Method and device for measuring axis of inclined rotating shaft of machine tool, medium and machine tool

Abstract

The invention provides a method and device for measuring the axis of a machine tool inclined rotating shaft, a medium and a machine tool, and relates to the technical field of machine tools. The method comprises the following steps: obtaining a first sphere center coordinate at an initial angle; rotating the rotating shaft to a second angle to obtain a second sphere center coordinate; calculating based on the first sphere center coordinate and the second sphere center coordinate to obtain an initial rotating shaft axis coordinate; calculating theoretical coordinates of the center of the standard ball at a third angle according to the initial axis coordinates of the rotating shaft and a preset point-around-axis rotation formula; rotating the rotating shaft to a third angle, and controlling the measuring head to measure the standard ball to obtain a third actually measured ball center coordinate; and based on the first sphere center coordinate, the second sphere center coordinate and the third actually measured sphere center coordinate, through a spatial three-point circle center solving formula, calculating to obtain an accurate axis coordinate of the rotating shaft. According to the embodiment of the invention, on the basis of compatibility of orthogonal machine tool measurement and calculation, measurement and calculation of the axis of the rotating shaft of the non-orthogonal machine tool can be supported.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of machine tools, and in particular to a measurement method and device for the axis of an inclined rotating shaft of a machine tool, a medium and a machine tool. BACKGROUND

[0002] For common multi-axis machine tools, the rotating shaft axis is generally parallel to the X / Y / Z axes. There is another type of rotating shaft whose axis is not parallel to the X / Y / Z axes but forms a certain angle with the coordinate axes in a certain coordinate plane. For example, the axis of a rotating shaft in a machine tool shown in FIG. 1 is not parallel to the X / Y / Z axes but forms a certain angle with the Y axis in the YOZ plane or forms a certain angle with the Z axis in the XOZ plane. Such a rotating shaft is called an inclined rotating shaft. The inclined rotating shaft is generally used for machining large workpieces that need to be converted between vertical and horizontal positions. The inclined rotating shaft has certain advantages in terms of stress and stroke compared with the orthogonal rotating shaft. In addition, the inclined rotating shaft is divided into an inclined head and an inclined rotary table according to whether the rotating shaft rotates the spindle or the worktable. The machine tool containing the inclined rotating shaft is called a non-orthogonal machine tool. The non-orthogonal machine tool is more complex than the orthogonal machine tool in terms of design and assembly, and it is also more difficult to process and generate a machining path. Figure 1 and FIG. 2, the axis of the rotating shaft forms a 45° angle with the Y axis in the YOZ plane or a 50° angle with the Z axis in the XOZ plane. Such a rotating shaft is called an inclined rotating shaft. The inclined rotating shaft is generally used for machining large workpieces that need to be converted between vertical and horizontal positions. The inclined rotating shaft has certain advantages in terms of stress and stroke compared with the orthogonal rotating shaft. In addition, the inclined rotating shaft is divided into an inclined head and an inclined rotary table according to whether the rotating shaft rotates the spindle or the worktable. The machine tool containing the inclined rotating shaft is called a non-orthogonal machine tool. The non-orthogonal machine tool is more complex than the orthogonal machine tool in terms of design and assembly, and it is also more difficult to process and generate a machining path. Figure 2 For common multi-axis machine tools, the rotating shaft axis is generally parallel to the X / Y / Z axes. There is another type of rotating shaft whose axis is not parallel to the X / Y / Z axes but forms a certain angle with the coordinate axes in a certain coordinate plane. For example, the axis of a rotating shaft in a machine tool shown in FIG. 1 is not parallel to the X / Y / Z axes but forms a certain angle with the Y axis in the YOZ plane or forms a certain angle with the Z axis in the XOZ plane. Such a rotating shaft is called an inclined rotating shaft. The inclined rotating shaft is generally used for machining large workpieces that need to be converted between vertical and horizontal positions. The inclined rotating shaft has certain advantages in terms of stress and stroke compared with the orthogonal rotating shaft. In addition, the inclined rotating shaft is divided into an inclined head and an inclined rotary table according to whether the rotating shaft rotates the spindle or the worktable. The machine tool containing the inclined rotating shaft is called a non-orthogonal machine tool. The non-orthogonal machine tool is more complex than the orthogonal machine tool in terms of design and assembly, and it is also more difficult to process and generate a machining path.

