Calculation and compensation methods, systems, media, and equipment for machine tool rotary axis misalignment

Abstract

This invention relates to the field of machine tool error compensation technology, and discloses a method, system, medium, and device for calculating and compensating for the axis deviation of a machine tool rotary axis. The method includes: constructing a local coordinate system of a standard sphere of the machine tool, and rotating a probe around the rotary axis following the standard sphere; measuring and constructing a set of standard sphere deviation vectors in the local coordinate system using the probe; obtaining a set of standard sphere deviation vectors in the global coordinate system based on the set of standard sphere deviation vectors in the local coordinate system; calculating a set of deviation vectors for the rotary axis axis based on the set of standard sphere deviation vectors in the global coordinate system; and using the average value of the set of deviation vectors for the rotary axis axis as the final deviation vector for the machine tool rotary axis axis. This invention can obtain an effective axis deviation value, and on-machine error compensation based on this value can improve the machining accuracy of the machine tool.

Description

Technical Field

[0001] This invention relates to the field of machine tool error compensation technology, and in particular to a method, system, medium, and equipment for calculating and compensating for the deviation of the axis of rotation of a machine tool. Background Technology

[0002] During the manufacturing and use of machine tools, factors such as precision limitations, inaccurate fits during assembly, and wear of rotating parts after long-term use can cause the axis center of the machine tool's rotating parts to shift, thus affecting the machining accuracy and product qualification rate. To improve the machining accuracy of machine tools, existing technologies have developed methods to compensate for machine tool errors.

[0003] In the process of compensating for machine tool errors, it is necessary to obtain the coordinates of the machine tool's rotary axis. However, in actual on-machine measurement, the coordinates of a standard sphere in a local coordinate system are usually obtained, which does not directly provide the actual axis center in the machine tool's machining coordinate system. Consequently, an effective axis center deviation value cannot be obtained, resulting in limited machine tool error compensation and an inability to effectively improve the machining accuracy of the machine tool. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a method, system, medium and equipment for calculating and compensating the axis deviation of a machine tool rotary axis, which can obtain an effective axis deviation value. Based on this, in-machine error compensation can improve the machining accuracy of the machine tool.

[0005] To solve the above-mentioned technical problems, the present invention provides a method for calculating the axis deviation of a machine tool rotary axis, comprising:

[0006] Construct a local coordinate system for the standard sphere of the machine tool, so that the probe follows the standard sphere as it rotates around the axis of rotation;

[0007] The standard sphere deviation vector set in the local coordinate system is constructed by measuring with a probe, and the standard sphere deviation vector set in the global coordinate system is obtained based on the standard sphere deviation vector set in the local coordinate system.

[0008] The deviation vector set of the rotation axis center is calculated based on the standard sphere deviation vector set in the global coordinate system, and the average value of the deviation vector set of the rotation axis center is taken as the final deviation vector of the machine tool rotation axis center.

[0009] Furthermore, the step of measuring and constructing a set of standard sphere deviation vectors in a local coordinate system using a probe, and then obtaining a set of standard sphere deviation vectors in a global coordinate system based on the set of standard sphere deviation vectors in the local coordinate system, specifically involves:

[0010] During the rotation of the axis, at intervals of α, a probe is used to measure the actual coordinates of the sphere's center in a local coordinate system, denoted as C.i ', i = 1, 2, ..., n; C i ' represents the actual coordinates of the center of the sphere in the i-th group of measurements, and n is the total number of groups of measurements;

[0011] Let C be the theoretical coordinate of the sphere's center in the local coordinate system. i Construct the standard sphere deviation vector set in the local coordinate system as follows: Let be the standard sphere deviation vector in the i-th local coordinate system;

[0012] The theoretical rotation axis of the machine tool's rotary axis is denoted as O, and the actual rotation axis during rotation is denoted as O'. When axis deviation is not considered, the initial position of the standard ball is denoted as P0, and the standard ball rotates from P0 around the theoretical rotation axis O by an angle iα to P'. i When considering axial deviation, the initial position of the standard ball is denoted as P0'. The standard ball rotates from P0' around the actual rotation axis O' by an angle iα to P. i At the point where the standard sphere deviation vector set in the local coordinate system is rotated by an angle iα around the axis of rotation, the standard sphere deviation vector set in the global coordinate system is obtained as follows: Let be the standard sphere deviation vector in the i-th global coordinate system.

