Synchronous correction method and device for position of synchronous shaft of gantry machine tool and medium

Abstract

The invention relates to the technical field of numerical control machine tool control, in particular to a synchronous correction method and device for the position of a synchronous shaft of a gantry machine tool and a medium. The actual length values L1 and L2 of the two diagonal lines of the workpiece are collected through a laser measuring device; calculating a Y-axis direction deviation value dy according to a formula; based on the proportional relation between the gantry span X and the length X1 of the rectangular workpiece, the position adjustment amount delta Y of the driven shaft is calculated; and according to the positive and negative values of the delta Y, the position of the driven shaft is adjusted through the servo controller, the driving shaft is kept in situ, and S1 to S5 are repeated until the delta Y meets a preset precision threshold value. According to the invention, the position synchronization correction of the synchronizing shaft can be accurately, simply and quickly completed, and the synchronization position precision of gantry structure equipment is effectively improved.

Description

Technical Field

[0001] This application relates to the field of numerical control machine tool control technology, and particularly to a method, device, and medium for synchronizing and correcting the positions of synchronous axes of a gantry machine tool. Background Art

[0002] In the field of precision machining, gantry-type CNC machine tools are widely used in the machining of key components such as aerospace and automotive molds due to their high rigidity and large machining range. Such machine tools usually adopt a dual-Y-axis synchronous drive structure to ensure the stability of the crossbeam movement. However, during long-term use, due to factors such as mechanical wear, temperature deformation, and assembly errors, position asynchrony is likely to occur between the two axes, resulting in a decrease in machining accuracy.

[0003] Currently, manual correction methods or automatic compensation techniques are mainly used to correct the synchronous axes. When using the manual correction method, the operator manually measures the position deviation between the two axes with a dial indicator and adjusts the offset parameters of the servo motor encoder. The measurement accuracy is limited by the manual reading error, and the machine tool needs to be repeatedly started and stopped during the adjustment process, with a single correction taking more than 2 hours. The specific approach of the automatic compensation technique is to preset a compensation curve in the numerical control system and output a compensation value according to the axis position. There are defects such as large residual errors when the gantry span exceeds a certain distance due to the compensation model not incorporating geometric error factors of the machine tool, inability to correct time-varying errors, and difficulty in matching non-linear deformations.

[0004] Therefore, there is an urgent need for a method that can accurately, simply, and quickly complete the position synchronization correction of synchronous axes and effectively improve the synchronous position accuracy of gantry structure equipment.

[0005] Application Content

[0006] This application provides a method for synchronizing and correcting the positions of synchronous axes of a gantry machine tool, which can accurately, simply, and quickly complete the position synchronization correction of synchronous axes and effectively improve the synchronous position accuracy of gantry structure equipment.

[0007] To achieve the above object, this application adopts the following technical solutions:

[0008] In the first aspect, this application provides a method for synchronizing and correcting the positions of synchronous axes of a gantry machine tool, including:

[0009] S1: Driving a gantry machine tool to machine a standard rectangular workpiece through a numerical control system;

[0010] S2: Using a laser measurement device to collect the actual length values L1 and L2 of the two diagonals of the workpiece;

[0011] S3: Calculating the Y-axis direction deviation value dy according to the formula:

[0012]

[0013] Among them, X1 is the length of the rectangular workpiece;

[0014] S4: Based on the proportional relationship between the gantry span X and the length X1 of the rectangular workpiece, calculate the adjustment amount ΔY of the driven shaft position:

[0015]

[0016] S5: According to the positive or negative value of ΔY, adjust the position of the driven shaft through the servo controller, and keep the driving shaft in place;

[0017] S6: Repeat S1 - S5 until ΔY meets the preset precision threshold.

[0018] In a preferred example of the present application, it can be further set that adjusting the position of the driven shaft through the servo controller according to the positive or negative value of ΔY includes:

[0019] When ΔY is positive, control the driven shaft to move ΔY distance in the negative direction;

[0020] When ΔY is negative, control the driven shaft to move ΔY distance in the positive direction.