[0003] When multi-axis positioning machining or multi-axis linkage machining is performed on a multi-axis machine tool, the measurement of the axis of the rotating shaft is a key factor affecting whether the machining is correct and whether the quality of the final product meets the standards. The measurement of the axis of the rotating shaft of an orthogonal machine tool has many methods, such as the method of using a standard block to perform trial cutting or the method of using a probe to detect a standard part. Regardless of the method, the calculation of the axis is relatively simple. For example, the measurement of the axis of the rotary table A, as shown in FIG. 2, can be performed as follows: when A is 90°, the face 1 of the standard block is detected from the Y- direction to obtain the Y coordinate y1 of the trigger of the probe, the face 2 of the standard block is detected from the Z- direction to obtain the Z coordinate z1 of the trigger of the probe, when A is 90°, the face 1 is detected from the Y+ direction to obtain the Y coordinate y2 of the trigger of the probe, and the face 3 of the standard block is detected from the Z- direction to obtain the Z coordinate z2 of the trigger of the probe. The axis of the A shaft can be calculated as AY= (y1+y2) / 2 and AZ= (z1+z2-w) / 2. The result of the axis of the A shaft only needs AY and AZ, and AX does not affect. Similarly, the axes of the B and C shafts can also be obtained by using the similar method, and the B shaft only needs X and Z coordinates and the C shaft only needs X and Y coordinates. Figure 3 For common multi-axis machine tools, the rotating shaft axis is generally parallel to the X / Y / Z axes. There is another type of rotating shaft whose axis is not parallel to the X / Y / Z axes but forms a certain angle with the coordinate axes in a certain coordinate plane. For example, the axis of a rotating shaft in a machine tool shown in FIG. 1 is not parallel to the X / Y / Z axes but forms a certain angle with the Y axis in the YOZ plane or forms a certain angle with the Z axis in the XOZ plane. Such a rotating shaft is called an inclined rotating shaft. The inclined rotating shaft is generally used for machining large workpieces that need to be converted between vertical and horizontal positions. The inclined rotating shaft has certain advantages in terms of stress and stroke compared with the orthogonal rotating shaft. In addition, the inclined rotating shaft is divided into an inclined head and an inclined rotary table according to whether the rotating shaft rotates the spindle or the worktable. The machine tool containing the inclined rotating shaft is called a non-orthogonal machine tool. The non-orthogonal machine tool is more complex than the orthogonal machine tool in terms of design and assembly, and it is also more difficult to process and generate a machining path.

[0004] Figure 4 ​As shown, the axis measurement and calculation of the rotating shaft are more difficult. Because the point rotates around the inclined axis, a three-dimensional circle is finally formed, the line rotates around the inclined axis, a conical surface is finally formed, and the surface rotates around the inclined axis, a cone is obtained. In this way, the axis cannot be calculated by simple geometric operation.

[0005] Currently, the orthogonal machine tool is still mainstream in the market, and few people study the theories of non-orthogonal machine tools. The measurement method of the rotating shaft axis of the orthogonal machine tool and the related calculation are not applicable to the non-orthogonal machine tool. Therefore, how to measure the rotating shaft axis of the orthogonal machine tool and the non-orthogonal machine tool is a technical problem to be solved at present. SUMMARY

[0006] The present application provides a kind of for machine tool inclined rotating shaft axis measurement method, device, medium and machine tool, to solve the defect that the inclined rotating shaft axis cannot be calculated in prior art, it can support the measurement and calculation of non-orthogonal machine tool rotating shaft axis on the basis of being compatible with orthogonal machine tool measurement and calculation.

