion error recognition and parameter compensation method which comprises the following steps: S1, collecting motion data of various machining motions of a six-axis broaching machine by taking a laser emission point of a laser measurement device as a reference point; the motion data collected by the laser measuring device is compared with the corresponding motion data collected by the optical grid monitoring system of the six-axis broaching machine, and the deviation value of the data collected by the laser measuring device and the corresponding motion data is calculated; s2, on the basis of the deviation values obtained in the step S1, errors of various motions of the six-axis broaching machine are fitted through a least square method to form corresponding linear functions; s3, during actual machining, the six-axis broaching machine adopts the same motion parameters as the motion parameters in the step S1; and according to the linear function obtained in the step S2, error values needing to be compensated for in various motions of the six-axis broaching machine are calculated and compensated.

Description

Technical Field

[0001] The invention relates to the technical field of turbine disc tenon and groove broaching machine manufacturing, and in particular to a motion error identification and parameter compensation method for a turbine disc tenon and groove six-axis broaching machine. Background Art

[0002] The turbine disk is one of the core components in an aircraft engine. Its main function is to install and fix the turbine blades to achieve power transmission. Under the harsh working conditions of high temperature, high pressure and high speed, the turbine disk needs to withstand complex loads. Therefore, its material is usually selected from high-temperature alloys or titanium alloys to ensure reliability and durability in extreme environments. The design and manufacture of the turbine disk has a decisive influence on the overall performance of the engine, and its precision and quality are directly related to the thrust-to-weight ratio, reliability and safety of the engine. The dimensional accuracy and surface quality requirements of the turbine disk are extremely high, and deformation and surface defects are prone to occur during the processing. In particular, the mortise and tenon processing accuracy of the turbine disk has a crucial influence on the performance of the turbine blades.

[0003] In current technology, a special tenon-and-groove broaching machine is used to process the tenon-and-groove of turbine discs. However, after the tenon-and-groove broaching machine is assembled, the gravity of the broaching machine parts may cause a significant delay in the motion response time and motion position. In addition, the gravity may also cause a large deformation of the related parts, thereby reducing the tenon-and-groove processing accuracy of the entire machine tool. Therefore, it is necessary to identify the motion error and parameter compensation of the turbine disc tenon-and-groove six-axis broaching machine. Summary of the invention

[0004] The purpose of the present invention is to overcome the above-mentioned deficiencies in the prior art and to provide a method for motion error identification and parameter compensation of a turbine disc tenon-and-groove six-axis broaching machine.

[0005] The technical solution of the present invention is described in detail below:

[0006] The motion of the horizontal six-axis CNC broaching machine targeted by the present invention can be divided into the following motions:

[0007] (1) Tool movement

[0008] The tool moves along the X-axis direction;

[0009] (2) Rotational movement around the Y axis

[0010] That is, the movement of rotation around the Y axis (often called the A axis) controlled by the C-shaped cradle of the horizontal six-axis CNC broaching machine;

[0011] (3) Rotational movement around the Z axis

[0012] That is, the movement of rotation around the Z axis controlled by the turntable of the horizontal six-axis CNC broaching machine;

[0013] (4) X-axis movement

[0014] That is, the movement of the worktable of the horizontal six-axis CNC broaching machine along the X-axis direction, also known as horizontal movement;

[0015] (5) Y-axis movement

[0016] That is, the movement of the worktable of the horizontal six-axis CNC broaching machine along the Y-axis direction, also known as forward and backward movement.

[0017] The motion position of the horizontal six-axis CNC broaching machine is identified by the grating monitoring system to see whether it has reached the set position. Its motion error is mainly the relative error caused by the coordination of multiple motions. It is possible that the monitoring result of the grating monitoring system shows that it has reached the set position, but in fact, due to the relative motion of the related matching devices of the grating monitoring system, the reference reference point has relative motion, resulting in errors in the monitoring result. Based on the above situation, it is necessary to construct a theoretical reference coordinate system and reference point, derive the relationship between the actual motion and theoretical motion position of each motion based on kinematics, and measure the displacement data through other measuring devices to identify each motion error.

