Multi-channel flexible mounting device for detecting dynamic rotation parameters of machine tool spindle and method for detecting dynamic rotation parameters of spindle

Abstract

The invention discloses a multi-channel flexible mounting device for detecting dynamic rotation parameters of a machine tool spindle and a method for detecting the dynamic rotation parameters of the spindle. The multi-channel flexible mounting device comprises a plurality of multi-channel sensor mounting mechanisms, and a two-dimensional movement mechanism, a posture adjusting base, a pitching block and a third-direction base which are sequentially arranged from bottom to top; and a posture adjusting mechanism is arranged between the posture adjusting base and the pitching block. The multi-channel sensor mounting mechanism comprises a multi-channel sensor mounting mother seat and a multi-channel sensor mounting son seat, and a plurality of mounting holes are formed between the multi-channel sensor mounting mother seat and the multi-channel sensor mounting son seat. According to the invention, installation of the sensor at different measuring positions and six-degree-of-freedom adjustment can be realized, thermal stability temperature drift test, radial error, axial error, radial sensitivity, main shaft thermal inclination, main shaft dynamic inclination amount and other detection work under the condition of main shaft dynamic rotation can be completed, and the practicability is good.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of machine tool spindle detection, and particularly relates to a multi-channel flexible mounting device for machine tool spindle dynamic rotation parameter detection and a method for detecting spindle dynamic rotation parameters. BACKGROUND

[0002] At present, spindle rotation error is an important index reflecting the dynamic machining performance of a machine tool spindle, and there are various methods and means for detecting spindle dynamic rotation error on the market. The conventional method is to install a sensor on a fixed tooling and move the machine tool position to ensure that the sensor is located at the optimal detection position. This method has poor versatility and the test precision is difficult to guarantee. For example, the existing Chinese patent CN203418369U discloses a sensor position adjusting device for spindle rotation error detection. The structure is that a guide sleeve is mounted on a base, and a guide rod fixed on a lifting plate forms a sliding pair, the axis of the sliding pair is perpendicular to the horizontal plane; a compression screw is fixed at one end of the base and has a thread at the other end, passes through the lifting plate and is provided with a nut; a support plate is fixed on the lifting plate and is in surface contact with a mounting plate; key grooves are respectively formed in the support plate and the mounting plate, and two sliding keys are fixed together in the shape of a cross and are matched with the corresponding key grooves; a sensor support and a limiting block are mounted on the mounting plate, a detection rod is connected with the spindle to be detected, and a stepped shaft is mounted in the center hole at the end of the detection rod. However, this scheme cannot detect other errors of the spindle rotation. SUMMARY

[0003] The purpose of the present application is to provide a multi-channel flexible mounting device for machine tool spindle dynamic rotation parameter detection and a method for detecting spindle dynamic rotation parameters, aiming to realize the detection of thermal stability temperature drift test, radial error, axial error, radial sensitivity, spindle thermal inclination and spindle dynamic inclination under the condition of spindle dynamic rotation.

[0004] The present application is mainly realized by the following technical solutions:

[0005] A multi-channel flexible mounting device for machine tool spindle dynamic rotation parameter detection comprises a plurality of multi-channel sensor mounting mechanisms, and a two-dimensional motion mechanism, a posture adjusting base, a pitch block and a third direction base arranged in sequence from bottom to top; a posture adjusting mechanism is arranged between the posture adjusting base and the pitch block;

[0006] The multi-channel sensor mounting mechanism comprises a multi-channel sensor mounting female seat and a multi-channel sensor mounting male seat, and a plurality of mounting holes are arranged between the multi-channel sensor mounting female seat and the multi-channel sensor mounting male seat; a plurality of multi-channel sensor mounting female seats are arranged on the side of the pitch block, and a multi-channel sensor mounting male seat is arranged on one side of the multi-channel sensor mounting female seat.

[0007] In order to better realize the present application, further, the multi-channel sensor mounting female seat is connected with the pitch block through a compression screw, and a plurality of waist-shaped grooves are arranged on the lower part of the multi-channel sensor mounting female seat corresponding to the compression screw, so as to realize the adjustment in the Z direction.

[0008] In order to better realize the present application, further, the attitude adjusting mechanism comprises a threaded shaft, an attitude adjusting threaded sleeve, a ball head and a ball socket; four threaded shafts are arranged at the four corners of the top of the attitude adjusting base respectively, and the attitude adjusting threaded sleeve is mounted on the threaded shafts; the ball head is arranged below the pitch block, and the ball socket is arranged on the upper surface of the attitude adjusting base correspondingly.

[0009] In order to better realize the present application, further, the two-dimensional motion mechanism comprises a first direction base and a second direction base arranged in sequence from bottom to top, and guide rails are arranged on the top of the first direction base and the second direction base along the X direction and the Y direction respectively; the first direction base and the second direction base are connected through the guide rails slidingly, and the second direction base and the attitude adjusting base are connected through the guide rails slidingly.