[0021] In a preferred example of the present application, it can be further set that the iteration termination condition of S6 is:

[0022] ∣ΔYnew - ΔYprev∣≤ε;

[0023] Among them, ΔYnew is the latest adjustment amount of the driven shaft position, ΔYprev is the adjustment amount of the driven shaft position during the previous iteration, and ε is the preset dynamic convergence threshold, and its value range is 0.001 - 0.01 mm.

[0024] In a preferred example of the present application, it can be further set that a non - contact measuring device is adopted in S2, including a laser interferometer or a vision measuring system, and the measurement data is transmitted to the numerical control system in real time through an industrial bus.

[0025] In a preferred example of the present application, it can be further set that the calculation process of S4 is implemented by the error compensation module built in the numerical control system, and the error compensation module is used for geometric error modeling, kinematic inverse solution calculation and real - time data interpolation.

[0026] In a preferred example of the present application, it can be further set that it further includes:

[0027] The data collected or calculated in S1 - S6 is stored in the cloud server or local storage device in real time.

[0028] In a second aspect, the present application provides a synchronous axis position synchronization correction device for a gantry machine tool, the device comprising:

[0029] A start-up module, configured to drive the gantry machine tool to process a standard rectangular workpiece through a numerical control system;

[0030] An acquisition module, configured to use a laser measurement device to acquire the actual length values L1 and L2 of two diagonals of the workpiece;

[0031] A deviation calculation module, configured to calculate the Y-axis direction deviation value dy according to the formula:

[0032]

[0033] where X1 is the length of the rectangular workpiece;

[0034] Based on the proportional relationship between the gantry span X and the length X1 of the rectangular workpiece, calculate the position adjustment amount ΔY of the driven shaft:

[0035]

[0036] An adjustment module, configured to adjust the position of the driven shaft through a servo controller according to the positive or negative value of ΔY, and keep the driving shaft in place;

[0037] An iteration module, configured to repeat S1-S5 until ΔY meets a preset accuracy threshold.

[0038] In a third aspect, the present application provides a computer device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the synchronous axis position synchronization correction method for a gantry machine tool as described in any one of the above are implemented.

[0039] In a fourth aspect, the present application provides a computer-readable storage medium, on which a program is stored, wherein when the program is executed by a processor, the synchronous axis position synchronization correction method for a gantry machine tool as described in any one of the above is implemented.

[0040] In a fifth aspect, the present application provides a computer program product, comprising computer instructions, which when executed by a processor, implement the steps of the synchronous axis position synchronization correction method for a gantry machine tool as described in any one of the above.

[0041] In summary, compared with the prior art, the beneficial effects brought by the technical solutions provided in the embodiments of the present application at least include:

[0042] Compared with the prior art, the method of the present application uses laser measurement to quantify the axis deviation by the geometric relationship of the diagonal of the workpiece, and combines the ratio compensation algorithm of the gantry span and the machining length to achieve high-precision dynamic correction of the synchronous axis position. Compared with the traditional manual method, it improves the correction accuracy, shortens the correction time, and at the same time, by keeping the active axis in place and only adjusting the driven axis, it avoids the problem of reference coordinate system drift, effectively solves the error accumulation caused by time-varying factors such as mechanical deformation and temperature drift, and significantly improves the machining consistency and equipment utilization rate of the gantry machine tool. Brief Description of the Drawings

[0043] Figure 1 It is a flowchart of a synchronous axis position synchronous correction method for a gantry machine tool provided by an embodiment of the present application.

[0044] Figure 2 It is a schematic structural diagram of a gantry machine tool of a synchronous axis position synchronous correction method provided by an embodiment of the present application.

[0045] Figure 3 It is a measurement schematic diagram of the synchronous axis error of a synchronous axis position synchronous correction method for a gantry machine tool provided by an embodiment of the present application.

[0046] Figure 4 It is a module diagram of a synchronous axis position synchronous correction device for a gantry machine tool provided by an embodiment of the present application. Detailed Description of the Embodiment

[0047] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0048] In an embodiment of the present application, a synchronous axis position synchronous correction method for a gantry machine tool is provided. Please refer to Figure 1 As shown, the method includes:

[0049] S1: Drive the gantry machine tool to process a standard rectangular workpiece through the numerical control system;

[0050] S2: Use a laser measurement device to collect the actual length values L1 and L2 of two diagonals of the workpiece;

[0051] S3: Calculate the Y-axis direction deviation value dy according to the formula:

[0052]

[0053] where X1 is the length of the rectangular workpiece;

[0054] S4: Calculate the adjustment amount ΔY of the driven shaft position based on the proportional relationship between the gantry span X and the length X1 of the rectangular workpiece:

[0055]

[0056] S5: Adjust the position of the driven shaft through the servo controller according to the positive or negative value of ΔY, and keep the position of the driving shaft unchanged;

[0057] S6: Repeat S1 - S5 until ΔY meets the preset precision threshold.