[0018] The technical solution of the present invention is: a method for identifying motion errors and compensating parameters of a turbine disc tenon-groove six-axis broaching machine, characterized in that it comprises the following steps:

[0019] S1. Error identification

[0020] The laser emission point of the laser measuring device is used as the reference point to collect the motion data of various movements of the six-axis broaching machine; the motion data collected by the laser measuring device is compared with the corresponding motion data collected by the raster monitoring system of the six-axis broaching machine itself, and the deviation value of the data collected by the two is calculated;

[0021] S2. Based on the deviation value obtained in step S1, the errors of various movements of the six-axis broaching machine are fitted by the least square method to form corresponding linear functions;

[0022] S3. Parameter compensation

[0023] The six-axis broaching machine adopts the same motion parameters as those in step S1; then, according to the linear function obtained in S2, the error values ​​that need to be compensated for various motions of the six-axis broaching machine are calculated, and compensation is performed during actual processing.

[0024] Further, in step S1, various movements of the six-axis broaching machine include tool movement, movement of rotation about the Y axis, movement of rotation about the Z axis, X axis movement and Y axis movement.

[0025] Further, step S1 includes the following steps:

[0026] S11. Error measurement of tool movement

[0027] Assume that the initial time is 0, the travel from the initial position after tool change to the tool end point after cutting is L1, the total measurement time is t1, and the position collected by the grating monitoring system changes with time as s 1i The displacement collected by the laser measurement device changes with time as c 1i , assuming the number of measurements is n+1, where n is a natural number greater than or equal to 1, the measurement time is:

[0028]

[0029] The corresponding travel changes collected by the raster monitoring system corresponding to the tool are as follows:

[0030] 0,s 11 ,s 12 ,…,s 1i ,…,s 1(n-1) ,s 1n ;

[0031] The travel changes collected by the laser measuring device are as follows:

[0032] 0, c 11 , c 12 , …, c 1i , …, c 1(n-1) , c 1n ;

[0033] Then the change of tool displacement deviation over time Δk 1i They are:

[0034] 0,Δk 11 , Δk 12 , …, Δk 1i , …, Δk 1(n-1) , Δk 1n ;

[0035] in:

[0036] Δk 1i =c 1i -s 1i .

[0037] Further, step S1 includes the following steps:

[0038] S12. Error measurement of the motion around the Y axis

[0039] Using the measurement time in formula (1), that is, the time taken for the C-shaped cradle to rotate from the initial position to the extreme position is t1, and the maximum angle when the C-shaped cradle rotates from the initial position to the extreme position is set to ψ1, the rotation angular velocity ω1 is:

[0040]

[0041] The angle changes collected by the grating monitoring system corresponding to the C-shaped cradle are as follows:

[0042] 0, θ y1 ,θ y2 ,…,θ yi ,…,θ y(n-1) ,θ yn ;

[0043] The rotation angle changes of the C-type cradle collected by the laser horizontal angle measuring instrument are as follows:

[0044]

[0045] Then the rotation angle deviation of the C-type cradle changes in sequence:

[0046]

[0047] in:

[0048]

[0049] Further, step S1 includes the following steps:

[0050] S13. Error measurement of the motion around the Z axis

[0051] Using the measurement time in equation (1), that is, the time taken for the turntable to rotate from the initial position to the limit position is t1, and the limit angle of the turntable rotation is set to ψ2, the angular velocity of the turntable rotation is ω2, and:

[0052]

[0053] The angles collected by the grating monitoring system corresponding to the turntable change over time in the following order:

[0054] 0, λ z1 ,λ z2 , …, λ zi , …, λ z(n-1 ), λ zn ;

[0055] The rotation angle of the turntable collected by the laser measurement system changes with time as follows:

[0056] 0,η z1 , η z2 ,…,η zi ,…,η z(n-1) , η zn ;

[0057] Then the deviation change of the turntable rotation angle is:

[0058] 0, Δη z1 , Δη z2 , …, Δη zi ,…,Δη z(n-1) , Δη zn ;

[0059] in:

[0060] Δη zi =η zi -λ zi .