[0010] The present application is mainly realized through the following technical solutions:

[0011] A detection method of dynamic rotation parameters of a machine tool spindle is realized based on the above-mentioned multi-channel flexible mounting device for detecting dynamic rotation parameters of a machine tool spindle, wherein the dynamic rotation parameters of the spindle include dynamic rotation error of the spindle, and the detection of the dynamic rotation error of the spindle comprises the following steps:

[0012] Step S1: distance measuring sensors are respectively installed equidistantly at the highest vertex extension of the x, y and z directions of the end ball head of the double-ball head detection mandrel;

[0013] A measurement coordinate system O-xyz is established with the ball center of the end ball head of the double-ball head detection mandrel as the origin, and distance measuring sensors are respectively installed at the (x s ,0,0), (0,y s ,0) and (0,0,z s ) coordinates, and the distance between the distance measuring sensors and the end ball head is the same;

[0014] Step S2: during the rotation of the spindle for one revolution, the coordinates (x i * , y i * , z i * ) of n actual measurement points are collected at equal angle intervals, i=1, 2, …, n; and the equation of a circle fitted on the x-y plane with the actual measurement points is (x-a) 2 +(y-b) 2 =r 2 ; wherein: (a, b) is the center coordinate, and r is the radius.

[0015] Step S3: using iterative method, find the coordinates of the center of the circle (a, b) that makes the sum of the square of the distance of all actual measurement points to the circle minimum;

[0016] Step S4: the main shaft dynamic rotation radial error δ1 is the distance of the fitted center of the circle (a, b) to the theoretical center of the circle (0, 0);

[0017]

[0018] Step S5: the main shaft dynamic rotation axial error mainly focuses on the coordinate change in the z direction, and the average value of the temperature correction coordinates in the z direction is calculated;

[0019]

[0020] Wherein: is the average value of the coordinate z i * ;

[0021] R is the radius of the end ball.

[0022] In order to better realize the present application, further, the step S3 comprises the following steps:

[0023] Step S31: constructing the objective function:

[0024]

[0025] Step S32: constructing the nonlinear equation group of a, b:

[0026] Partial derivative of a:

[0027]

[0028] Partial derivative of b:

[0029]

[0030] Step S33: using iterative method to solve the above nonlinear equation group of a, b;

[0031] Let the initial estimate be (a0, b0), and in each iteration, update (a, b) according to the following formula:

[0032]

[0033] Let a = a + Δa, b = b + Δb;

[0034] Repeat the iteration until Δa and Δb meet the convergence condition;

[0035] Wherein: J iThe Jacobian matrix corresponding to the ith measurement point is a 1*2 matrix;

[0036] F i The residual of the ith measurement point is the deviation of the square of the distance of the point to the current fitted circle from the square of the radius of the circle;

[0037] Δa is the correction amount of the center coordinate parameter a in the current iteration;

[0038] Δb is the correction amount of the center coordinate parameter b in the current iteration.

[0039] In order to better realize the present application, further, in the step S2, the actual measurement point coordinate after temperature correction is:

[0040] x * =x s ±d x * ;

[0041] y * =y s ±d y * ;

[0042] z * =z s ±d z * ;

[0043] Wherein, d x * =d x +d x α x (T-T0);

[0044] d y * =d y +d y α y (T-T0);

[0045] d z * =d z +d z α z (T-T0);

[0046] Wherein: T is the ambient temperature when measuring;

[0047] T0 is the initial reference temperature;

[0048] α x , α y , α z are the expansion coefficients of the distance measuring sensor in x, y and z directions respectively;

[0049] d x , d y , d z are the measured distances of the distance measuring sensors in x, y, z directions respectively;

[0050] d x * , d y * , d z * are the measured distances of the distance measuring sensors in x, y, z directions respectively.

[0051] The present application is mainly realized by the following technical solutions:

[0052] A detection method of dynamic rotation parameters of a machine tool spindle, which is realized based on the above-mentioned multi-channel flexible installation device for detecting dynamic rotation parameters of a machine tool spindle, wherein the dynamic rotation parameters of the spindle include a dynamic rotation inclination of the spindle, and the detection of the dynamic rotation inclination of the spindle includes the following steps:

[0053] Step T1: establishing a measurement coordinate system O-xyz with the ball center of the end ball head of the double-ball head detection mandrel as the origin;

[0054] (x s1 , 0, 0), (x s2 , 0, 0), (0, y s1 , 0) and (0, y s2 , 0) coordinates respectively install the fourth distance measuring sensor, the fifth distance measuring sensor, the second distance measuring sensor and the third distance measuring sensor; the fourth distance measuring sensor, the fifth distance measuring sensor, the second distance measuring sensor, the third distance measuring sensor respectively maintain the same detection distance with the ball heads of the double-ball head detection mandrel in the same plane; the fourth distance measuring sensor, the second distance measuring sensor and the ball center of the end ball head of the double-ball head detection mandrel are located in the first xoy plane, and the fifth distance measuring sensor, the third distance measuring sensor and the ball center of the other ball head of the double-ball head detection mandrel are located in the second xoy plane;

