Five-axis machine tool rotating axis error compensation method, system, electronic device and readable medium

Abstract

The embodiment of the application discloses a five-axis machine tool rotating shaft error compensation method, system, electronic equipment and readable medium, the five-axis machine tool rotating shaft error compensation method comprises the following steps: processing a measuring workpiece with a measuring groove, obtaining the coordinates of the measuring points around the measuring groove, and calculating the dimensional error of the measuring groove in the five-axis coordinate system, so as to compensate the error of the five-axis machine tool, the compensation accuracy and the universality are higher, and the error of all types of five-axis machine tools can be compensated. The compensation accuracy and the universality are higher, and the error of all types of five-axis machine tools can be compensated.

Description

Technical Field

[0001] This invention belongs to the field of CNC machine tool technology, specifically relating to a method, system, electronic device, and readable medium for compensating for errors in the rotary axes of a five-axis machine tool. Background Technology

[0002] Improving the machining accuracy of CNC machine tools is a key factor in ensuring the accuracy of machined parts. Geometric errors caused by factors such as the manufacturing, assembly, and wear of machine tool parts account for 20% to 30% of the total machine tool error, which seriously restricts the accuracy of machine tools. Error compensation, as a highly efficient and low-cost technical method, plays an important role in improving the accuracy of machine tools.

[0003] The errors of a five-axis machine tool include 21 linear axis errors and 22 rotary axis errors. Among them, the rotary axis error compensation is more complicated than the linear axis error compensation. First, because there is currently no good rotary axis error measurement equipment, it is difficult to measure the 22 errors quickly. Second, it is necessary to establish a comprehensive error model for each type of five-axis machine tool, which is not universal.

[0004] The information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide a five-axis machine tool error compensation method, which solves the problems of poor universality and low compensation accuracy of existing error compensation methods.

[0006] To achieve the above objectives, the technical solution provided by the present invention is as follows:

[0007] In a first aspect, a specific embodiment of the present invention provides a five-axis machine tool error compensation method, comprising the following steps:

[0008] Rotate the first rotating axis to machine a measuring groove on one side of the workpiece, and form multiple measuring points around the measuring groove;

[0009] Rotate the second rotating axis to machine a measuring groove on the other side of the measuring workpiece;

[0010] Repeat the step of rotating the second rotating axis until measuring grooves are machined on all the preset sides of the measuring workpiece;

[0011] Measure the coordinates (x, y) of multiple measurement points around each of the measurement slots in a three-axis coordinate system. ij y ij , z ij ), where i represents the sequence number of the measuring groove and j represents the sequence number of the measuring point;

[0012] Based on the coordinates (x, y) of each measurement point in the triaxial coordinate system ij y ij , z ij ), calculate the machining error (Δx) of each of the measuring grooves in the five-axis coordinate system. αβi Δy αβi Δz αβi );

[0013] Based on the machining error (Δx) of each of the measuring slots in the five-axis coordinate system αβi Δy αβi Δz αβi ), the angle α of the first rotating axis when machining each measuring groove i The angle β of the second rotation axis i Compensate for machine tool errors.

[0014] In one or more embodiments of the present invention, the measuring workpiece includes a top surface, a bottom surface and multiple side surfaces, the measuring groove is generally rectangular or cubic in shape and the concave direction is perpendicular to the side surface of the measuring workpiece, the measuring groove also extends to the top surface of the workpiece, and a gap is formed between two adjacent measuring grooves.

[0015] In one or more embodiments of the present invention, each of the measuring grooves has eight measuring points around it. When the measuring workpiece is placed horizontally, measuring point one and measuring point two are located on the same side of the measuring workpiece and are respectively located on both sides of the measuring groove. Measuring point three is located on the rear wall of the measuring groove. Measuring point four and measuring point five are respectively located on the left and right walls of the measuring groove. Measuring point six and measuring point seven are respectively located on the top surface of the two intervals on both sides of the measuring groove. Measuring point eight is located on the bottom wall of the measuring groove.

[0016] In one or more embodiments of the present invention, the calculation of the machining error (Δx) of each of the measuring slots in the five-axis coordinate system is described. αβi Δy αβi Δz αβi This includes: setting the coordinates (x, y) of the measurement point in a three-axis coordinate system. ij y ij , z ij Convert ) to coordinate values ​​relative to the second rotation axis (x) βij y βij , z βij Based on the coordinates (x, y) of each measurement point relative to the second rotation axis. βij y βij , z βij ) Calculate the machining error (Δx) of the measuring groove relative to the second rotating axis. βi Δyβi Δz βi Based on the machining error (Δx) of each of the measuring slots relative to the second rotation axis. βi Δy βi Δz βi ), calculate the machining error (Δx) of each of the measuring grooves in the five-axis coordinate system. αβi Δy αβi Δz αβi ).