[0061] Further, step S1 includes the following steps:

[0062] S14. Error measurement of X-axis motion

[0063] The measurement time in formula (1) is used, that is, the time taken for the worktable to move from the initial position to the limit position of the X-axis is t1; let the limit displacement of the worktable in the X-axis direction be ψ 3x , then the moving speed of the worktable in the X-axis direction is:

[0064]

[0065] The displacement changes over time collected by the grating monitoring system for detecting the displacement of the worktable in the X direction are:

[0066] 0, l x1 , l x2 ,…,l xi ,…,l x(n-1) , l xn ;

[0067] The laser measurement system collects the change of the X-direction displacement of the worktable over time:

[0068] 0,s x1 ,s x2 ,…,s xi ,…,s x(n-1) ,s xn ;

[0069] Then the variation of the motion error of the worktable in the X direction with time is:

[0070] 0, Δl x1 , Δl x2 ,…,Δl xi ,…,Δl x(n-1) , Δl xn ;

[0071] in:

[0072] Δl xi =s xi -l xi .

[0073] Further, step S1 includes the following steps:

[0074] S15. Measure the Y-axis movement

[0075] The measurement time in formula (1) is used, that is, the time taken for the workbench to move from the initial position to the limit position of the Y axis is t1; let the limit displacement of the workbench in the Y axis direction be ω 3y , then the moving speed of the workbench in the Y-axis direction is:

[0076]

[0077] The displacement changes over time collected by the grating monitoring system for detecting the Y-direction displacement of the worktable are:

[0078] 0, l y1 , l y2 ,…,l yi ,…,l y(n-1) , l yn ;

[0079] The laser measurement system collects the change of the Y-direction displacement of the worktable over time:

[0080] 0,s y1 ,s y2 ,…,s yi ,…,l y(n-1) , l yn ;

[0081] Then the variation of the motion error of the worktable in the Y direction with time is:

[0082] 0, Δl y1 , Δl y2 ,…,Δl yi ,…,Δl y(n-1) , Δl yn ;

[0083] in:

[0084] Δl yi =s yi -l yi .

[0085] Furthermore, in step S2, the fitted linear function includes:

[0086] 1) Tool motion error function

[0087] f1=a1x1+b1 (2),

[0088] Where x1 is the displacement of the tool along its motion direction, a1 and b1 are the slope and offset, respectively, which are calculated based on the corresponding deviation values ​​obtained in step S1;

[0089] 2) Motion error function about the Y axis

[0090] f2=a2x2+b2 (3),

[0091] Where x2 is the rotation angle of the C-type cradle; a2 and b2 are the slope and bias, respectively, which are calculated according to the corresponding deviation values ​​obtained in step S1;

[0092] 3) Motion error function about the Z axis

[0093] f3=a3x3+b3 (4),

[0094] Where x3 is the rotation angle of the turntable; a3 and b3 are the slope and offset, respectively, which are calculated based on the corresponding deviation values ​​obtained in step S1;

[0095] 4) X-axis motion error function

[0096] f4=a4x4+b4 (5),

[0097] Where x4 is the displacement of the worktable in the X direction; a4 and b4 are the slope and offset, respectively, which are calculated based on the corresponding deviation values ​​obtained in step S1;

[0098] 5) Y-axis motion error function

[0099] f5=a5x5+b5 (6),

[0100] Wherein x5 is the displacement of the workbench in the Y direction; a5 and b5 are the slope and offset, respectively, which are calculated according to the corresponding deviation values ​​obtained in step S1.

[0101] Furthermore, in step S3, the tool movement speed, the C-shaped cradle rotation speed, the turntable rotation speed, the worktable X-axis direction speed and the worktable Y-axis direction speed are all kept consistent with the corresponding movement speeds when measuring the error in step S1.

[0102] Since the movement speed and position of each component of the broaching machine change, the deviation will change. Therefore, in the actual processing process, keeping the relevant motion parameters of the machine tool the same as in the error identification step can reduce the impact of the deviation on the processing accuracy and facilitate compensation of the machine tool movement position.