[0055] Step T2: during the rotation of the spindle, the coordinates (x ai *, y ai *) of n actual measurement points on the first xoy plane are collected at equal angle intervals, i.e. i = 1, 2, …, n; the coordinates (x bi *, y bi *) of n actual measurement points on the second xoy plane are collected at equal angle intervals, i.e. i = 1, 2, …, n;

[0056] Step T3: the inclination angle θ x of the dynamic rotation inclination of the spindle around the x axis:

[0057]

[0058] wherein: is the average value of the coordinates x ai * on the first xoy plane;

[0059] is the average value of the coordinates y ai * on the first xoy plane;

[0060] is the average value of the coordinates x bi * on the second xoy plane;

[0061] is the average value of the coordinates y bi * on the second xoy plane;

[0062] L is the distance between the first xoy plane and the second xoy plane;

[0063] step T4: the tilt angle Θ y of the tilt of the main shaft dynamic rotation around the y axis;

[0064]

[0065] In order to better realize the present application, further, in the step T2, the temperature- corrected actual measurement point coordinates are:

[0066] x ai * = x ai ± d xai *

[0067] y ai * = y ai ± d yai *

[0068] x bi * = x bi ± d xbi *

[0069] y bi * = y bi ± d ybi *

[0070] wherein: x ai = x s1 ± d xai **

[0071] y ai = y s1 ​​​​​±d yai * ;

[0072] x bi = x s2 ± d xbi * ;

[0073] y bi = y s2 ± d xbi * ;

[0074] d xai * = d xai + d xai α x (T - T0);

[0075] d xbi * = d xbi + d xbi α x (T - T0);

[0076] d yai * = d yai + d yai α y (T - T0);

[0077] d ybi * = d ybi + d ybi α y (T - T0);

[0078] wherein: T is the ambient temperature at the time of measurement;

[0079] T0 is the initial reference temperature;

[0080] α x , α y are the expansion coefficients of the distance measuring sensors in the x, y directions, respectively;

[0081] d xai , d yai are the measured distances of the distance measuring sensors in the x, y directions of the first xoy plane at the ith time;

[0082] d xbi , d ybi are the measured distances of the distance measuring sensors in the x, y directions of the second xoy plane at the ith time;

[0083] d xai * , d yai* These are the measured distances after temperature correction by the ranging sensor in the x and y directions of the first xoy plane, respectively.

[0084] d xbi * d ybi * These are the measured distances after temperature correction by the ranging sensor in the x and y directions of the second xoy plane, respectively.

[0085] The beneficial effects of this invention are as follows:

[0086] This invention uses a multi-channel flexible mounting device to install matching ranging sensors, temperature sensors, and ball-end detection mandrels, enabling the measurement and calculation analysis of non-contact dynamic rotation parameters of the spindle. When detecting dynamic rotation errors of the spindle, this invention allows for linear and angular adjustments at different detection positions, as well as the installation and fixation of sensors corresponding to different specifications of spindle ball-end detection mandrels. The multi-channel flexible mounting device of this invention is characterized by its strong versatility and multiple applications. Specifically, this invention allows for the installation of ranging and temperature sensors at different measurement positions and adjustment with six degrees of freedom, thereby completing the detection of thermal stability temperature drift, radial error, axial error, radial sensitivity, spindle thermal tilt, and spindle dynamic tilt under dynamic spindle rotation conditions. The detection method of this invention incorporates environmental temperature compensation, enabling rapid and accurate calculation of the spindle dynamic rotation radial error, axial error, and spindle dynamic tilt. This provides engineers with a reliable theoretical mathematical model. Attached Figure Description

[0087] Figure 1 This is a schematic diagram of the overall structure of the multi-channel flexible mounting device for detecting dynamic rotation parameters of machine tool spindles according to the present invention;

[0088] Figure 2 for Figure 1 The front view;

[0089] Figure 3 for Figure 2 Sectional view of AA;

[0090] Figure 4 for Figure 1 The left view;

[0091] Figure 5 for Figure 1 Top view;

[0092] Figure 6 This is an isometric exploded view of the multi-channel flexible mounting device for detecting dynamic rotation parameters of machine tool spindles according to the present invention;

[0093] Figure 7A sensor installation schematic diagram for dynamic rotation parameter detection of a machine tool spindle;

[0094] Figure 8 An analysis principle diagram for dynamic rotation tilt of a spindle;

[0095] Figure 9 A flowchart for detection of dynamic rotation error of a spindle in embodiment 1.

[0096] Wherein: 1-1. First base, 1-2. Second base, 1-3. Posture adjustment base, 1-4. Posture adjustment threaded sleeve, 1-5. Pitch block, 1-6. Third base, 1-7. Compression screw, 1-8. Multi-channel sensor installation sub-base, 1-9. Multi-channel sensor installation mother base,

[0097] 2-1. First distance measuring sensor, 2-2. Second distance measuring sensor, 2-3. Third distance measuring sensor, 2-4. Fourth distance measuring sensor, 2-5. Fifth distance measuring sensor, 3-1. First temperature sensor, 3-2. Second temperature sensor, 4. Double ball head detection mandrel, 5. Tool shank, 6. Spindle. DETAILED DESCRIPTION

[0098] Embodiment 1:

[0099] A multi-channel flexible installation device for dynamic rotation parameter detection of a machine tool spindle, as shown in Figures 1-6 , mainly used for installation and fixation of multiple distance measuring sensors and temperature sensors at different measurement positions, and to achieve spatial distance movement and multi-angle adjustment of distance measuring sensors and temperature sensors, so as to ensure the best measurement position of the sensors; and to calculate the dynamic rotation error of the spindle 6 according to the data measured by the distance measuring sensor and the environmental temperature compensation analysis.