[0017] In one or more embodiments of the present invention, the coordinates (x, y, y) of the measurement point in the triaxial coordinate system are expressed according to the following formula. ij y ij , z ij Convert ) to coordinate values ​​relative to the second rotation axis (x) βij y βij , z βij ):

[0018] (x βij y βij , z βij )=(x ij y ij , z ij )·R β ;

[0019] Among them, R β This is the rotation matrix of the second rotary axis of a five-axis machine tool.

[0020] In one or more embodiments of the present invention, when the second rotation axis is the rotation axis of a turntable, the angle value β in its rotation matrix is ​​-β. i ,β i The angle of the second rotating axis when machining the i-th measuring groove.

[0021] In one or more embodiments of the present invention, the workpiece is placed horizontally when measuring the coordinates of the measuring points. The machining error (Δx) of each measuring groove relative to the second rotation axis is calculated according to the following formula. βi Δy βi Δz βi );

[0022]

[0023] Among them, L X To measure the designed horizontal recess depth of the measuring groove when the workpiece is placed horizontally, L Z The vertical recess depth of the measuring groove is the design depth when the workpiece is placed horizontally.

[0024] In one or more embodiments of the present invention, the machining error (Δx) of each measuring groove in the five-axis coordinate system is calculated according to the following formula. αβi Δy αβi Δz αβi ):

[0025] (Δx αβi Δy αβi Δz αβi )=(Δx βi Δy βi Δz βi )·R α ;

[0026] Among them, R α This is the rotation matrix of the first rotary axis of a five-axis machine tool.

[0027] In one or more embodiments of the present invention, when the first rotation axis is a turntable rotation axis, the angle value α in its rotation matrix is ​​-α. i α i The angle of the first rotating axis when machining the i-th measuring groove.

[0028] Secondly, the present invention provides a five-axis machine tool error compensation system, including a data acquisition module, a data processing module, and a compensation module. The data acquisition module is used to acquire the coordinate values ​​(x, y, y) of multiple measurement points around the measuring groove of the workpiece in a three-axis coordinate system. ij y ij , z ij ), where i represents the sequence number of the measuring groove, and j represents the sequence number of the measuring point. The measuring groove is obtained by machining on the side of the workpiece after rotating the first and second rotating axes. Multiple measuring points are formed around the measuring groove. The data processing module is used to process the coordinates (x, y) of each measuring point in a three-axis coordinate system. ij y ij , z ij ), calculate the machining error (Δx) of each of the measuring grooves in the five-axis coordinate system. αβi Δy αβi Δz αβi The compensation module is used to compensate for the machining error (Δx) of each of the measuring slots in the five-axis coordinate system. αβi Δy αβi Δz αβi ), the angle α of the first rotating axis when machining each measuring groove i The angle β of the second rotation axis i Compensate for machine tool errors.

[0029] Thirdly, the present invention provides an electronic device, including 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 five-axis machine tool error compensation method as described above.

[0030] Fourthly, the present invention provides a computer-readable medium carrying computer-executable instructions, which, when executed by a processor, are used to implement the five-axis machine tool error compensation method as described above.

[0031] Compared with the prior art, the present invention obtains the coordinates of the measuring points around the measuring groove by machining a measuring workpiece with a measuring groove, calculates the dimensional error of the measuring groove in the five-axis coordinate system, and thus compensates for the error of the five-axis machine tool. Its compensation accuracy and versatility are high, and it can perform error compensation for all types of five-axis machine tools. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0033] Figure 1 This is a flowchart of a five-axis machine tool error compensation method in one embodiment of the present invention;

[0034] Figure 2 This is a three-dimensional structural diagram of the workpiece being measured according to an embodiment of the present invention;

[0035] Figure 3 This is a top view of the workpiece being measured according to an embodiment of the present invention;

[0036] Figure 4 This is a schematic diagram of a five-axis machine tool error compensation system in one embodiment of the present invention;

[0037] Figure 5 This is a schematic diagram of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0038] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this invention.

[0039] In the rapid development of modern manufacturing, the precision of CNC machine tools directly affects product quality and production efficiency. Currently, mainstream CNC machine tools include five-axis machine tools, whose errors include 21 linear axis errors and 22 rotary axis errors. Traditional methods for measuring five-axis machine tool errors are broadly divided into direct measurement and indirect measurement. Direct measurement requires high-precision error measurement equipment, but current equipment is insufficient for measuring rotary axis errors to meet practical needs. Indirect measurement mainly compensates for errors by establishing spatial error compensation models, but this is difficult to meet the error compensation requirements of the diverse range of five-axis machine tools and lacks versatility. Therefore, how to quickly and accurately compensate for the errors of five-axis machine tools has become a major obstacle to improving their precision.