[0007] In a first aspect, the present application provides a kind of for machine tool inclined rotating shaft axis measurement method, comprising the following steps: Fix the standard ball on the workbench, and control the probe to measure the standard ball; When the rotating shaft is at initial angle, control the probe to measure the standard ball from multiple directions, obtain first ball center coordinates P1 ( , , ); Rotate the rotating shaft to the second angle, control the probe to measure the standard ball from multiple directions, obtain second ball center coordinates P2 ( , , ); Based on first ball center coordinates P1 and second ball center coordinates P2, combined with the theoretical inclined axis direction vector v ( , , ) of rotating shaft, preliminary rotating shaft axis coordinates are obtained by vector operation; According to the preliminary rotating shaft axis coordinates and the preset point rotation formula around the axis, the theoretical coordinates of the standard ball center at the third angle are calculated; Rotate the rotating shaft to the third angle, control the probe to measure the standard ball, obtain third measured ball center coordinates P3 ( , , ); Based on the first spherical center coordinate P1, the second spherical center coordinate P2, the third measured spherical center coordinate P3, the accurate rotation axis center coordinate is calculated by a space three-point circle center formula .

[0008] Preferably, the method for measuring the center of the inclined rotation axis of the machine tool according to the present application comprises the following steps: The first vector calculation is performed on the first spherical center coordinate P1 and the second spherical center coordinate P2 to obtain a spherical center difference vector P. The second vector calculation is performed on the spherical center difference vector P and the theoretical inclined axis direction vector v of the rotation axis to obtain a spherical center vertical vector q. The spherical center midpoint is translated along the spherical center vertical vector q by a preset distance d to obtain the preliminary rotation axis center coordinate; wherein the spherical center midpoint represents the midpoint of the line connecting the first spherical center coordinate and the second spherical center coordinate.

[0009] Preferably, when the rotation axis is a rotary table, the accurate axis center coordinate is an absolute coordinate in the machine tool coordinate system.

[0010] Preferably, when the rotation axis is a non-initially measured rotary axis, the axis center coordinate on which the standard sphere spherical center theoretical coordinate in the second angle and the third angle is based is the preset measured and stored axis center coordinate.

[0011] Preferably, when the rotation axis is a swing head, the method is used to calculate the offset vector of the swing head relative to the standard sphere spherical center, and the method comprises the following steps: Based on the accurate circle center coordinate The difference between the standard sphere spherical center coordinate P1 measured at the initial angle of the swing head , , Combined with the radius R of the space circle and the theoretical inclination angle of the rotation axis, the offset vector in each direction is calculated through geometric relationship.

[0012] Preferably, the calculation formula of the X-direction offset vector δx and the Z-direction offset vector δz of the non-orthogonal B-axis swing head according to the present application is as follows: In the formula, δx represents the X-direction offset vector of the B-axis swing head, δzLet γ represent the Z-axis offset vector of the B-axis oscillation head, γ represent the tilt angle of the B-axis axis, R represent the radius of the space circle, and P1 ( , , () represents the coordinates of the center of the standard sphere measured at the initial angle. Represented as precise coordinates of the circle's center; Y-axis offset vector of non-orthogonal A-axis oscillator δy and Z-axis bias vector δz The calculation formula is as follows: In the formula, δy This represents the Y-axis offset vector of the A-axis oscillating head. δz The Z-axis offset vector represents the A-axis tilt angle, γ represents the tilt angle of the A-axis axis, R represents the radius of the spatial circle, and P1 ( , , () represents the coordinates of the center of the standard sphere measured at the initial angle. Represented as precise coordinates of the center of the circle.

[0013] Preferably, according to the method for measuring the axis of a machine tool tilting rotary axis provided by the present invention, the rotary axis includes at least an orthogonal rotary table, an orthogonal tilting head, a tilting rotary table, and a tilting tilting head.