[0013] Furthermore, the deviation vector set of the rotation axis center is calculated based on the standard sphere deviation vector set in the global coordinate system, specifically as follows:

[0014] When the axis deviation is not considered, the radius of rotation of the standard sphere relative to O is denoted as R; the magnitude of the deviation vector set of the axis of rotation is calculated by combining the radius of rotation R, the displacement of the standard sphere, and the standard sphere deviation vector set in the global coordinate system.

[0015] Based on rigid body rotation and parallelism, the vector direction of the deviation vector group of the rotation axis center is obtained according to the vector direction of the standard sphere deviation vector group in the global coordinate system.

[0016] Furthermore, the calculation process for the magnitude of the deviation vector group of the rotation axis center is as follows:

[0017] Calculate P0, P i The distance between the two points is:

[0018]

[0019] Among them, P0P i For P0, P i The distance between two points;

[0020] According to ΔP0P i O and ΔP0′P iSimilar to 'O', the expression for the magnitude of the deviation vector of the i-th rotation axis center is:

[0021]

[0022] Will Substitution The final formula for calculating the magnitude of the deviation vector of the i-th rotation axis center is:

[0023]

[0024] in, Let be the magnitude of the deviation vector of the i-th rotation axis center. Let be the magnitude of the standard sphere deviation vector in the i-th global coordinate system;

[0025] The vector direction of the deviation vector group of the rotation axis center is:

[0026] The direction of the deviation vector of the i-th rotation axis center is counterclockwise from the standard sphere deviation vector in the i-th global coordinate system. The direction after.

[0027] Furthermore, the average value of the deviation vector group of the rotation axis center is calculated as follows:

[0028]

[0029] in, This is the final deviation vector of the machine tool's rotating axis center. Let be the deviation vector of the i-th rotation axis center, and n be the number of deviation vectors of the rotation axis centers in the deviation vector group of rotation axis centers.

[0030] The present invention also provides a method for compensating for the deviation of the machine tool rotary axis, wherein the deviation vector of the machine tool rotary axis is obtained by using the aforementioned method for calculating the deviation of the machine tool rotary axis, and the final deviation vector of the machine tool rotary axis is applied to the axis of the machine tool rotary axis to achieve compensation for the deviation of the machine tool rotary axis.

[0031] The present invention also provides a machine tool rotary axis center deviation calculation system, comprising:

[0032] The probe follows the standard sphere as it rotates around the axis of rotation;

[0033] The local coordinate system construction module is used to construct the local coordinate system of the machine tool's standard sphere.

[0034] The standard sphere deviation vector calculation module is used to measure and construct a set of standard sphere deviation vectors in a local coordinate system using a probe, and to obtain a set of standard sphere deviation vectors in a global coordinate system based on the set of standard sphere deviation vectors in the local coordinate system.

[0035] The axis deviation vector calculation module is used to calculate the deviation vector set of the rotation axis axis based on the standard sphere deviation vector set in the global coordinate system, and take the average value of the deviation vector set of the rotation axis axis as the final deviation vector of the machine tool rotation axis axis.

[0036] The present invention also provides a machine tool rotary axis misalignment compensation system, comprising:

[0037] The probe follows the standard sphere as it rotates around the axis of rotation;

[0038] The local coordinate system construction module is used to construct the local coordinate system of the machine tool's standard sphere.

[0039] The standard sphere deviation vector calculation module is used to measure and construct a set of standard sphere deviation vectors in the local coordinate system using a probe, and to obtain a set of standard sphere deviation vectors in the global coordinate system based on the set of standard sphere deviation vectors in the local coordinate system.

[0040] The axis deviation vector calculation module is used to calculate the deviation vector set of the rotation axis center based on the standard sphere deviation vector set in the global coordinate system, and take the average value of the deviation vector set of the rotation axis center as the final deviation vector of the machine tool rotation axis center.

[0041] The compensation module is used to apply the deviation vector of the final machine tool rotary axis center to the axis center of the machine tool rotary axis, thereby compensating for the deviation of the machine tool rotary axis center.

[0042] The present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the machine tool rotary axis center deviation calculation method or the machine tool rotary axis center deviation compensation method.

[0043] The present invention also provides an apparatus, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the machine tool rotary axis center deviation calculation method or the machine tool rotary axis center deviation compensation method.