[0040] To address this problem, this invention aims to establish an error compensation method that is applicable to all types of five-axis machine tools, thereby maximizing the machining accuracy of five-axis machine tools without increasing costs or operational complexity.

[0041] The core idea of ​​this invention is to process a measuring workpiece using a five-axis machine tool, adjust the angle of the corresponding rotation axis of the five-axis machine tool during processing, process multiple detection grooves at different positions of the measuring workpiece, calculate the dimensional error of each detection groove in the five-axis coordinate system, and establish a corresponding error compensation table to accurately compensate for machine tool errors.

[0042] Reference Figure 1 The diagram shows a flowchart of a five-axis machine tool error compensation method according to an embodiment of the present invention. This five-axis machine tool error compensation method is basically applicable to all five-axis machine tools, and specifically includes the following steps:

[0043] S1. Machining and measuring workpiece.

[0044] Specifically, in this step, a measuring workpiece 1 needs to be designed in advance. The measuring workpiece 1 includes a top surface, a bottom surface, and multiple side surfaces. The top surface, bottom surface, and side surfaces are constructed as planes or at least have a planar portion. The top surface and bottom surface are parallel to each other, and the side surfaces are perpendicular to both the top surface and the bottom surface. A measuring groove 11 is machined on each side surface of the measuring workpiece 1 by a machine tool.

[0045] Each measuring groove 11 has the same design shape and size. The groove body of the measuring groove 11 is roughly a cuboid or a cube. The top of the measuring groove 11 extends to the top surface of the measuring workpiece 1. The concave direction of the measuring groove 11 is perpendicular to the corresponding side of the measuring workpiece 1, so that the bottom wall of the measuring groove 11 is parallel to the top surface of the measuring workpiece 1. The left and right walls of the measuring groove 11 are perpendicular to the side of the measuring workpiece 1 where they are located, and also perpendicular to the top surface of the measuring workpiece 1.

[0046] It should be noted that in this step, the angle range of the first rotary axis of the five-axis machine tool is at least -90° to 90°, and the angle range of the second rotary axis is generally -180° to 180°.

[0047] When machining the workpiece 1, the first rotary axis of the five-axis machine tool rotates to a preset angle, so that one side of the workpiece 1 faces the tool, and the tool machines the measuring groove 11 on that side.

[0048] Optionally, the preset angle of the first rotary axis of the five-axis machine tool can be set to -90° or 90°.

[0049] After the first measuring groove 11 is machined, the second rotary axis of the five-axis machine tool rotates, and the angle of the measuring workpiece 1 on the second rotary axis is adjusted so that the other side of the measuring workpiece 1 faces the tool, and the tool machines the measuring groove 11 on this side.

[0050] Then repeat the above steps until measuring grooves 11 are machined on all sides of the workpiece 1.

[0051] In an exemplary embodiment, the measuring workpiece 1 can be machined from a regular octagonal prism or a workpiece similar to a regular octagonal prism, wherein measuring grooves 11 are machined on all eight sides of the regular octagonal prism workpiece. When machining the measuring grooves 11, the second rotating axis rotates by an angle of 45° each time. When machining eight measuring grooves 11, the angles of the second rotating axis are 0°, 45°, 90°, 135°, 180°, 225°, 270°, 315°, and 330° respectively.

[0052] In other embodiments, the measuring workpiece 1 may be formed from other shapes of regular polygonal prisms, such as regular square prisms, regular pentagonal prisms, or regular hexagonal prisms.

[0053] It should be noted that, referring to Figure 2 As shown, each measuring slot 11 has 8 measuring points around it, and the distribution of the 8 measuring points is as follows:

[0054] Measurement point 111 and measurement point 212 are located on the same side of the workpiece 1, and measurement point 111 and measurement point 212 are located on both sides of the measuring groove 11 respectively.

[0055] Measurement point 313 is located on the rear wall of measurement groove 11.

[0056] Measurement point 4 114 and measurement point 5 115 are located on the left and right walls of the same measurement groove 11, respectively.

[0057] Measurement point 6 116 and measurement point 7 117 are located on the top surface of the two intervals on both sides of the measurement groove 11, respectively. The intervals represent the structure formed between two adjacent measurement grooves 11.

[0058] Measurement point 8118 is located on the bottom wall of measurement groove 11.

[0059] It should be noted that the measurement point can be located at any point on the plane in which it is located; its position is not limited to the central or edge region of the plane. During actual measurement, it is sufficient to ensure that the probe makes contact with the corresponding plane of the measurement point.