[0103] Furthermore, when processing the mortise and tenon groove, the tool movement position, the C-shaped cradle rotation angle, the turntable rotation angle, the worktable x-direction displacement, and the worktable y-direction position are respectively:

[0104] c w ,θ w ,λ w ,

[0105] Then the compensated tool motion position, C-shaped cradle rotation angle, turntable rotation angle, worktable x-direction displacement, and worktable y-direction position will become:

[0106] c w-r =c w +f1(c w );

[0107] θ w-r =θ w +f2(θ w );

[0108] λ w-r =λ w +f3(λ w );

[0109]

[0110] The above motion errors can be compensated in motion parameters or through the internal compensation function of the CNC system.

[0111] Compared with the prior art, the present invention has the following beneficial effects: the present invention proposes a method for error identification and parameter compensation for turbine disc tenon and groove six-axis broaching machine processing, which fully takes into account the situation that the deviation will change due to the change of movement speed and position of various components of the broaching machine. Therefore, the present invention performs error identification on various movements of the machine tool respectively, and in the actual processing process, the relevant motion parameters of the machine tool are made to be exactly the same as the motion parameters in the error identification process, thereby minimizing the influence of relevant deviations on processing accuracy, and making it more convenient to compensate for the movement position of relevant components of the machine tool, so that the invention can significantly improve the accuracy of tenon and groove processing and contribute to the innovative development of my country's aviation equipment. DETAILED DESCRIPTION

[0112] In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention is described below in conjunction with specific embodiments. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present invention. In addition, in the following description, the description of known structures and technologies is omitted to avoid unnecessary confusion of concepts in the present invention.

[0113] Example 1

[0114] The horizontal six-axis CNC broaching machine targeted by this embodiment includes a tool, a C-shaped cradle, a turntable and a workbench. The tool is installed on the spindle of the machine tool, the C-shaped cradle is installed on the bed, the turntable is installed on the C-shaped cradle, and the workbench is installed on the turntable. The movement of the horizontal six-axis CNC broaching machine is mainly divided into the following movements:

[0115] (1) Tool movement

[0116] The tool moves along the X-axis direction;

[0117] (6) Rotational movement around the Y axis

[0118] That is, the C-shaped cradle of the horizontal six-axis CNC broaching machine rotates around the Y-axis (often called the A-axis);

[0119] (7) Rotational movement around the Z axis

[0120] That is, the rotation of the turntable of the horizontal six-axis CNC broaching machine around the Z axis;

[0121] (8) X-axis movement

[0122] That is, the movement of the worktable of the horizontal six-axis CNC broaching machine along the X-axis direction, also known as horizontal movement;

[0123] (9) Y-axis movement

[0124] That is, the movement of the worktable of the horizontal six-axis CNC broaching machine along the Y-axis direction, also known as forward and backward movement.

[0125] A method for identifying motion errors and compensating parameters of a turbine disc tenon-groove six-axis broaching machine comprises the following steps:

[0126] S1. Error identification

[0127] Taking the laser emission point of the laser measuring device as the reference point, the motion data of various movements of the six-axis broaching machine are collected; the motion data collected by the laser measuring device is compared with the corresponding motion data collected by the raster monitoring system of the six-axis broaching machine itself, and the deviation value of the data collected by the two is calculated; in this embodiment, the laser measuring device used includes two types of laser measuring devices for measuring linear motion and laser measuring devices for measuring angle changes, and both existing related measuring instruments and products can be used.

[0128] S2. Based on the deviation value obtained in step S1, the errors of various movements of the six-axis broaching machine are fitted by the least square method to form corresponding linear functions;

[0129] S3. Parameter compensation

[0130] The six-axis broaching machine adopts the same motion parameters as those in step S1; then, according to the linear function obtained in S2, the error values ​​that need to be compensated for various motions of the six-axis broaching machine are calculated, and compensation is performed during actual processing.

[0131] Further, in step S1, various movements of the six-axis broaching machine include tool movement, movement of rotation about the Y axis, movement of rotation about the Z axis, X axis movement and Y axis movement.