[0014] Secondly, the present invention also provides a measuring device for the axis of a machine tool tilting rotation axis, comprising the following modules: The preprocessing module is used to fix the standard ball on the worktable and control the probe to measure the standard ball; The module for obtaining the first sphere center coordinates is used to control the probe to measure the standard sphere from multiple directions when the rotation axis is at the initial angle, and to obtain the first sphere center coordinates P1. , , ); The module for obtaining the second sphere center coordinates is used to rotate the rotation axis to a second angle, control the probe to measure the standard sphere from multiple directions, and obtain the second sphere center coordinates P2. , , ); The preliminary calculation module is used to calculate the direction vector v of the theoretical tilt axis of the rotation axis based on the coordinates of the first sphere center P1 and the second sphere center P2. , , The initial coordinates of the rotation axis center are obtained through vector operations. a calculation theory coordinate module, configured to calculate a theory coordinate of the center of the standard sphere at a third angle according to the preliminary rotation axis center coordinate and a preset point rotation formula; a third measured sphere center coordinate acquisition module, configured to rotate the rotation axis to a third angle, and control the probe to measure the standard sphere to obtain a third measured sphere center coordinate P3 , , ); a precise rotation axis center coordinate calculation module, configured to calculate a precise rotation axis center coordinate based on the first sphere center coordinate P1, the second sphere center coordinate P2 and the third measured sphere center coordinate P3 through a space three-point circle center formula .

[0015] In a third aspect, the present application further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the measurement method for the axis center of the inclined rotation axis of the machine tool when executing the program.

[0016] In a fourth aspect, the present application further provides a non-transitory computer readable storage medium, which stores a computer program, and the computer program is executable on the processor to implement the measurement method for the axis center of the inclined rotation axis of the machine tool.

[0017] In a fifth aspect, the present application further provides a computer program product, which includes a computer program, and the computer program is executable on the processor to implement the measurement method for the axis center of the inclined rotation axis of the machine tool.

[0018] In a sixth aspect, the present application further provides a machine tool, and a control system of the machine tool is configured to execute the measurement method for the axis center of the inclined rotation axis of the machine tool to calibrate the axis center or the bias vector of the rotation axis of the machine tool.

[0019] The present application provides a measurement method, device, medium and machine tool for the axis center of the inclined rotation axis of the machine tool, which fixes a standard sphere on a workbench and controls a probe to measure the standard sphere; when the rotation axis is at an initial angle, the probe is controlled to measure the standard sphere from multiple directions to obtain a first sphere center coordinate P1 , , ); the rotation axis is rotated to a second angle, and the probe is controlled to measure the standard sphere from multiple directions to obtain a second sphere center coordinate P2 , , ); based on the first sphere center coordinate P1 and the second sphere center coordinate P2, a theory inclined axis direction vector v , of the rotation axis is combined to calculate a precise rotation axis center coordinate ), the initial rotation axis center coordinate is calculated by vector operation; the theoretical coordinate of the standard sphere center at the third angle is calculated according to the initial rotation axis center coordinate and a preset point rotation formula; the rotation axis is rotated to the third angle, the probe is controlled to measure the standard sphere, and the third measured sphere center coordinate P3 is obtained , , ); the accurate rotation axis center coordinate is calculated by a space three-point circle center formula based on the first sphere center coordinate P1, the second sphere center coordinate P2 and the third measured sphere center coordinate P3 . The defects that the inclined rotation axis center cannot be calculated in the prior art are solved, and the measurement and calculation of the rotation axis center of the non-orthogonal machine tool can be supported on the basis of the compatibility of the orthogonal machine tool measurement and calculation. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0021] Figure 1 is a structure schematic diagram of the inclined rotary table provided by the present application.

[0022] Figure 2 is a structure schematic diagram of the inclined swing head provided by the present application.

[0023] Figure 3 is a measurement schematic diagram of the A axis center of the orthogonal rotary table provided by the present application.

[0024] Figure 4 is a measurement schematic diagram of the A axis center of the non-orthogonal rotary table provided by the present application.

[0025] Figure 5 is a flowchart of the measurement method for the inclined rotation axis center of the machine tool provided by the present application.

[0026] Figure 6 is a measurement and calculation schematic diagram of the B axis center of the inclined rotary table provided by the present application.