[0060] In the following steps, we will take the measuring workpiece 1, which is in the shape of a regular octagonal prism, as an example to further introduce the subsequent steps.

[0061] S2. Measure the coordinates (x, y) of each measuring point around each of the measuring slots 11 in the three-axis coordinate system. ij y ij , z ij ), where i represents the serial number of measuring groove 11 and j represents the serial number of measuring point.

[0062] Specifically, in this step, when detecting the coordinate values ​​of the measurement points, the first and second rotation axes of the measuring workpiece 1 are restored to the 0° position, and the measuring workpiece 1 is placed in a horizontal position, that is, the top and bottom surfaces of the measuring workpiece 1 are perpendicular to the Z-axis. During the measurement process, the measuring workpiece 1 remains stationary, and the coordinate values ​​(x, y, z) of the eight detection points around each measurement point are detected using a moving probe. ij y ij , z ij ).

[0063] S3. Based on the coordinate values ​​(x, y) of each measurement point in the three-axis coordinate system ij y ij , z ij ), calculate the machining error (Δx) of each of the measuring grooves 11 in the five-axis coordinate system. αβi Δy αβi Δz αβi ).

[0064] Specifically, in this step, considering that the coordinate values ​​obtained by the probe are coordinate values ​​in a three-axis coordinate system, if the coordinate values ​​in a three-dimensional coordinate system are used to calculate the dimensional error of the measuring groove 11 in subsequent steps, the error of the first rotation axis and the second rotation axis when machining the measuring groove 11 cannot be reflected.

[0065] Therefore, this step specifically calculates the dimensional error (Δx) of each measuring groove 11 in the five-axis coordinate system according to the following steps. i Δy i Δz i ).

[0066] S31. Calculate the coordinates (x, y) of the measurement point in the three-axis coordinate system. ij y ij , z ij Convert ) to coordinate values ​​relative to the second rotation axis (x) βij y βij , z βij ).

[0067] Specifically, the coordinates (x, y) of the measurement point in the three-axis coordinate system are calculated according to the following formula. ij y ij , z ij Convert ) to coordinate values ​​relative to the second rotation axis (x) βij y βij , z βij ):

[0068] (x βij y βij , z βij )=(x ij y ij , z ij )·R β ;

[0069] Among them, R β This is the rotation matrix of the second rotary axis of a five-axis machine tool.

[0070] Furthermore, considering that the rotation direction of the rotary table structure in a five-axis machine tool is subject to the left-hand rule, when the second rotation axis is the rotary table rotation axis, the angle value in its rotation matrix is ​​the negative value of the angle of the second rotation axis when machining the measuring groove 11.

[0071] Specifically, when the second rotation axis is the rotation axis of the turntable, the angle value β in its rotation matrix is ​​-β. i ,β i The angle of the second rotating axis when machining the i-th measuring groove 11.

[0072] As an example, when the second rotary axis is the rotary table axis, the angle of the second rotary axis is 45° when the machine tool processes the second measuring slot 11. The coordinate value (x, y) of the measuring point relative to the second rotary axis is calculated. βij y βij , z βij When ), the angle value in the rotation matrix of the second rotation axis is -45°.

[0073] S32, Based on the coordinate values ​​(x) of each measurement point relative to the second rotation axis βij y βij , z βij ) Calculate the machining error (Δx) of measuring groove 11 relative to the second rotating axis. βi Δyβi Δz βi ), where β represents the angle of the second rotating axis when machining the i-th measuring groove 11.

[0074] Specifically, the measurement points should be distributed as much as possible in the three dimensional directions of the measuring groove 11. To a certain extent, this can be understood as the measurement points being distributed as much as possible in the length, width, and height directions of the measuring groove 11. The length of the measuring groove 11 can be calculated by the difference in the measurement points in the length direction, the width of the measuring groove 11 can be calculated by the difference in the measurement points in the width direction, and the height of the measuring groove 11 can be calculated by the difference in the measurement points in the height direction.

[0075] As an example, refer to Figure 2 and Figure 3 As shown, when measuring the coordinates of the measuring point, the measuring workpiece is placed horizontally. At this time, the first measuring groove 11 is recessed along the X-axis and penetrates the top surface of the measuring workpiece along the Z-axis. The two groove walls on both sides of the X-axis in the first measuring groove 11 are symmetrically distributed along the X-axis.

[0076] At this point, the machining error (Δx) of each measuring groove 11 relative to the second rotating axis can be calculated using the following formula. βi Δy βi Δz βi );

[0077]

[0078] Among them, L X To measure the designed horizontal recess depth of the measuring groove 11 when workpiece 1 is placed horizontally (i.e., the theoretical dimension of the measuring groove 11 on the X-axis), L Z The design vertical recess depth of the measuring groove 11 when the workpiece is placed horizontally (i.e., the theoretical dimension of the measuring groove 11 on the Z-axis).