[0100] Mainly composed of first base 1-1, second base 1-2, posture adjustment base 1-3, posture adjustment threaded sleeve 1-4, pitch block 1-5, third base 1-6, compression screw 1-7, multi-channel sensor installation mother base 1-9, and multi-channel sensor installation sub-base 1-8.

[0101] The second base 1-2 is installed above the first base 1-1, can slide along the guide rail direction of the first base 1-1 and be locked by using the compression screw 1-7, can slide along the guide rail direction of the first base 1-1 and be locked by using the compression screw 1-7, and can realize the first direction movement of the device; the posture adjusting base 1-3 is installed above the second base 1-2, can slide along the guide rail direction of the second base 1-2 and be locked by using the compression screw 1-7, can realize the second direction movement of the device; the four posture adjusting threaded sleeves 1-4 are installed on the four threaded shafts of the posture adjusting base 1-3; the ball head below the pitch block 1-5 is installed in the ball socket on the upper surface of the posture adjusting base 1-3, four threaded shafts are arranged at four corners of the posture adjusting base 1-3, scale grooves are arranged on four side surfaces of the posture adjusting base 1-3, and the upper surface of the posture adjusting base 1-3 is provided with a ball socket structure; the pitch block 1-5 has an octagonal structure, two threaded connection holes are arranged on each side, a ball head is arranged below the pitch block 1-5, and the ball head and the ball socket of the posture adjusting base 1-3 form a hemispherical joint, so that multi-angle pitch adjustment of the device can be realized; the four posture adjusting threaded sleeves 1-4 are installed on the four threaded shafts of the posture adjusting base 1-3, and the pitch block 1-5 can be clamped by rotating the posture adjusting threaded sleeve 1-4. The third base 1-6 is installed above the pitch block 1-5 and mainly serves as a base for installing a Z-direction measurement sensor or a temperature sensor of the main shaft 6.

[0102] The moving sliding groove is arranged below the multi-channel sensor mounting female base 1-9, the sliding groove is connected to the threaded connection hole on any side of the pitch block 1-5 by using the compression screw 1-7 and is locked; the multi-channel sensor mounting male base 1-8 is installed on the side of the multi-channel sensor mounting female base 1-9 and is connected by using the compression screw 1-7. The multi-channel sensor mounting female base 1-9 can move along the sliding groove direction, so that the device can move along the Z-direction of the main shaft 6; the distance measuring sensor and the temperature sensor can be installed in the circular groove formed by the multi-channel sensor mounting female base 1-9 and the multi-channel sensor mounting male base 1-8 and be locked by using the compression screw 1-7.

[0103] Preferably, as shown in Figure 9 the detection process of the dynamic rotation error of the main shaft 6 is as follows:

[0104] (1) The double-ball-head detection rod 4 is installed in the tool holder 5, and the tool holder 5 is installed in the main shaft 6 of the machine tool;

[0105] (2) The multi-channel flexible mounting device is installed at a suitable detection position and is fixed, and the main shaft 6 of the machine tool is moved to a corresponding approximate position;

[0106] (3) According to the detected item, the corresponding first distance sensor 2-1 or second distance sensor 2-2 or third distance sensor 2-3 or fourth distance sensor 2-4 or fifth distance sensor 2-5 and first temperature sensor 3-1 or second temperature sensor 3-2 are installed into the multi-channel flexible mounting device circular groove and pre-tightened;

[0107] (4) Fine-tune the multi-channel flexible mounting device to adjust the second distance sensor 2-2, the third distance sensor 2-3 or the fourth distance sensor 2-4, the fifth distance sensor 2-5 along the axial direction of the double-ball head detection mandrel 4 to the highest point of the double-ball head detection mandrel 4 ball head in the machine tool X direction and lock at the optimal measurement distance from the highest point of the ball head;

[0108] (5) Fine-tune the multi-channel flexible mounting device to adjust the second distance sensor 2-2, the third distance sensor 2-3 or the fourth distance sensor 2-4, the fifth distance sensor 2-5 along the axial direction of the double-ball head detection mandrel 4 to the highest point of the double-ball head detection mandrel 4 ball head in the machine tool Y direction and lock at the optimal measurement distance from the highest point of the ball head;

[0109] (6) Fine-tune the multi-channel flexible mounting device to adjust the first distance sensor 2-1 at the end of the machine tool spindle 6 to the highest point of the double-ball head detection mandrel 4 ball head (4) in the machine tool Z direction and lock at the optimal measurement distance from the highest point of the ball head;

[0110] (7) According to the environmental temperature compensation requirement, the first temperature sensor 3-1 and the second temperature sensor 3-2 are installed into the multi-channel flexible mounting device circular groove and pre-tightened, and locked at the optimal measurement position;

[0111] (8) Start the machine tool spindle 6 rotation, collect sensor measurement data;

[0112] (9) According to the collected measurement data of each distance sensor and temperature sensor, calculate and analyze the dynamic rotation error of the spindle 6.