[0044] Compared with the prior art, the above-described technical solution of the present invention has the following advantages:

[0045] This invention constructs a local coordinate system for a standard sphere at its center position, allowing a probe to rotate around the axis along with the standard sphere. The coordinates of the standard sphere's center in the local coordinate system are measured. Based on this, the deviation of the rotation axis's center is further calculated using the deviation of the actual center value. The resulting deviation vector of the rotation axis's center can directly and effectively compensate for the machine tool's rotation axis error, thereby improving the machine tool's machining accuracy and product qualification rate. Attached Figure Description

[0046] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings, wherein:

[0047] Figure 1 This is a flowchart of the axis deviation calculation method in a preferred embodiment of the present invention.

[0048] Figure 2 This is a schematic diagram of a local coordinate system in a preferred embodiment of the present invention.

[0049] Figure 3 This is a schematic diagram illustrating the calculation of shaft center deviation in a preferred embodiment of the present invention.

[0050] Figure 4 This is a schematic diagram illustrating the process of determining the direction of the deviation vector of the axis in a preferred embodiment of the present invention.

[0051] The following are the markings on the attached diagrams in the instruction manual: 1. Rotation axis; 2. Turntable; 3. Standard ball. Detailed Implementation

[0052] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0053] Reference Figure 1 As shown, this invention discloses a method for calculating the axis deviation of a machine tool rotary axis, including the following steps:

[0054] S1: First, in the initial state of the machine tool, construct the local coordinate system of the standard ball of the machine tool at the center position of the standard ball, so that the probe follows the standard ball and rotates around the rotation axis.

[0055] Since the machine tool's local coordinate system is not on the standard sphere, it is necessary to first perform a division of the standard sphere to find its position before measurement. Automatic centering technology for machine tools is a method for quickly and accurately determining the center position of a workpiece; therefore, in this embodiment, the position of the standard sphere is found using automatic centering technology for machine tools. Figure 2 As shown, the origin of the local coordinate system of the standard sphere is set at the center of the sphere. The local coordinate system of the standard sphere is denoted by {L}, and the three axes are X, Y, Z, and F.L Y L Z L The theoretical position of the center of the standard sphere is set to C0(0,0,0). Initially, since the rotation axis has not rotated, the actual position C0' of the center of the standard sphere obtained by measurement has the same coordinate value as C0.

[0056] In this embodiment, the C-axis of the machine tool is used as an example. A standard ball is placed on the machine tool turntable, and the machine tool's built-in program is run to measure the center of the standard ball to obtain the position of the ball's center. The center of the ball is set as the origin of the G54 coordinate system, and a local coordinate system of the standard ball is constructed.

[0057] S2: Measure and construct a set of standard sphere deviation vectors in the local coordinate system using a probe, and obtain the set of standard sphere deviation vectors in the global coordinate system based on the set of standard sphere deviation vectors in the local coordinate system.

[0058] S2-1: During the rotation of the rotation axis, a probe is used to measure the actual coordinates of the sphere's center in a local coordinate system at intervals of α, denoted as C. i ', i = 1, 2, ..., n; C i ' represents the actual coordinates of the center of the sphere in the i-th group of measurements, and n represents the total number of groups measured, with a total of n groups measured. In this embodiment, when measuring the standard sphere and calculating the coordinates of the center of the sphere, the coordinates of five points in four directions (vertex and side) on the sphere are measured using a probe, and the coordinates of the center of the sphere are obtained by fitting the coordinates using the least squares method.

[0059] S2-2: Let C be the theoretical coordinates of the sphere's center in the local coordinate system. i When rotated by an angle iα, C i The coordinates of the sphere's center are always (0,0,0), and due to the existence of axis deviation, the actual coordinates of the measured center are C. i ', Construct the standard sphere deviation vector set in the local coordinate system as Let be the standard sphere deviation vector in the i-th local coordinate system.

[0060] S2-3: As Figure 3 As shown, the theoretical rotation axis of the machine tool's rotary axis is denoted as O, and the actual rotation axis during rotation is denoted as O'; the final solved axis deviation vector is expressed as... The deviation vector in the local coordinate system and the deviation vector in the global coordinate system differ only by a rotation angle iα, and the final solution is the axis deviation. Since the specific coordinates of the axis are not required, the axis deviation can be calculated using the standard sphere deviation vector in the local coordinate system. When axial deviation is not considered, the initial position of the standard sphere is denoted as P0. The standard sphere rotates from P0 around the theoretical rotation axis O by an angle iα to P. iAt point O, the radius of rotation relative to point O is R; when considering the axial deviation, the initial position of the standard sphere is denoted as P0', and P0' is P0. The standard sphere rotates from point P0' around the actual rotation axis O' by the same angle iα to P. i At point ', the radius of rotation relative to O' is R'.