[0058] Specifically, for the double - drive gantry machine tool equipment, after preliminary assembly, due to machining accuracy and assembly accuracy, there are deviations in the positions of the synchronous shafts. It is necessary to first measure the deviations and then perform deviation correction to make the synchronous shafts in a synchronous state. Taking the gantry synchronous machine tool with double Y - axes as an example, as Figure 2 shown, define the Y1 axis as the driving shaft and the Y2 axis as the driven shaft, and illustrate the deviation measurement and calibration method of the synchronous shafts. After the equipment assembly is completed and after preliminary correction, power on and return to zero to establish the coordinate systems of each axis.

[0059] After the equipment assembly is completed and after preliminary correction, power on and return to zero to establish the coordinate systems of each axis. Machine a rectangular workpiece with a length of X1 and a width of Y1. As Figure 3 shown, measure the diagonals L1 and L2 of the actual workpiece.

[0060] Let the span of the Y1 axis and the Y2 axis be X. According to the proportional relationship, the position deviation ΔY of the Y2 axis relative to the Y1 axis is:

[0061]

[0062] Next, adjust the position of the driven shaft Y2 axis alone according to ΔY. If ΔY is positive, then Y2 is adjusted in the negative direction by a distance of ΔY; if ΔY is negative, then Y2 is adjusted in the positive direction by a distance of ΔY.

[0063] The steps for synchronous adjustment of the synchronous shaft positions include: machining a rectangular workpiece, measuring the docking lines L1 and L2, calculating the ΔY deviation value; adjusting the position of the driven shaft Y2 according to the ΔY deviation value, and keeping the position of the driving shaft Y1 unchanged; remachining the rectangular workpiece, measuring the docking lines L1 and L2, recalculating the ΔY deviation value; verifying the new ΔY deviation value. If the ΔY deviation meets the accuracy requirements, it means that the position synchronous adjustment of the double Y - axes of the gantry structure is completed; if the ΔY deviation does not meet the accuracy requirements, repeat the above steps until the deviation ΔY meets the accuracy requirements.

[0064] The following are specific application examples. The hardware devices include the numerical control system of Guangzhou Qixin, the Renishaw XL-80 laser interferometer (accuracy ±0.5 ppm), and the Mitsubishi MDS-D-SVJ2 servo drive. The execution process of each step includes:

[0065] S1: Drive the gantry machine tool through the numerical control system of Guangzhou Qixin to machine a standard rectangular workpiece of 3000×2000 mm (X1 = 3000 mm);

[0066] S2: Measure the diagonal lines L1 = 3605.55 mm and L2 = 3606.82 mm;

[0067] S3: Calculate dy = √(3606.82² - 3000 2 ) - √(3605.55² - 3000 2 ) = 0.032 mm;

[0068] S4: Calculate ΔY = (5000×0.032) / 3000 = 0.053 mm;

[0069] S5: Since ΔY > 0, control the driven axis to move 0.053 mm in the -Y direction;

[0070] S6: After 3 iterations, ΔY = 0.004 mm (ε = 0.005 mm), terminate the correction.

[0071] After the steps are executed, full-automatic closed-loop correction is achieved. The single correction time is shortened from the traditional 2.5 hours to 22 minutes. The diagonal error of the workpiece after correction is reduced from 0.038 mm to 0.005 mm, and the accuracy is improved by 86%. The strategy of keeping the active axis in place avoids coordinate system reset and reduces the auxiliary time by 15%.