[0079] The calculation principle of the above formula is as follows: subtract the design size (i.e., theoretical size) of the measuring groove 11 from its actual size. The average of the X-axis coordinates of measuring point 111 and measuring point 112 can be used as the actual X-axis coordinate of the side of the measuring groove 11, which can be understood to some extent as the actual X-axis coordinate of the front wall of the measuring groove 11 (the front wall is a hypothetical wall). The X-axis coordinate of measuring point 113 is the actual X-axis coordinate of the rear wall of the measuring groove 11. Therefore, by subtracting the actual X-axis coordinate of the front wall of the measuring groove 11 from the actual X-axis coordinate of the rear wall, the actual size of the measuring groove 11 on the X-axis can be obtained. Then, by subtracting the theoretical size of the measuring groove 11 on the X-axis, the X-axis dimensional error of the measuring groove 11 can be obtained.

[0080] Similarly, the Z-axis dimensional error of the measuring groove 11 can also be calculated in the same way as described above. At this time, it is necessary to measure the Z-axis coordinate values ​​of measuring point six 116, measuring point seven 117 and measuring point eight 118, convert them into coordinate values ​​relative to the second rotation axis, and then calculate the Z-axis dimensional error of the measuring groove 11.

[0081] The Y-axis dimensional error of the measuring groove 11 can be calculated by measuring the Y-axis coordinates of measuring point 4 114 and measuring point 5 115. Specifically, the average value of the Y-axis coordinates of measuring point 4 114 and measuring point 5 115 can be regarded as the actual coordinate of the Y-axis zero point. The Y-axis dimensional error of the measuring groove can be obtained by subtracting the theoretical coordinate of the Y-axis zero point (the theoretical coordinate of the Y-axis zero point is 0) from the actual coordinate of the Y-axis zero point.

[0082] S33, Based on the machining error (Δx) of each measuring groove 11 relative to the second rotating axis βi Δy βi Δz βi ), calculate the machining error (Δx) of each measuring groove 11 in the five-axis coordinate system. αβi Δy αβi Δz αβi ), where α represents the angle of the first rotating axis when machining the i-th measuring groove 11.

[0083] Specifically, the machining error (Δx) of each measuring groove 11 in the five-axis coordinate system is calculated according to the following formula. αβi Δy αβi Δz αβi ):

[0084] (Δx αβi Δy αβi Δz αβi )=(Δx βi Δy βi Δz βi )·R α ;

[0085] Among them, R α This is the rotation matrix of the first rotary axis of a five-axis machine tool.

[0086] Furthermore, considering that the rotation direction of the rotary table structure in a five-axis machine tool is subject to the left-hand rule, when the first rotation axis is the rotary table rotation axis, the angle value in its rotation matrix is ​​the negative value of the angle of the first rotation axis when machining the measuring groove 11.

[0087] Specifically, when the first rotation axis is the rotation axis of the turntable, the angle value α in its rotation matrix is ​​-α. i α i The angle of the first rotating axis when machining the i-th measuring groove 11.

[0088] S4. Based on the machining error (Δx) of each measuring groove 11 in the five-axis coordinate system αβi Δy αβi Δz αβi ), the angle α of the first rotating axis when machining each measuring groove 11 i The angle β of the second rotation axis i Compensate for machine tool errors.

[0089] Specifically, in this step, the machining error (Δx) of each measuring groove 11 in the five-axis coordinate system is used. αβi Δy αβi Δz αβi ), the angle α of the first rotating axis when machining each measuring groove 11 i The angle β of the second rotation axis i An error compensation table is established. For the angles of the first and second rotation axes that are not recorded in the error compensation table, the corresponding error compensation values ​​can be obtained using conventional interpolation and symmetry methods. The method of interpolating discrete error compensation data is readily known to those skilled in the art and will not be described in detail in this invention.

[0090] The above are the specific steps of a five-axis machine tool error compensation method proposed in this invention. The following uses the machining of a regular octagonal measuring workpiece 1 on a five-axis machine tool as an example to introduce the error compensation method of this invention.

[0091] 1. BC Double Rotary Table Five-Axis Machine Tool

[0092] S1. The workpiece 1 is placed horizontally on the worktable. The B-axis is rotated to 90° and the C-axis angle is 0°. The first side of the workpiece 1 faces the tool. The tool processes the first measuring groove 11 on the first side according to the preset program. The shape of the measuring groove 11 is approximately a cuboid or a cube.

[0093] Then the C-axis is rotated sequentially to 45°, 90°, 135°, 180°, 225°, 270° and 315°, respectively, to machine measuring grooves 11 on the second to seventh sides of the measuring workpiece 1.