[0061] The standard sphere deviation vector set in the local coordinate system After rotating by an angle iα around the axis of rotation, the standard sphere deviation vector set in the global coordinate system is obtained as follows: Let P be the standard sphere deviation vector in the i-th global coordinate system. i Point P is placed on a circle with radius R centered at the theoretical axis of rotation O. i It is set on a circle with radius R' centered at the actual axis of rotation O'.

[0062] In this embodiment, the actual position of the center of a standard sphere is measured under different C-axis rotation angles. The machine tool calibration program is run, the machine tool is connected via communication, and the axis center calibration settings are enabled. Taking the axis to be calibrated as the C-axis, the measurement range as 0–288°, and the number of sampling groups as 5 as an example, the measurement begins.

[0063] The coordinates of a set of standard sphere surface points are measured every 72° around the C-axis by the turntable. After fitting the coordinates of the sphere center, the standard sphere deviation vector in the local coordinate system is obtained, which are: (0,0,0), (-0.1737,-0.0199,0.0000), (-0.2487,0.1366,0.0000), (-0.1210,0.2552,0.0000), (0.0312,0.1669,0.0000).

[0064] The standard sphere deviation vectors in the local coordinate system are converted to standard sphere deviation vectors in the global coordinate system as follows: (0,0,0), (-0.0337,-0.1669,0.0000), (0.1170,-0.2543,0.0000), (0.2445,-0.1383,0.0000), (0.1702,0.0177,0.0000).

[0065] S3: Calculate the deviation vector set of the rotation axis center based on the standard sphere deviation vector set in the global coordinate system.

[0066] S3-1: When the axis deviation is not considered, the rotation radius of the standard ball relative to O is denoted as R; combining the rotation radius R, the displacement of the standard ball and the standard ball deviation vector set in the global coordinate system, calculate the magnitude of the deviation vector set of the rotation axis axis.

[0067] Let the deviation vector of the center of the i-th rotation axis after rotation by an angle iα be denoted as Through the standard sphere deviation vector in the i-th global coordinate system calculate

[0068] S3-1-1: As Figure 3 As shown, according to the Law of Sines, P0 and P... i Distance between two points P0P i The calculation method is as follows:

[0069]

[0070] S3-1-2: As Figure 3 As shown, ΔP0P i O and ΔP0′P i Both 'O' are isosceles triangles. It is easy to prove that ΔP0P1 P1' is similar to ΔP0OO'. Based on the similarity relationship, the expression for the magnitude of the deviation vector of the i-th rotation axis center is:

[0071]

[0072] in, Let be the magnitude of the standard sphere deviation vector in the i-th global coordinate system. It is obtained through the formula for calculating the magnitude of a vector.

[0073] S3-1-3: Substituting formula (1) into formula (2), the magnitude of the deviation vector of the i-th rotation axis center is:

[0074]

[0075] in, Let be the magnitude of the deviation vector of the i-th rotation axis center.

[0076] S3-2: As Figure 4 As shown, based on the rigid body rotation and parallel relationship, the vector direction of the deviation vector group of the rotation axis center is obtained according to the vector direction of the standard sphere deviation vector group in the global coordinate system.

[0077] The deviation vector of the center of the i-th rotation axis The vector direction passes through Figure 4 The rigid body rotation and parallelism relationships shown indicate that the standard sphere deviation vector in the i-th global coordinate system is obtained. Rotate counterclockwise The direction after.

[0078] In this embodiment, the calculated deviation vector of the rotation axis center is:

[0079] S4: Based on S3, obtain n sets of axis deviation values, i.e., n deviation vectors of the rotation axis centers. Take the average value of the set of deviation vectors of the rotation axis centers as the final deviation vector of the machine tool rotation axis center, specifically:

[0080]

[0081] in, This is the final deviation vector of the machine tool's rotating axis center. Let be the deviation vector of the i-th rotation axis center, and n be the number of deviation vectors of the rotation axis centers in the deviation vector group of rotation axis centers.