[0072] In this embodiment, the geometric relationship of the diagonal lines of the workpiece is measured by laser to quantify the axis deviation, and combined with the proportional compensation algorithm of the gantry span and the machining length, high-precision dynamic correction of the synchronous axis position is achieved. Compared with the traditional manual method, the correction accuracy is improved, the correction time is shortened, and at the same time, by the strategy of keeping the active axis in place and only adjusting the driven axis, the problem of reference coordinate system drift is avoided, effectively solving the error accumulation caused by time-varying factors such as mechanical deformation and temperature drift, and significantly improving the machining consistency and equipment utilization rate of the gantry machine tool.

[0073] In some embodiments, adjusting the position of the driven axis according to the positive or negative value of ΔY through the servo controller includes:

[0074] When ΔY is positive, control the driven axis to move ΔY distance in the negative direction;

[0075] When ΔY is negative, control the driven axis to move ΔY distance in the positive direction.

[0076] In this embodiment, the risk of human misjudgment is eliminated through the direction determination logic, the accuracy of direction control is increased by 100%, the periodic error caused by backlash is avoided, the intelligent processing of positive and negative deviations is adapted, and the system robustness is improved.

[0077] In some embodiments, the iteration termination condition of S6 is:

[0078] ∣ΔYnew - ΔYprev∣≤ε;

[0079] Wherein, ΔYnew is the latest adjustment amount of the driven shaft position, ΔYnew is the adjustment amount of the driven shaft position in the previous iteration, and ε is a preset dynamic convergence threshold, and the value range is 0.001 - 0.01 mm.

[0080] In this embodiment, overshoot is prevented through the dynamic convergence mechanism, the residual error fluctuation range is reduced to ±0.001 mm. Compared with the fixed threshold method, the number of iterations is reduced, and the adaptive adjustment ability enables the system to adapt to different working conditions, such as heavy cutting or finish machining.

[0081] In some embodiments, a non-contact measuring device is adopted in S2, including a laser interferometer or a vision measuring system, and the measurement data is transmitted to the numerical control system in real time through an industrial bus.

[0082] In this embodiment, non-contact measurement avoids the mechanical deformation error of the contact probe, reduces the real-time data transmission delay, and improves the control response speed. Moreover, the used vision system supports the measurement of complex workpiece contours and expands the application scenarios.

[0083] In some embodiments, the calculation process of S4 is implemented by calling the error compensation module built in the numerical control system, and the error compensation module is used for geometric error modeling, kinematic inverse solution calculation and real-time data interpolation.

[0084] In this embodiment, not only the efficiency and accuracy of the calculation are improved, but also the existing modules are used, reducing the development cost.

[0085] In some embodiments, it further includes:

[0086] The data collected or calculated in S1 - S6 is stored in a cloud server or a local storage device in real time.

[0087] In this embodiment, the convenience of tracing historical data is improved, which is convenient for subsequent data analysis.

[0088] This application also provides a gantry machine tool synchronous axis position synchronization correction device. Please refer to Figure 4 as shown, the device includes:

[0089] The starting module 100 is used to drive a gantry machine tool to process a standard rectangular workpiece through a numerical control system;

[0090] The acquisition module 200 is used to collect the actual length values L1 and L2 of two diagonals of the workpiece by using a laser measuring device;

[0091] The deviation calculation module 300 is used to calculate the deviation value dy in the Y-axis direction according to the formula:

[0092]

[0093] wherein, X1 is the length of the rectangular workpiece;

[0094] Based on the proportional relationship between the gantry span X and the length X1 of the rectangular workpiece, calculate the position adjustment amount ΔY of the driven shaft:

[0095]

[0096] The adjustment module 400 is used to adjust the position of the driven shaft through a servo controller according to the positive or negative value of ΔY, and the driving shaft remains in place;

[0097] The iteration module 500 is used to repeat S1 - S5 until ΔY meets a preset precision threshold.

[0098] The function implementation of each module in the above gantry machine tool synchronous axis position synchronization correction device corresponds to the steps in the above gantry machine tool synchronous axis position synchronization correction method embodiment, and its function and implementation process will not be elaborated here one by one.

[0099] This application also provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the gantry machine tool synchronous axis position synchronization correction method described in any of the above embodiments.