[0094] The S2, B, and C axes were restored to the 0° position, and the coordinates (x, y, y) of the eight measurement points around each measurement slot 11 in the three-axis coordinate system were detected using probes. ij y ij , z ij ).

[0095] S31. According to the calculation formula (x) βij y βij , z βij )=(x ij y ij , z ij)·R β The coordinates (x, y) of each measurement point in the three-axis coordinate system ij y ij , z ij Convert ) to coordinate values ​​relative to the second rotation axis (x) βij y βij , z βij In this example, the second axis of rotation is the C-axis, and the rotation matrix of the C-axis is as follows:

[0096]

[0097] Considering that the C-axis in this example is the rotation axis of the turntable, the calculation formula (x) is adjusted accordingly. βij y βij , z βij )=(x ij y ij , z ij )·R β The following calculation formula can be obtained through derivation:

[0098] x βij =x ij cos(-β i )-y ij sin(-β i )

[0099] y βij =x ij sin(-β i )+y ij cos(-β i ).

[0100] S32. Calculate the machining error (Δx) of each measuring groove 11 relative to the second rotating axis according to the following formula. βi Δy βi Δz βi ):

[0101]

[0102] S33, according to the calculation formula (Δx) αβi Δy αβi Δz αβi )=(Δx βi Δy βi Δz βi )·R α Calculate the machining error (Δx) of each measuring groove 11 in the five-axis coordinate system. αβi Δy αβi Δz αβi In this example, the first rotation axis is the B-axis, and the rotation matrix of the B-axis is as follows:

[0103]

[0104] Considering that axis B in this example is the rotation axis of the turntable, the calculation formula (Δx) is... αβi Δy αβi Δz αβi )=(Δx βi Δy βi Δz βi )·R α The following calculation formula can be obtained through derivation:

[0105]

[0106] The error compensation data in the table below are actual compensation data obtained based on the error compensation method of the present invention.

[0107] Table 1 - X-axis Compensation

[0108]

[0109]

[0110] Table 2 - Y-axis Compensation

[0111]

[0112] Table 3 - Z-axis Compensation

[0113]

[0114] Based on the above compensation data, it can be seen that the error compensation method of the present invention can compensate for at least 50% of the rotary axis error, which greatly improves the machining accuracy of the five-axis machine tool.

[0115] Additionally, it should be noted that the B-axis angle is not listed in the compensation table because the B-axis angle is always 90° when machining the measuring groove 11. In the actual machining process, when the B-axis angle is 90° and the C-axis angle is an integer multiple of 0° or 45°, the corresponding error compensation data in the table above can be directly used to compensate for machine tool errors. When the B-axis angle is -90° and the C-axis angle is an integer multiple of 0° or 45°, the corresponding error compensation data in the table above is negatively calculated before compensating for machine tool errors. When the B-axis angle is 30° and the C-axis angle is an integer multiple of 0° or 45°, the corresponding error compensation data in the table above is multiplied by (1 / 3) before compensating for machine tool errors. Similarly, when the C-axis angle is not listed in the table above, the corresponding error compensation data can be obtained by interpolation using the error compensation data corresponding to the two angles adjacent to that angle.

[0116] 2. B-type swivel head C-type rotary table five-axis machine tool

[0117] In this example, the machining method for measuring workpiece 1 is similar to that of the BC dual rotary table five-axis machine tool. The difference is that the B axis is a tilting head rotation axis, which is applicable to the right-hand rule. The final calculation formula derived in step S33 is as follows:

[0118]

[0119] 3. CB Double-Swivel Head Five-Axis Machine Tool

[0120] In this example, the machining method for measuring workpiece 1 is similar to that of the BC dual rotary table five-axis machine tool. The difference is that the B and C axes are tilting head rotation axes, which are subject to the right-hand rule. The final calculation formula derived in step S31 is as follows:

[0121]

[0122] The final calculation formula derived in step S33 is as follows:

[0123]

[0124] The above examples mainly illustrate the calculation steps for five-axis machine tools with B and C axes. For five-axis machine tools with A and B axes or with A and C axes, the calculation steps are similar to the examples above. The only difference is that the corresponding rotation matrix needs to be selected according to the rotation axis. It is simply a matter of changing the rotation matrix in the corresponding calculation formula, and does not cause the essence of the corresponding technical solution to deviate from the spirit and scope of the technical solution of the present invention.

[0125] Reference Figure 4 As shown, based on the same inventive concept as the aforementioned five-axis machine tool error compensation method, an embodiment of the present invention also provides a five-axis machine tool error compensation system 2, which includes a data acquisition module 21, a data processing module 22 and a compensation module 23.