[0082] In this embodiment, the final deviation vector of the machine tool rotary axis center is calculated as follows:

[0083] The present invention also discloses a method for compensating for the deviation of the machine tool rotary axis. The method for calculating the deviation of the machine tool rotary axis is used to obtain the deviation vector of the machine tool rotary axis, and the final deviation vector of the machine tool rotary axis is applied to the axis of the machine tool rotary axis to achieve compensation for the deviation of the machine tool rotary axis.

[0084] In this embodiment, the parameter setting page inside the machine tool is opened, the section on the C-axis center position parameter is located, and the deviation vector of the machine tool rotary axis center is subtracted from the original value. It enables compensation for the deviation of the machine tool's rotating axis center.

[0085] This invention also discloses a machine tool rotary axis center deviation calculation system, comprising:

[0086] The probe follows the standard sphere as it rotates around the axis of rotation;

[0087] The local coordinate system construction module is used to construct the local coordinate system of the machine tool's standard sphere.

[0088] The standard sphere deviation vector calculation module is used to measure and construct a set of standard sphere deviation vectors in the local coordinate system using a probe, and to obtain a set of standard sphere deviation vectors in the global coordinate system based on the set of standard sphere deviation vectors in the local coordinate system.

[0089] The axis deviation vector calculation module is used to calculate the deviation vector set of the rotary axis center based on the standard sphere deviation vector set in the global coordinate system, and use the average value of the deviation vector set of the rotary axis center as the final deviation vector of the machine tool rotary axis center.

[0090] This invention also discloses a machine tool rotary axis centerline deviation compensation system, which adds a compensation module to the machine tool rotary axis centerline deviation calculation system. The compensation module is used to apply the final deviation vector of the machine tool rotary axis centerline to the axisline of the machine tool rotary axis, thereby compensating for the deviation of the machine tool rotary axis centerline.

[0091] The present invention also discloses a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the machine tool rotary axis center deviation calculation method or the machine tool rotary axis center deviation compensation method.

[0092] The present invention also discloses an apparatus, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the machine tool rotary axis center deviation calculation method or the machine tool rotary axis center deviation compensation method.

[0093] This invention constructs a local coordinate system for a standard sphere at its center position in the initial state of the machine tool. The probe rotates around the axis along with the standard sphere, and the coordinates of the standard sphere's center in the local coordinate system are measured. Based on this, the deviation of the rotation axis center is further calculated by the deviation of the actual value of the sphere center. The obtained deviation vector of the rotation axis center can directly and effectively compensate for the error of the machine tool's rotation axis, thereby improving the machining accuracy and product qualification rate of the machine tool.

[0094] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application 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.

[0095] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. 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.

[0096] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0097] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0098] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A method for calculating the axis deviation of a machine tool rotary axis, characterized in that, include: Construct a local coordinate system for the standard sphere of the machine tool, so that the probe follows the standard sphere as it rotates around the axis of rotation; The standard sphere deviation vector set in the local coordinate system is constructed by measuring with a probe, and the standard sphere deviation vector set in the global coordinate system is obtained based on the standard sphere deviation vector set in the local coordinate system. The deviation vector set of the rotation axis center is calculated based on the standard sphere deviation vector set in the global coordinate system, and the average value of the deviation vector set of the rotation axis center is taken as the final deviation vector of the machine tool rotation axis center. The process of measuring and constructing a set of standard sphere deviation vectors in a local coordinate system using a probe, and then obtaining a set of standard sphere deviation vectors in a global coordinate system based on these local coordinate system set, specifically involves: During the rotation of the axis, at intervals of α, a probe is used to measure the actual coordinates of the sphere's center in a local coordinate system, denoted as C. i ', i=1,2,…,n; C i ' represents the actual coordinates of the center of the sphere in the i-th group of measurements, and n is the total number of groups of measurements; Let C be the theoretical coordinate of the sphere's center in the local coordinate system. i Construct the standard sphere deviation vector set in the local coordinate system as follows: , i=1,2,…,n; Let be the standard sphere deviation vector in the i-th local coordinate system; The theoretical rotation axis of the machine tool's rotary axis is denoted as O, and the actual rotation axis during rotation is denoted as O'. When axis deviation is not considered, the initial position of the standard ball is denoted as P0, and the standard ball rotates from P0 around the theoretical rotation axis O by an angle iα to P'. i When considering axial deviation, the initial position of the standard ball is denoted as P0'. The standard ball rotates from P0' around the actual rotation axis O' by an angle iα to P. i At the point where the standard sphere deviation vector set in the local coordinate system is rotated by an angle iα around the axis of rotation, the standard sphere deviation vector set in the global coordinate system is obtained as follows: , i=0,1,2,…,n; Let be the standard sphere deviation vector in the i-th global coordinate system; The deviation vector set of the rotation axis center is calculated based on the standard sphere deviation vector set in the global coordinate system, specifically as follows: When the axis deviation is not considered, the radius of rotation of the standard sphere relative to O is denoted as R; the magnitude of the deviation vector set of the axis of rotation is calculated by combining the radius of rotation R, the displacement of the standard sphere, and the standard sphere deviation vector set in the global coordinate system. Based on rigid body rotation and parallelism, the vector direction of the deviation vector group of the rotation axis center is obtained according to the vector direction of the standard sphere deviation vector group in the global coordinate system. The calculation process for the magnitude of the deviation vector group of the rotation axis center is as follows: calculate The distance between the two points is: ， in, for The distance between two points; according to and Similarly, the expression for the magnitude of the deviation vector of the i-th rotation axis center is: ， Will Substitution The final formula for calculating the magnitude of the deviation vector of the i-th rotation axis center is: ， in, Let be the magnitude of the deviation vector of the i-th rotation axis center. Let be the magnitude of the standard sphere deviation vector in the i-th global coordinate system; The vector direction of the deviation vector group of the rotation axis center is: The direction of the deviation vector of the i-th rotation axis center is counterclockwise from the standard sphere deviation vector in the i-th global coordinate system. The direction after.