[0113] The present application can complete the adjustment and locking of the X direction and Y direction of the whole device by sliding the first base 1-1 and the second base 1-2, and the adjustment and locking of the Z direction of the whole device can be completed by the combination of the third base 1-6 and the sliding combination of the multi-channel sensor mounting female base 1-9 and the multi-channel sensor mounting male base 1-8, which can meet the linear adjustment of the optimal measurement position of the sensor during the preparation work of detecting the dynamic rotation error of the spindle 6, and improve the measurement accuracy and detection quality of the sensor.

[0114] The ball head below the pitch block 1-5 of the application is connected with the ball socket of the posture adjusting base 1-3 to form a semi-spherical joint, which is adjusted by rotating four posture adjusting threaded sleeves 1-4 or referring to the scale groove on the side of the posture adjusting base 1-3, and multi-angle pitch adjustment and clamping of the device can be realized, so as to meet the adjustment of the optimal measurement position angle of the sensor during the preparation work of detecting the dynamic rotation error of the main shaft 6, and improve the measurement accuracy of the sensor and the detection quality.

[0115] Preferably, the pitch block 1-5 is an octagonal structure, each side has two connecting threaded holes, and when detecting the dynamic error of the main shaft 6, a multi-channel sensor mounting female seat 1-9 and a multi-channel sensor mounting male seat 1-8 combined structure can be selected to be installed on any side or multiple sides to meet the detection requirements in different directions during the dynamic rotation error detection of the main shaft 6, and the multipurpose nature of the dynamic rotation error detection of the main shaft 6 is improved.

[0116] The multi-channel sensor mounting female seat 1-9 and the multi-channel sensor mounting male seat 1-8 combined structure of the application form a plurality of sensor mounting holes, which can realize the universality of the single ball head mandrel and the double ball head mandrel used for detecting single ball head mandrels and double ball head mandrels of different lengths during the dynamic rotation error detection of the main shaft 6.

[0117] Embodiment 2:

[0118] A detection method for dynamic rotation parameters of a machine tool main shaft, as shown in Figure 7 Fig. 1, includes the calculation of the dynamic rotation radial error and the axial error of the main shaft 6, and the specific steps are as follows:

[0119] 1. Install the double ball head mandrel on the measured main shaft 6, and then install the first distance measuring sensor 2-1, the second distance measuring sensor 2-2 and the fourth distance measuring sensor 2-4 on the highest point of the double ball head detection mandrel 4 in the x, y and z directions respectively, and keep the same optimal detection distance with the double ball head detection mandrel 4.

[0120] 2. Set the measurement coordinate system as O-xyz, and the theoretical end ball center of the double ball head detection mandrel 4 is located at the origin O(0, 0, 0). The fourth distance measuring sensor 2-4 is installed at point(x s , 0, 0) in the x direction, the second distance measuring sensor 2-2 is installed at point(0, y s , 0) in the y direction, and the first distance measuring sensor 2-1 is installed at point(0, 0, z s ) in the z direction. During the rotation of the main shaft 6, the first distance measuring sensor 2-1, the second distance measuring sensor 2-2 and the fourth distance measuring sensor 2-4 in the x, y and z directions respectively measure the distances from the surface points of the double ball head detection mandrel 4 to the first distance measuring sensor 2-1, the second distance measuring sensor 2-2 and the fourth distance measuring sensor 2-4 as dx , d y , d z , then the coordinates of the actual measurement point in the measurement coordinate system are (x, y, z).

[0121] If the double-ball head detection mandrel 4 is on the positive side of the first distance sensor 2-1, the second distance sensor 2-2, and the fourth distance sensor 2-4, then:

[0122] x = x s +d x ;

[0123] y = y s +d y ;

[0124] z = z s +d z ;

[0125] If the double-ball head detection mandrel 4 is on the negative side of the first distance sensor 2-1, the second distance sensor 2-2, and the fourth distance sensor 2-4, then:

[0126] x = x s -d x ;

[0127] y = y s -d y ;

[0128] z = z s -d z .

[0129] 3. Set the ambient temperature during measurement as T, and the initial reference temperature as T0. Generally, the double-ball head detection mandrel 4 has a very small temperature change that can be ignored, while the measurement values of the first distance sensor 2-1, the second distance sensor 2-2, and the fourth distance sensor 2-4 will change with temperature changes. The change relationship can be approximately expressed as a linear relationship. Set the expansion coefficient of the fourth distance sensor 2-4 in the x direction as α x , the expansion coefficient of the second distance sensor 2-2 in the y direction as α y , and the expansion coefficient of the first distance sensor 2-1 in the z direction as α z , then the temperature-corrected measurement distances d x * , d y * , d z * are respectively:

[0130] d x * = d x +d x α x(T-T0);

[0131] d y * = d y + d y a y (T-T0);

[0132] d z * = d z + d z a z (T-T0);

[0133] The actual measured point coordinates (x * , y * , z * ) after temperature correction are:

[0134] x * = x s ± d x * ;

[0135] y * = y s ± d y * ;

[0136] z * = z s ± d z * .