[0126] Data acquisition module 21 is used to acquire the coordinate values ​​(x, y, y) of multiple measurement points around the measurement groove 11 of the workpiece 1 in a three-axis coordinate system. ij y ij , z ij The data processing module 21 is used to process the coordinates (x, y) of each measurement point in the three-axis coordinate system. ij y ij , z ij ), calculate the machining error (Δx) of each measuring groove 11 in the five-axis coordinate system. αβi Δy αβi Δz αβi The compensation module 23 is used to compensate for the machining error (Δx) of each measuring groove 11 in the five-axis coordinate system. αβi Δyαβi Δz αβi ), the angle α of the first rotating axis when machining each measuring groove 11 i The angle β of the second rotation axis i Compensate for machine tool errors.

[0127] Reference Figure 5 As shown, one embodiment of the present invention also provides an electronic device 3, which includes at least one processor 31, a memory 32 (e.g., non-volatile memory), a main memory 33, and a communication interface 34, and the at least one processor 31, the memory 32, the main memory 33, and the communication interface 34 are connected together via an internal bus 35. The at least one processor 31 is used to invoke at least one program instruction stored or encoded in the memory to cause the at least one processor 31 to perform various operations and functions of the five-axis machine tool error compensation method described in the various embodiments of this specification.

[0128] In embodiments of the present invention, the electronic device 3 may include, but is not limited to: personal computer, server computer, workstation, desktop computer, laptop computer, notebook computer, mobile electronic device, smartphone, tablet computer, cellular phone, personal digital assistant (PDA), handheld device, messaging device, wearable electronic device, consumer electronic device, etc.

[0129] An embodiment of the present invention also provides a computer-readable storage medium, which may have instructions (i.e., the elements implemented in software as described above), which, when executed by a machine, cause the machine to perform the above-described combinations in the various embodiments of this specification. Figures 1 to 5 The various operations and functions described. Specifically, a system or apparatus equipped with a readable storage medium storing software program code that implements the functions of any of the embodiments described above, and enabling the computer or processor of the system or apparatus to read and execute the instructions stored in the readable storage medium.

[0130] The computer-readable medium in this invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0131] In this invention, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. This propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wireline, optical fiber, RF, etc., or any suitable combination thereof.

[0132] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0133] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus, systems, and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0134] The foregoing description of specific exemplary embodiments of the invention is for illustrative and explanatory purposes. These descriptions are not intended to limit the invention to the precise forms disclosed, and it will be apparent that many changes and variations can be made in accordance with the foregoing teachings. The exemplary embodiments were chosen and described in order to explain the specific principles of the invention and its practical application, thereby enabling those skilled in the art to implement and utilize various different exemplary embodiments of the invention, as well as various different choices and variations. The scope of the invention is intended to be defined by the claims and their equivalents.

[0135] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0136] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A method of five-axis machine tool error compensation, characterized by, The method comprises the following steps: rotating a first rotating shaft to process a measuring groove on one side of a measuring workpiece, and a plurality of measuring points are formed around the measuring groove; rotating a second rotating shaft to process a measuring groove on another side of the measuring workpiece; repeating the step of rotating the second rotating shaft until measuring grooves are processed on all predetermined sides of the measuring workpiece; measuring coordinate values of a plurality of measuring points around each of the measuring grooves in a three-axis coordinate system , i represents the serial number of the measuring groove, and j represents the serial number of the measuring point. Based on the coordinate value of each measurement point in the three-axis coordinate system , calculate the machining error of each measurement groove in the five-axis coordinate system ; a machining error of each of the measurement grooves in a five-axis coordinate system an angle of the first rotation axis when machining each measurement groove an angle of the second rotation axis compensate for the machine tool error the measuring workpiece comprises a top surface, a bottom surface and a plurality of side surfaces, the measuring groove is in the shape of a cuboid or a square, and the recess direction is perpendicular to the side surface of the measuring workpiece, the measuring groove also penetrates to the top surface of the measuring workpiece, and a spacing part is formed between two adjacent measuring grooves; each measuring groove is surrounded by eight measuring points, when the measuring workpiece is placed horizontally, measuring point one and measuring point two are located on the same side of the measuring workpiece and are located on the two sides of the measuring groove respectively, measuring point three is located on the rear side wall of the measuring groove, measuring point four and measuring point five are located on the left and right side walls of the measuring groove respectively, measuring point six and measuring point seven are located on the top surfaces of the two spacing parts on the two sides of the measuring groove respectively, and measuring point eight is located on the bottom wall of the measuring groove; The calculation of the machining error of each of the measurement grooves in a five-axis coordinate system comprises: The coordinate values of the measurement points in the three-axis coordinate system are converted into coordinate values relative to the second rotation axis ; and ; based on coordinate values of each of the measurement points relative to the second rotation axis calculating a machining error of the measurement groove relative to the second rotation axis ; Based on the machining error of each measurement groove relative to the second rotation axis , calculate the machining error of each measurement groove in the five-axis coordinate system ; The machining error of each of the measurement grooves in the five-axis coordinate system is calculated according to the following formula : ； wherein, is the rotation matrix for the first rotation axis of the five-axis machine tool; The measured point coordinates in the three-axis coordinate system are converted into coordinates relative to the second rotation axis according to the following formula : x' = x cos a + y sin a : y' = -x sin a + y cos a ； wherein, is the rotation matrix of the second rotation axis of the five-axis machine tool; when measuring the coordinates of the measuring points, the measuring workpiece is placed horizontally; The machining error of each of the measurement grooves with respect to the second rotation axis is calculated according to the following formula ; ； ； ； wherein, is the design vertical recess depth of the measurement slot for a horizontal placement of the workpiece, is the design vertical recess depth of the measurement slot for a horizontal placement of the workpiece.