[0100] This application also provides a computer-readable storage medium. A program is stored on the computer-readable storage medium. The computer-readable storage medium refers to a carrier for storing data, which may include, but is not limited to, floppy disks, optical discs, hard disks, flash memories, USB flash drives, and / or memory sticks, etc. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The working process, working details, and technical effects of the computer-readable storage medium provided in this embodiment can refer to the embodiment of a gantry machine tool synchronous axis position synchronization correction method in the above text, and will not be elaborated here.

[0101] The application also provides a computer program product, including computer instructions which, when executed by a processor, implement the steps of the method for synchronizing the position of the synchronous axis of the gantry machine tool as described in any of the above embodiments.

[0102] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the embodiments provided in this application can include non-volatile and / or volatile memories. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0103] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification. The above embodiments only represent several implementation manners of the present application. Their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A method for synchronous correction of the synchronous axis position of a gantry machine tool, characterized in that: include: S1: The gantry machine tool is driven by the CNC system to process standard rectangular workpieces; S2: Using a laser measuring device to collect the actual length values ​​L1 and L2 of the two diagonal lines of the workpiece; S3: Calculate the Y-axis deviation value dy according to the formula: Among them, X1 is the length of the rectangular workpiece; S4: Based on the proportional relationship between the gantry span X and the length X1 of the rectangular workpiece, calculate the driven axis position adjustment ΔY: S5: According to the positive and negative values ​​of ΔY, the position of the driven axis is adjusted through the servo controller, and the driving axis remains in its original position; S6: Repeat S1-S5 until ΔY meets the preset accuracy threshold.

2. The method for synchronous correction of the synchronous axis position of a gantry machine tool according to claim 1, characterized in that: The method of adjusting the position of the driven shaft by the servo controller according to the positive and negative values ​​of ΔY includes: When ΔY is a positive value, the driven shaft is controlled to move ΔY distance in the negative direction; When ΔY is a negative value, the driven shaft is controlled to move ΔY distance in the positive direction.

3. The method for synchronous correction of the synchronous axis position of a gantry machine tool according to claim 1, characterized in that: The iteration termination condition of S6 is: |ΔYnew-ΔYprev|≤ε; Wherein, the ΔYnew is the latest driven shaft position adjustment amount, the ΔYnew is the driven shaft position adjustment amount in the last iteration, and the ε is a preset dynamic convergence threshold value, and the value range is 0.001-0.01 mm.

4. The method for synchronous correction of the synchronous axis position of a gantry machine tool according to claim 1, characterized in that: The S2 uses a non-contact measuring device, including a laser interferometer or a visual measuring system, and the measuring data is transmitted to the numerical control system in real time via an industrial bus.

5. The method for synchronous correction of the synchronous axis position of a gantry machine tool according to claim 1, characterized in that: The error compensation module built into the numerical control system is called to implement the calculation process of S4, and the error compensation module is used for geometric error modeling, kinematic inverse solution calculation and real-time data interpolation.

6. The method for synchronous correction of the synchronous axis position of a gantry machine tool according to claim 1, characterized in that: Also includes: The data collected or calculated in S1-S6 are stored in real time in a cloud server or a local storage device.

7. A gantry machine tool synchronous axis position synchronization correction device, characterized in that: include: A start-up module is used to drive a gantry machine tool to process standard rectangular workpieces through a numerical control system; A collection module, used for collecting the actual length values ​​L1 and L2 of two diagonal lines of the workpiece using a laser measuring device; The deviation calculation module is used to calculate the Y-axis deviation value dy according to the formula: Among them, X1 is the length of the rectangular workpiece; Based on the proportional relationship between the gantry span X and the length X1 of the rectangular workpiece, calculate the position adjustment of the driven axis ΔY: The adjustment module is used to adjust the position of the driven axis through the servo controller according to the positive and negative values ​​of ΔY, and the driving axis remains in place; The iteration module is used to repeat S1-S5 until ΔY meets a preset accuracy threshold.

8. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method for synchronous correction of the position of a synchronous axis of a gantry machine tool according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program, wherein when the program is executed by the processor, the method for synchronous correction of the position of the synchronous axis of a gantry machine tool as claimed in any one of claims 1 to 6 is implemented.

10. A computer program product comprising computer instructions, characterized in that: When executed by a processor, the computer instructions implement the steps of the method for synchronous correction of the position of the synchronous axis of a gantry machine tool as described in claims 1 to 6.

Images