[0027] Figure 7 is a measurement and calculation schematic diagram of the A axis center of the orthogonal rotary table provided by the present application.

[0028] Figure 8 is a measurement and calculation schematic diagram of the B axis center of the inclined swing head provided by the present application.

[0029] Figure 9 is a schematic diagram of orthogonal swiveling head A-axis center measurement and calculation provided by the present application.

[0030] Figure 10 is a structural schematic diagram of a measuring device for a machine tool tilting rotary axis center provided by the present application.

[0031] Figure 11 is a structural schematic diagram of an electronic device provided by the present application. DETAILED DESCRIPTION

[0032] To make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below with reference to the drawings in the present application. Obviously, the described embodiments are some embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0033] First, the professional technical terms in the embodiments of the present application are explained: Rotary Axis: the axis in a machine tool that realizes rotary motion, usually called 4th, 5th axis, etc. Mainly includes two types: Rotary Table: the axis on which a workpiece is installed and rotates. Its axis center is a fixed point in the machine tool coordinate system.

[0034] Swiveling Head: the axis on which a tool is installed and rotates. Its axis center moves with the tool swiveling, so a bias vector is often used to describe the relative relationship between the tool control point and the axis center.

[0035] Orthogonal Rotary Table / Head: the rotary axis whose axis line is parallel to one of the linear axes (X, Y, Z) of the machine tool, such as a C-axis rotary table whose axis line is parallel to the Z axis.

[0036] Tilting Rotary Table / Head: the rotary axis whose axis line is not parallel to any linear axis of the machine tool, and has a certain tilting angle in space.

[0037] Reference Sphere: a sphere with a known diameter and extremely high shape accuracy, used as a reference for measurement.

[0038] Probe: a contact or non-contact sensor installed on the spindle of the machine tool or the worktable, used to detect the surface of the workpiece or the reference sphere.

[0039] Sphere Center Coordinates: The 3D coordinates of the center of a sphere calculated by fitting a sphere to a set of points on the sphere surface using least square method or other geometric algorithms.

[0040] Axis Direction Vector: A unit vector describing the orientation of the rotation axis in space, for example (0, 0, 1) means the axis is parallel to the Z axis.

[0041] Point Rotation Formula about an Axis: Given the coordinates of a point in space, the center of the rotation axis, the axis direction vector, and the rotation angle, this formula calculates the new coordinates of the point after rotation about the axis. It is a basic rotation transformation in 3D space.

[0042] Circle Center from Three Points in Space: Given three non-collinear points in space, this method calculates the center coordinates and radius of the unique circle determined by the three points.

[0043] Offset Vector: For a swivel head, it refers to the vector from the center of the rotation axis to the tool control point (or the center of the standard sphere) when the swivel head is at zero position (0°). It is a relative value, usually decomposed into the directions of the machine tool coordinate system (such as δx, δy, δz).

[0044] Angular Positioning Error: The difference between the actual angle turned by the rotation axis and the angle required by the command. It is one of the main error sources affecting the accuracy of the measurement of the center of the rotary table.

[0045] Technical problems existing in the prior art: Common calibration method for rotary tables in the prior art. Usually, only two or more angles (such as 0° and 180°) of the rotary table are rotated, the standard part is measured, and then the midpoint of the measured coordinates is simply taken as the axis center. This method ignores the angular positioning error of the rotation axis and assumes that the rotation is perfect, so when there is an angular error, the measurement result is inaccurate.

[0046] Using tools such as micrometers and laser interferometers to measure the mechanical surface of the rotation axis directly. This method is complex and inefficient, and it is difficult to measure the axis center hidden inside the machine, and it is even more difficult to implement for inclined axes.

[0047] The following will be combined Figures 5-11The application discloses a method and device for measuring the axis of an inclined rotating shaft of a machine tool, a medium and a machine tool.