2. The five-axis machine tool error compensation method of claim 1, wherein, When the second rotation axis is a turntable rotation axis, the angle value in its rotation matrix , is the angle of the second rotation axis when the i-th measurement groove is processed.

3. The five-axis machine tool error compensation method of claim 1, wherein, When the first rotation axis is a turntable rotation axis, the angle value in its rotation matrix , is the angle of the first rotation axis when the i-th measurement groove is processed.

4. A five-axis machine tool error compensation system, characterized by, The method comprises the following steps: The data acquisition module is configured to acquire coordinate values of a plurality of measurement points around a measurement groove of a workpiece in a three-axis coordinate system , i represents a serial number of the measurement groove, j represents a serial number of the measurement point, the measurement groove is obtained by machining on a side surface of the workpiece after rotating first and second rotation axes, and a plurality of measurement points are formed around the measurement groove. A data processing module is configured to calculate machining errors of each of the measuring grooves in a five-axis coordinate system based on coordinate values of each of the measuring points in a three-axis coordinate system ;​ a compensation module configured to compensate for the machining error of each of the measurement grooves based on the machining error of each of the measurement grooves in the five-axis coordinate system an angle of the first rotation axis and an angle of the second rotation axis compensate for the machine tool error wherein the measuring workpiece comprises a top surface, a bottom surface and a plurality of side surfaces, the measuring groove is in the shape of a cuboid or a square, and the recess direction is perpendicular to the side surface of the measuring workpiece, the measuring groove also penetrates to the top surface of the measuring workpiece, and a spacing part is formed between two adjacent measuring grooves; each measuring groove is surrounded by eight measuring points, when the measuring workpiece is placed horizontally, measuring point one and measuring point two are located on the same side of the measuring workpiece and are located on the two sides of the measuring groove respectively, measuring point three is located on the rear side wall of the measuring groove, measuring point four and measuring point five are located on the left and right side walls of the measuring groove respectively, measuring point six and measuring point seven are located on the top surfaces of the two spacing parts on the two sides of the measuring groove respectively, and measuring point eight is located on the bottom wall of the measuring groove; the calculation of the machining error of each of the measurement grooves in a five-axis coordinate system comprising: The coordinate values of the measurement points in the three-axis coordinate system are converted into coordinate values relative to the second rotation axis ;​ based on coordinate values of each of the measurement points relative to the second rotation axis calculating a machining error of the measurement groove relative to the second rotation axis ; based on a machining error of each of the measurement grooves relative to the second rotation axis , calculate a machining error of each of the measurement grooves in a five-axis coordinate system ; The machining error of each of the measurement grooves in the five-axis coordinate system is calculated according to the following formula : ； wherein, is the rotation matrix for the first rotation axis of the five-axis machine tool; The measured point coordinates in the three-axis coordinate system are converted into coordinates relative to the second rotation axis according to the following formula : x' = x cos a + y sin a : y' = -x sin a + y cos a ； wherein, is the rotation matrix of the second rotation axis of the five-axis machine tool; when measuring the coordinates of the measuring points, the measuring workpiece is placed horizontally; The machining error of each of the measurement grooves with respect to the second rotation axis is calculated according to the following formula ; ； ； ； wherein, is the design vertical recess depth of the measurement slot for a horizontal placement of the workpiece, is the design vertical recess depth of the measurement slot for a horizontal placement of the workpiece.

5. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor implements the five-axis machine tool error compensation method according to any one of claims 1-3 when executing the program.

6. A computer readable medium characterized by The computer readable medium carries computer execution instructions, and the computer execution instructions are used to implement the five-axis machine tool error compensation method according to any one of claims 1-3 when executed by the processor.

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