[0132] Further, step S1 includes the following steps:

[0133] S11. Error measurement of tool movement

[0134] Assume that the initial time is 0, the travel from the initial position after tool change to the tool end point after cutting is L1, the total measurement time is t1, and the position collected by the grating monitoring system changes with time as s 1i The displacement collected by the laser measurement device changes with time as c 1i , assuming the number of measurements is n+1, n is a natural number greater than or equal to 1, the measurement time is:

[0135]

[0136] The corresponding travel changes collected by the raster monitoring system corresponding to the tool are as follows:

[0137] 0,s 11 ,s 12 ,…,s 1i ,…,s 1(n-1) ,s 1n ;

[0138] The travel changes collected using a laser measuring device for measuring linear motion are as follows:

[0139] 0, c 11 , c 12 , …, c 1i , …, c 1(n-1) , c 1n ;

[0140] Then the change of tool displacement deviation over time Δk 1i They are:

[0141] 0,Δk 11 , Δk 12 , …, Δk 1i , …, Δk 1(n-1) , Δk 1n ;

[0142] in:

[0143] Δk 1i=c 1i -s 1i .

[0144] Further, step S1 includes the following steps:

[0145] S12. Error measurement of the motion around the Y axis

[0146] Using the measurement time in formula (1), that is, the time taken for the C-shaped cradle to rotate from the initial position to the extreme position is t1, and the maximum angle when the C-shaped cradle rotates from the initial position to the extreme position is set to ψ1, the rotation angular velocity ω1 is:

[0147]

[0148] The angle changes collected by the grating monitoring system corresponding to the C-shaped cradle are as follows:

[0149] 0, θ y1 ,θ y2 ,…,θ yi ,…,θ y(n-1) ,θ yn ;

[0150] The rotation angle changes of the C-type cradle collected by using a laser measuring device for measuring angle changes (such as a horizontal angle instrument) are as follows:

[0151]

[0152] Then the rotation angle deviation of the C-type cradle changes in sequence:

[0153]

[0154] in:

[0155]

[0156] Further, step S1 includes the following steps:

[0157] S13. Error measurement of the motion around the Z axis

[0158] Using the measurement time in equation (1), that is, the time taken for the turntable to rotate from the initial position to the limit position is t1, and the limit angle of the turntable rotation is set to ψ2, the angular velocity of the turntable rotation is ω2, and:

[0159]

[0160] The angles collected by the grating monitoring system corresponding to the turntable change over time in the following order:

[0161] 0, λ z1 ,λ z2, …, λ zi , …, λ z(n-1) ,λ zn ;

[0162] The receiving end of the laser measuring device used in this step can rotate the laser receiver to keep the laser vertically projected into the laser receiver, and send the rotation angle of the laser receiver to the measurement system in real time, such as the laser measuring system model SJ 6 000 in the figure. The rotation angle of the turntable collected by the laser measuring device changes with time as follows:

[0163] 0,η z1 , η z2 ,…,η zi ,…,η z(n-1) , η zn ;

[0164] Then the deviation change of the turntable rotation angle is:

[0165] 0, Δη z1 , Δη z2 , …, Δη zi , …, Δη z(n-1) , Δη zn ;

[0166] in:

[0167] Δη zi =η zi -λ zi .

[0168] Further, step S1 includes the following steps:

[0169] S14. Error measurement of X-axis motion

[0170] The measurement time in formula (1) is adopted, that is, the time taken for the worktable to move from the initial position to the limit position of the X-axis is t1; let the limit displacement of the worktable in the X-axis direction be ψ 3x , then the moving speed of the worktable in the X-axis direction is:

[0171]

[0172] The displacement changes over time collected by the grating monitoring system for detecting the displacement of the worktable in the X direction are:

[0173] 0, l x1 , l x2 ,…,l xi ,…,l x(n-1) , l xn ;

[0174] The change of the displacement of the worktable in the X direction over time collected by the relevant laser measurement system is:

[0175] 0,s x1 ,s x2 ,…,s xi ,…,s x(n-1) ,s xn ;

[0176] Then the variation of the motion error of the worktable in the X direction with time is:

[0177] 0, Δl x1 , Δl x2 ,…,Δl xi ,…,Δl x(n-1) , Δl xn ;

[0178] in:

[0179] Δl xi =s xi -l xi .