[0137] 4. During the rotation of the main shaft 6, the coordinates (x i * , y i * , z i * ) of n actual measured points are collected at equal angle intervals, i = 1, 2, …, n. The equation of a circle is fitted in the x-y plane with these actual measured points as (x-a) 2 + (y-b) 2 = r 2 , where (a, b) is the center coordinate and r is the radius. In order to find the center coordinate (a, b) that minimizes the sum of the squared distances of all actual measured points to the circle, the objective function is constructed as:

[0138]

[0139] (1) Partial derivative of a:

[0140]

[0141] (2) Partial derivative of b:

[0142]

[0143] (3) Solve the above nonlinear equations about a, b, using iterative method. Set the initial estimate as (a0, b0), in each iteration, update (a, b) according to the following formula, let:

[0144]

[0145] Then

[0146] a = a + Δa, b = b + Δb,

[0147] Repeat the iteration until Δa and Δb meet the convergence condition.

[0148] (4) The main shaft 6 dynamic rotation radial error δ1 is the distance from the fitted circle center (a, b) to the theoretical circle center (0, 0), that is:

[0149]

[0150] 5, The main shaft 6 dynamic rotation axial error mainly concerns the coordinate change in the z direction, calculate the average value of the z direction temperature correction coordinate:

[0151]

[0152] And the main shaft 6 dynamic rotation axial error δ2 is the difference between the average z coordinate and the radius R of the double ball head detection mandrel 4 end ball head

[0153] The absolute value of the value, that is:

[0154]

[0155] Example 3:

[0156] A kind of machine tool spindle dynamic rotation parameter detection method, calculates the main shaft 6 dynamic rotation inclination, as shown in Figure 7 And Figure 8 Including the following steps:

[0157] 1. Install the double ball head mandrel to the measured spindle 6, and install the fourth distance sensor 2-4 and the fifth distance sensor 2-5 to the highest point of the double ball head detection mandrel 4 in the x direction, and install the second distance sensor 2-2 and the third distance sensor 2-3 to the highest point of the double ball head detection mandrel 4 in the y direction. The fourth distance sensor 2-4, the fifth distance sensor 2-5, the second distance sensor 2-2 and the third distance sensor 2-3 are installed at the same optimal detection distance from the ball head of the double ball head detection mandrel 4. At this time, the fourth distance sensor 2-4 and the second distance sensor 2-2 are on the first xoy plane with the center of the ball head of the double ball head detection mandrel 4, and the fifth distance sensor 2-5 and the third distance sensor 2-3 are on the second xoy plane with the center of the other ball head of the double ball head detection mandrel 4. At a certain moment during the rotation of the spindle 6, the fourth distance sensor 2-4, the fifth distance sensor 2-5, the second distance sensor 2-2 and the third distance sensor 2-3 respectively measure the distances from the surface points of the ball head of the double ball head detection mandrel 4 to the distance sensors as d x1 , d x2 , d y1 , d y2 .

[0158] 2. Set the environmental temperature during measurement as T, and the initial reference temperature as T0. Generally, the double ball head detection mandrel 4 has a very small temperature change that can be ignored, while the measurement values of the fourth distance sensor 2-4, the fifth distance sensor 2-5, the second distance sensor 2-2 and the third distance sensor 2-3 will change with temperature changes, and the change relationship can be approximately expressed as a linear relationship. Set the expansion coefficient of the fourth distance sensor 2-4 and the fifth distance sensor 2-5 in the x direction as α x , and the expansion coefficient of the second distance sensor 2-2 and the third distance sensor 2-3 in the y direction as α y , then the temperature-corrected measurement distances d x1 * , d x2 * , d y1 * , d y2 * are respectively:

[0159] d x1 * = d x1 + d x1 α x (T-T0);

[0160] d x2 * = d x2 + d x2 α x(T-T0);

[0161] d y1 * = d y1 + d y1 α y (T-T0);

[0162] d y2 * = d y2 + d y2 α y (T-T0);

[0163] 3、Set the fourth ranging sensor 2-4 installation position for (x s1 ,0,0), the second ranging sensor 2-2 installation position for (0,y s1 ,0), the fifth ranging sensor 2-5 installation position for (x s2 ,0,0), the third ranging sensor 2-3 installation position for (0,y s2 ,0); And set the first xoy plane actual measurement point A coordinate for (x a ,y a ), the second xoy plane actual measurement point B coordinate for (x b ,y b ), then have:

[0164] If the double ball head detection mandrel 4 is in the fourth ranging sensor 2-4, the fifth ranging sensor 2-5, the second ranging sensor 2-2, the third ranging sensor 2-3 positive direction side, then:

[0165] x a = x s1 +d x1 * ;

[0166] y a = y s1 +d y1 * ;

[0167] x b = x s2 +d x2 * ;

[0168] y b = y s2 +d y2 * .