2. The method for calculating the axis deviation of a machine tool rotary axis according to claim 1, characterized in that: The average value of the deviation vector group of the rotation axis center is calculated as follows: ， in, This is the final deviation vector of the machine tool's rotating axis center. Let be the deviation vector of the i-th rotation axis center, and n be the number of deviation vectors of the rotation axis centers in the deviation vector group of rotation axis centers.

3. A method for compensating for the misalignment of a machine tool rotary axis, characterized in that: The deviation vector of the machine tool rotary axis is obtained by using the machine tool rotary axis center deviation calculation method according to any one of claims 1-2, and the final deviation vector of the machine tool rotary axis is applied to the axis of the machine tool rotary axis to achieve compensation for the deviation of the machine tool rotary axis center.

4. A machine tool rotary axis center deviation calculation system, characterized in that, The method for calculating the axis deviation of a machine tool rotary axis as described in any one of claims 1-2 includes: The probe follows the standard sphere as it rotates around the axis of rotation; The local coordinate system construction module is used to construct the local coordinate system of the machine tool's standard sphere. The standard sphere deviation vector calculation module is used to measure and construct a set of standard sphere deviation vectors in a local coordinate system using a probe, and to obtain a set of standard sphere deviation vectors in a global coordinate system based on the set of standard sphere deviation vectors in the local coordinate system. The axis deviation vector calculation module is used to calculate the deviation vector set of the rotation axis axis based on the standard sphere deviation vector set in the global coordinate system, and take the average value of the deviation vector set of the rotation axis axis as the final deviation vector of the machine tool rotation axis axis.

5. A machine tool rotary axis misalignment compensation system, characterized in that, The method for compensating for the misalignment of a machine tool rotary axis as described in claim 3 includes: The probe follows the standard sphere as it rotates around the axis of rotation; The local coordinate system construction module is used to construct the local coordinate system of the machine tool's standard sphere. The standard sphere deviation vector calculation module is used to measure and construct a set of standard sphere deviation vectors in the local coordinate system using a probe, and to obtain a set of standard sphere deviation vectors in the global coordinate system based on the set of standard sphere deviation vectors in the local coordinate system. The axis deviation vector calculation module is used to calculate the deviation vector set of the rotation axis center based on the standard sphere deviation vector set in the global coordinate system, and take the average value of the deviation vector set of the rotation axis center as the final deviation vector of the machine tool rotation axis center. The compensation module is used to apply the deviation vector of the final machine tool rotary axis center to the axis center of the machine tool rotary axis, thereby compensating for the deviation of the machine tool rotary axis center.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, it implements the machine tool rotary axis center deviation calculation method as described in any one of claims 1-2, or the machine tool rotary axis center deviation compensation method as described in claim 3.

7. A device, characterized in that: It includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the machine tool rotary axis center deviation calculation method as described in any one of claims 1-2, or the machine tool rotary axis center deviation compensation method as described in claim 3.

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