[0180] Further, step S1 includes the following steps:

[0181] S15. Measure the Y-axis movement

[0182] The measurement time in formula (1) is used, that is, the time taken for the workbench to move from the initial position to the limit position of the Y axis is t1; let the limit displacement of the workbench in the Y axis direction be ω 3y , then the moving speed of the workbench in the Y-axis direction is:

[0183]

[0184] The displacement changes over time collected by the grating monitoring system for detecting the Y-direction displacement of the worktable are:

[0185] 0, l y1 , l y2 ,…,l yi ,…,l y(n-1) , l yn ;

[0186] The laser measurement system collects the change of the Y-direction displacement of the worktable over time:

[0187] 0,s y1 ,s y2 ,…,s yi ,…,l y(n-1) , l yn ;

[0188] Then the variation of the motion error of the worktable in the Y direction with time is:

[0189] 0, Δl y1 , Δl y2 ,…,Δl yi ,…,Δl y(n-1) , Δl yn ;

[0190] in:

[0191] Δl yi =s yi -l yi .

[0192] Furthermore, in step S2, the fitted linear function includes:

[0193] 1) Tool motion error function

[0194] f1=a1x1+b1 (2),

[0195] Where x1 is the displacement of the tool along its motion direction, a1 and b1 are the slope and offset, respectively, which are calculated based on the deviation value of the tool motion obtained in step S1;

[0196] 2) Motion error function about the Y axis

[0197] f2=a2x2+b2 (3),

[0198] Where x2 is the rotation angle of the c-type cradle; a2 and b2 are the slope and offset, respectively, which are calculated based on the deviation value of the movement rotating around the Y axis obtained in step S1;

[0199] 3) Motion error function about the Z axis

[0200] f3=a3x3+b3 (4),

[0201] Where x3 is the rotation angle of the turntable; a3 and b3 are the slope and offset, respectively, which are calculated based on the deviation value of the motion rotating around the Z axis obtained in step S1;

[0202] 4) X-axis motion error function

[0203] f4=a4x4+b4 (5),

[0204] Where x4 is the displacement of the worktable in the X direction; a4 and b4 are the slope and offset, respectively, which are calculated based on the deviation value of the X-axis motion obtained in step S1;

[0205] 5) Y-axis motion error function

[0206] f5=a5x5+b5 (6),

[0207] Wherein x5 is the displacement of the workbench in the Y direction; a5 and b5 are the slope and offset, respectively, which are calculated based on the deviation value of the Y-axis motion obtained in step S1.

[0208] Furthermore, in step S3, the tool movement speed, C-shaped cradle rotation speed, turntable rotation speed, worktable X-axis speed and worktable Y-axis speed are all kept consistent with the corresponding movement speeds when measuring the error in step S1.

[0209] Since the movement speed and position of each component of the broaching machine change, the deviation will change. Therefore, in the actual processing, the machine tool is kept with the same motion parameters as in the error identification process, which is convenient for compensating the movement position of the relevant parts of the machine tool and significantly reducing the impact of the machine tool deviation on the processing accuracy.

[0210] Furthermore, when processing the mortise and tenon groove, the tool movement position, the C-shaped cradle rotation angle, the turntable rotation angle, the worktable x-direction displacement, and the worktable y-direction position are respectively:

[0211] c w ,θ w ,λ w ,

[0212] Then the compensated tool motion position, C-shaped cradle rotation angle, turntable rotation angle, worktable x-direction displacement, and worktable y-direction position will become:

[0213] c w-r =c w +f1(c w );

[0214] θ w-r =θ w +f2(θ w );

[0215] λ w-r =λ w +f3(λ w );

[0216]

[0217] The above motion errors can be compensated in motion parameters or through the internal compensation function of the CNC system.

[0218] The above are only some 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 combinations and modifications of the aforementioned various technical features. Without departing from the spirit and scope of the present invention, those skilled in the art may improve, modify, or replace the present invention with equivalents, or apply the structure or method of the present invention to other fields to achieve the same effect, which all fall within the scope of protection included in the present invention.