[0169] If the double ball head detection mandrel 4 is on the negative side of the fourth distance sensor 2-4, the fifth distance sensor 2-5, the second distance sensor 2-2, and the third distance sensor 2-3, then:

[0170] x a = x s1 -d x1 * ;

[0171] y a = y s1 -d y1 * ;

[0172] x b = x s2 -d x2 * ;

[0173] y b = y s2 -d y2 * .

[0174] 4. During the rotation of the main shaft 6, the coordinates (x ai *, y ai *) of n actual measurement points A are collected at equal angle intervals, i = 1, 2, …, n; the coordinates (x bi *, y bi *) of n actual measurement points B are collected at equal angle intervals, i = 1, 2, …, n; the average value of the coordinates of the temperature-corrected actual measurement points is calculated, and then:

[0175]

[0176] 5. If the distance between the first xoy plane and the second xoy plane is L, then:

[0177] The tilt angle θ x (pitch angle) of the dynamic rotation tilt of the main shaft 6 around the x-axis, considering the deviation in the y direction, according to the geometric relationship, is:

[0178] Therefore

[0179] The tilt angle θ y (yaw angle) of the dynamic rotation tilt of the main shaft 6 around the y-axis, considering the deviation in the x direction, according to the geometric relationship, is:

[0180] Therefore

[0181] The above is only the preferred embodiment of the present application, and does not limit the present application in any form. Any simple modification or equivalent change of the above embodiment according to the technical essence of the present application falls within the protection scope of the present application.

Claims

1. A multi-channel flexible mounting device for dynamic rotation parameter detection of a machine tool spindle, characterized in that The multi-channel sensor mounting mechanism comprises a multi-channel sensor mounting female seat and a multi-channel sensor mounting male seat, and a plurality of mounting holes are arranged between the multi-channel sensor mounting female seat and the multi-channel sensor mounting male seat; the circumferential side of the pitch block is provided with a plurality of multi-channel sensor mounting female seats, and one side of the multi-channel sensor mounting female seat is provided with a multi-channel sensor mounting male seat. The multi-channel sensor mounting female seat is connected with the pitch block through a pressing screw, and a plurality of waist-shaped grooves are arranged on the lower part of the multi-channel sensor mounting female seat corresponding to the pressing screw, so that the adjustment in the Z direction is realized.

2. A multi-channel flexible mounting device for dynamic rotation parameter detection of a machine tool spindle according to claim 1, characterized in that, The pitch adjusting mechanism comprises a threaded shaft, a pitch adjusting threaded sleeve, a ball head and a ball socket; four threaded shafts are arranged at the four corners of the top of the pitch adjusting base respectively, and the pitch adjusting threaded sleeve is mounted on the threaded shafts; the lower part of the pitch block is provided with a ball head, and the upper surface of the pitch adjusting base is provided with a ball socket correspondingly.

3. The multi-channel flexible mounting device for dynamic rotation parameter detection of machine tool spindle according to claim 1, characterized in that, The two-dimensional motion mechanism comprises a first direction base and a second direction base arranged in sequence from bottom to top, and guide rails are arranged on the top of the first direction base and the second direction base along the X direction and the Y direction respectively; the first direction base and the second direction base are connected through the guide rails respectively.

4. The multi-channel flexible mounting device for dynamic rotation parameter detection of machine tool spindle according to claim 1, characterized in that, The spindle dynamic rotation parameter comprises a spindle dynamic rotation error, and the detection of the spindle dynamic rotation error comprises the following steps:

5. A method for detecting dynamic rotation parameters of a machine tool spindle, implemented by using a multi-channel flexible mounting device for detecting dynamic rotation parameters of a machine tool spindle according to any one of claims 1-4, characterized in that, Step S1: equidistantly install distance measuring sensors at the highest vertex extension of the x, y and z directions of the end ball head of the double-ball head detection mandrel; Step S3: find the center coordinates (a, b) that make the sum of the squares of the distances from all actual measurement points to the circle minimum by using the iterative method; A measurement coordinate system O-xyz is established with the center of the end ball of the double-ball-head detection mandrel as the origin, and the coordinates are defined as follows: (x...) s ,0,0)(0,y s (,0) and (0,0,z) s Distance sensors are installed at the coordinates, and the distance between the distance sensors and the end ball head is the same. Step S2: During the rotation of the spindle for one revolution, the coordinates of n actual measurement points (x i * , y i * , z i * ) are collected at equal angle intervals, i = 1, 2, …, n; the equation of a circle fitted on the actual measurement points in the x-y plane is set as (x-a) 2 +(y-b) 2 =r 2 ; wherein: (a, b) is the center coordinate, and r is the radius; Step S4: the spindle dynamic rotation radial error δ1 is the distance from the fitted center (a, b) to the theoretical center (0, 0); Step S5: the spindle dynamic rotation axial error mainly focuses on the coordinate change in the z direction, and the average value of the temperature corrected coordinates in the z direction is calculated; R is the radius of the end ball head. wherein: is the average value of the coordinate z i * the average value of the coordinate z The step S3 comprises the following steps:

6. A method of detecting dynamic rotation parameters of a machine tool spindle according to claim 5, characterized in that, Step S31: construct the objective function: Step S32: construct the nonlinear equation group of a and b: Partial derivative of a: Partial derivative of b: Step S33: solve the nonlinear equation group of a and b by using the iterative method; Let the initial estimate be (a0, b0), and update (a, b) according to the following formula in each iteration: Let a = a + Δa, b = b + Δb; Repeat the iteration until Δa and Δb meet the convergence condition; Δa is the correction amount of the center coordinate parameter a in the current iteration; wherein: J i is the Jacobian matrix corresponding to the ith measurement point; F i Residual for the i-th measurement point; Δb is the correction amount of the center coordinate parameter b in the current iteration. In step S2, the temperature corrected actual measurement point coordinates are:

7. The method of claim 5, wherein, Wherein: T is the ambient temperature during measurement; x * = x s ± d x * ; y * = y s ± d y * ; z * = z s ± d z * ; where d x * = d x + d x a x (T - T0); d y * = d y + d y α y (T - T0); d z * = d z + d z a z (T - T0); T0 is the initial reference temperature; The spindle dynamic rotation parameter comprises a spindle dynamic rotation error, and the detection of the spindle dynamic rotation error comprises the following steps: α x , α y , α z are the expansion coefficients of the distance measuring sensors in the x, y, z directions, respectively; d x , d y , d z are the measured distances of the distance measuring sensors in the x, y, z directions, respectively; d x * 、d y * 、d z * are the measured distances of the distance measuring sensors in the x, y, z directions respectively after temperature correction.

8. A method for detecting dynamic rotation parameters of a machine tool spindle, implemented by using a multi-channel flexible mounting device for detecting dynamic rotation parameters of a machine tool spindle according to any one of claims 1-4, characterized in that, Step T1: take the center of the end ball head of the double-ball head detection mandrel as the origin to establish a measurement coordinate system O-xyz; ​ In (x s1 ,0,0), (x s2 ,0,0), (0,y s1 ,0) and (0,y s2 ,0) coordinates, respectively, install the fourth distance measuring sensor, the fifth distance measuring sensor, the second distance measuring sensor and the third distance measuring sensor; The fourth distance measuring sensor, the fifth distance measuring sensor, the second distance measuring sensor, the third distance measuring sensor respectively with the same plane double ball head detection core rod's ball head keeps the same detection distance; The fourth distance measuring sensor, the second distance measuring sensor and the double ball head detection core rod's end ball center are located in the first xoy plane, and the fifth distance measuring sensor, the third distance measuring sensor and the ball center of another ball head of the double ball head detection core rod are located in the second xoy plane; Step T2: During the rotation of the main shaft for one revolution, the coordinates of n actual measurement points on the first xoy plane (x ai *,y ai *) are collected at equal angle intervals, i = 1, 2, …, n; the coordinates of n actual measurement points on the second xoy plane (x bi *,y bi *) are collected at equal angle intervals, i = 1, 2, …, n; Step T3: tilt angle Θ of the tilt of the spindle dynamic runout about the x-axis x : wherein: is the average value of the coordinate x in the first xoy plane; ai * of the coordinate x in the first xoy plane; the average value of the coordinates y on the first xoy plane; ai * the average value of the coordinates y on the first xoy plane; the average value of the coordinates x of the points of the second xoy plane for which y = 0; bi the average value of the coordinates x of the points of the second xoy plane for which y = the average value of the coordinates y on the second xoy plane; bi * the average value of the coordinates y on the second xoy plane; L is the distance between the first xoy plane and the second xoy plane; Step T4: tilt angle Θ of the tilt of the spindle dynamic runout about the y-axis y :

9. A method of detecting dynamic runout parameters of a machine tool spindle according to claim 8, characterized in that In the step T2, the actual measurement point coordinate after temperature correction is: x ai * = x ai ± d xai * ; y ai * = y ai ± d yai * ; x bi * = x bi ± d xbi * ; y bi * = y bi ± d ybi * ; wherein: x ai = x s1 ± d xai ** ; y ai = y s1 ± d yai * ; x bi = x s2 ± d xbi * ; y bi = y s2 ± d xbi * ; d xai * = d xai + d xai a x (T - T0); d xbi * = d xbi + d xbi α x (T - T0); d yai * = d yai + d yai a y (T - T0); d ybi * = d ybi + d ybi α y (T-T0); Wherein: T is the ambient temperature during measurement; T0 is the initial reference temperature; α x , α y are the expansion coefficients of the distance measuring sensors in the x, y directions, respectively; d xai , d yai respectively the measured distance of the i-th measurement of the distance measuring sensor in the x, y direction of the first xoy plane; d xbi , d ybi respectively the measured distance of the distance measuring sensor i-th in the x, y direction of the second xoy plane; d xai * , d yai * respectively the temperature-corrected measured distance of the i-th ranging sensor in the x, y direction of the first xoy plane. d xbi * 、d ybi * respectively, are the temperature-corrected measured distances of the i-th ranging sensor in the x, y directions of the second xoy plane.

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