Claims

1. A method for identifying motion errors and compensating parameters of a turbine disc tenon-groove six-axis broaching machine, characterized in that: The following steps are involved: S1. Error identification The laser emission point of the laser measuring device is used as the reference point to collect the motion data of various movements of the six-axis broaching machine; the motion data collected by the laser measuring device is compared with the corresponding motion data collected by the raster monitoring system of the six-axis broaching machine itself, and the deviation value of the data collected by the two is calculated; S2. Based on the deviation value obtained in step S1, the errors of various movements of the six-axis broaching machine are fitted by the least square method to form corresponding linear functions; S3. Parameter compensation During actual processing, the six-axis broaching machine adopts the same motion parameters as in step S1; then, according to the linear function obtained in S2, the error values ​​that need to be compensated for various motions of the six-axis broaching machine are calculated and compensated.

2. The method for motion error identification and parameter compensation of a turbine disc tenon-groove six-axis broaching machine according to claim 1 is characterized in that: In step S1 , various movements of the six-axis broaching machine include tool movement, movement of rotation about the Y axis, movement of rotation about the Z axis, X axis movement, and Y axis movement.

3. The method for motion error identification and parameter compensation of a turbine disc tenon-groove six-axis broaching machine according to claim 1, characterized in that: Step S1 includes the following steps: S11. Error measurement of tool movement Assume that the initial time is 0, the travel from the initial position after tool change to the tool end point after cutting is L1, the total measurement time is t1, and the position collected by the grating monitoring system changes with time as s 1i The displacement collected by the laser measurement device changes with time as c 1i , assuming the number of measurements is n+1, where n is a natural number greater than or equal to 1, the measurement times are: The corresponding travel changes collected by the raster monitoring system corresponding to the tool are as follows: 0,s 11 ,s 12 ,…,s 1i ,…,s 1(n-1) ,s 1n ; The travel changes collected by the laser measuring device are as follows: 0,c 11 ,c 12 ,…,c 1i ,…,c 1(n-1) ,c 1n ; Then the change of tool displacement deviation over time Δk 1i They are: 0,Δk 11 ,Δk 12 ,…,Δk 1i ,…,Δk 1(n-1) ,Δk 1n ; in: Δk 1i =c 1i -s 1i 。 4. The method for motion error identification and parameter compensation of a turbine disc tenon-groove six-axis broaching machine according to claim 3 is characterized in that: Step S1 includes the following steps: S12. Error measurement of the motion around the Y axis Using the measurement time in formula (1), that is, the time taken for the C-shaped cradle to rotate from the initial position to the extreme position is t1, and the maximum angle when the C-shaped cradle rotates from the initial position to the extreme position is set to ψ1, the rotation angular velocity ω1 is: The angle changes collected by the grating monitoring system corresponding to the C-shaped cradle are as follows: 0,θ y1 ,the y2 ,…,θ yi ,…,θ y(n-1) ,the yn ; The laser horizontal angle measuring instrument collects the following rotation angle changes of the C-type cradle: Then the rotation angle deviation of the C-type cradle changes in sequence: in:

5. The method for motion error identification and parameter compensation of a turbine disc tenon-groove six-axis broaching machine according to claim 1, characterized in that: Step S1 includes the following steps: S13. Error measurement of the motion around the Z axis Using the measurement time in equation (1), that is, the time taken for the turntable to rotate from the initial position to the limit position is t1, and the limit angle of the turntable rotation is set to ψ2, the angular velocity of the turntable rotation is ω2, and: The angles collected by the grating monitoring system corresponding to the turntable change over time in the following order: 0, l z1 ,l z2 ,…,l zi ,…,l z(n-1) ,l zn ; The rotation angle of the turntable collected by the laser measurement system changes with time as follows: 0, the z1 ,or z2 ,…,or zi ,…,or z(n-1) ,or zn ; Then the deviation change of the turntable rotation angle is: 0, No z1 ,See z2 ,…,See zi ,…,See z(n-1) ,See zn ; in: See you later. zi =the zi -l zi 。 6. The method for motion error identification and parameter compensation of a turbine disc tenon-groove six-axis broaching machine according to claim 1, characterized in that: Step S1 includes the following steps: S14. Error measurement of X-axis motion The measurement time in formula (1) is adopted, that is, the time taken for the worktable to move from the initial position to the extreme position of the X-axis is t1; Assume that the limit displacement of the worktable in the X-axis direction is ψ 3x , then the moving speed of the worktable in the X-axis direction is: The displacement changes over time collected by the grating monitoring system for detecting the displacement of the worktable in the X direction are: 0，l x1 ，l x2 ，…，l xi ，…，l x(n-1) ，l xn ； The laser measurement system collects the change of the X-direction displacement of the worktable over time: 0,s x1 ,s x2 ,…,s xi ,…,s x(n-1) ,s xn ; Then the variation of the motion error of the worktable in the X direction with time is: 0,Δl x1 ,Δl x2 ,…,Δl xi ,…,Δl x(n-1) ,Δl xn ; in: Δl xi =s xi -l xi 。 7. The method for motion error identification and parameter compensation of a turbine disc tenon-groove six-axis broaching machine according to claim 1, characterized in that: Step S1 includes the following steps: S15. Measure the Y-axis movement The measurement time in formula (1) is adopted, that is, the time taken for the workbench to move from the initial position to the limit position of the Y axis is t1; Assume that the limit displacement of the worktable in the Y-axis direction is ω 3v , then the moving speed of the workbench in the Y-axis direction is: The displacement changes over time collected by the grating monitoring system for detecting the Y-direction displacement of the worktable are: 0，l y1 ，l y2 ，…，l yi ，…，l y(n-1) ，l yn ； The laser measurement system collects the change of the Y-direction displacement of the worktable over time: 0,s y1 ,s y2 ,…,s yi ,…,l y(n-1) ,l yn ; Then the variation of the motion error of the worktable in the Y direction with time is: 0,Δl y1 ,Δl y2 ,…,Δl yi ,…,Δl y(n-1) ,Δl yn ; in: Δl yi =s yi -l yi 。 8. The method for motion error identification and parameter compensation of a turbine disc tenon-groove six-axis broaching machine according to claim 1, characterized in that: In step S2, the fitted linear function includes: 1) Tool motion error function f1=a1x1+b1 (2), Where x1 is the displacement of the tool along its motion direction, a1 and b1 are the slope and offset, respectively, which are calculated based on the corresponding deviation values ​​obtained in step S1; 2) Motion error function about the Y axis f2=a2x2+b2 (3), Where x2 is the rotation angle of the c-type cradle; a2 and b2 are the slope and bias, respectively, which are calculated based on the corresponding deviation values ​​obtained in step S1; 3) Motion error function about the Z axis f3=a3x3+b3 (4), Where x3 is the rotation angle of the turntable; a3 and b3 are the slope and offset, respectively, which are calculated based on the corresponding deviation values ​​obtained in step S1; 4) X-axis motion error function f4=a4x4+b4 (5), Where x4 is the displacement of the worktable in the X direction; a4 and b4 are the slope and offset, respectively, which are calculated based on the corresponding deviation values ​​obtained in step S1; 5) Y-axis motion error function f5=a5x5+b5 (6), Wherein x5 is the displacement of the workbench in the Y direction; a5 and b5 are the slope and offset, respectively, which are calculated according to the corresponding deviation values ​​obtained in step S1.

9. The method for identifying motion errors and compensating parameters of a turbine disc tenon-and-groove six-axis broaching machine according to claim 8, characterized in that: In step S3, the tool movement speed, the C-shaped cradle rotation speed, the turntable rotation speed, the worktable X-axis direction speed and the worktable Y-axis direction speed are all kept consistent with the corresponding movement speeds when measuring the error in step S1.

10. The method for motion error identification and parameter compensation of a turbine disc tenon-and-groove six-axis broaching machine according to claim 9, characterized in that: When processing the mortise and tenon groove, the tool movement position, the C-shaped cradle rotation angle, the turntable rotation angle, the worktable x-direction displacement, and the worktable y-direction position are as follows: Then the compensated tool motion position, C-shaped cradle rotation angle, turntable rotation angle, worktable x-direction displacement, and worktable y-direction position will become: c w-r =c w +f1(c w ); i w-r =θ w +f2(θ w ); l w-r =λ w +f3(λ w );

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