[0048] Figure 5 is a flowchart of a method for measuring the axis of an inclined rotating shaft of a machine tool provided by the application, as Figure 5 shown, the method can include but is not limited to steps S100 to S700: S100, fixing a standard ball on a workbench and controlling a probe to measure the standard ball; S200, when the rotating shaft is at an initial angle, controlling the probe to measure the standard ball from multiple directions to obtain first ball center coordinates P1( , , ); S300, rotating the rotating shaft to a second angle, controlling the probe to measure the standard ball from multiple directions to obtain second ball center coordinates P2( , , ); S400, based on the first ball center coordinates P1 and the second ball center coordinates P2, combining a theoretical inclined axis direction vector v( , , ) of the rotating shaft, and preliminarily calculating a preliminary rotating shaft axis coordinate through vector operation; S500, calculating a theoretical coordinate of a ball center of the standard ball at a third angle according to the preliminary rotating shaft axis coordinate and a preset point rotation formula; S600, rotating the rotating shaft to the third angle, controlling the probe to measure the standard ball to obtain third measured ball center coordinates P3( , , ); S700, based on the first ball center coordinates P1, the second ball center coordinates P2 and the third measured ball center coordinates P3, calculating an accurate rotating shaft axis coordinate through a space three-point center formula .

[0049] In step S100 of some embodiments, the standard ball is fixed on the workbench, and the probe is controlled to measure the standard ball.

[0050] In step S200 of some embodiments, when the rotating shaft is at the initial angle, the probe is controlled to measure the standard ball from multiple directions to obtain the first ball center coordinates P1( , , ).

[0051] In step S300 of some embodiments, the rotation axis is rotated to a second angle, the probe is controlled to measure the standard ball from multiple directions, and a second ball center coordinate P2 is obtained. , , ).

[0052] In step S400 of some embodiments, based on the first ball center coordinate P1 and the second ball center coordinate P2, in combination with the theoretical tilt axis direction vector v of the rotation axis, , , a preliminary rotation axis center coordinate is obtained through vector operation.

[0053] In step S500 of some embodiments, according to the preliminary rotation axis center coordinate and a preset point rotation formula around the axis, a theoretical coordinate of the standard ball center at a third angle is calculated.

[0054] In step S600 of some embodiments, the rotation axis is rotated to the third angle, the probe is controlled to measure the standard ball, and a third measured ball center coordinate P3 is obtained. , , ).

[0055] In step S700 of some embodiments, based on the first ball center coordinate P1, the second ball center coordinate P2, and the third measured ball center coordinate P3, an accurate rotation axis center coordinate is calculated through a space three-point circle center formula. .

[0056] Embodiment 1: Accurate measurement of the tilt axis of a rotary table (first measurement) This embodiment takes a five-axis machine tool with a B-axis tilt rotary table as an example. The B-axis is 45° to the positive Y-axis in the YZ plane, and its theoretical tilt axis direction vector is v(0, / 2,- / 2).

[0057] The implementation steps are as follows: 1. Preparation: The standard ball is firmly installed on the worktable of the B-axis rotary table.

[0058] The trigger probe is installed on the machine tool spindle.

[0059] Load and run the measurement macro program of the present application in the machine tool numerical control system.

[0060] 2. First position measurement (B-axis 0°): The program prompts "please manually move to the top of the ball". The operator controls the X, Y, Z axes through the hand wheel to move the probe to the top of the standard ball visually.

[0061] After the operator confirms the position, the program automatically controls the probe to approach and contact the standard ball surface from multiple directions such as +Z, +X, -X, +Y, -Y, and collect the coordinates of multiple points.

[0062] The program internally uses the least square method to fit the collected points to calculate the accurate ball center coordinates P1 of the standard ball at 0° angle. , , ).

[0063] 3. Second position measurement and preliminary estimation (B-axis rotation to 90°): The program controls the B-axis to rotate to 90°.

[0064] The program again prompts "please manually move to the top of the ball". Since the workbench has been tilted, the operator needs to manually position the probe again to the top of the rotated standard ball.

[0065] After the operator confirms, the program automatically completes the measurement and calculates the second ball center coordinates P2. , , ).

[0066] In some embodiments of the present application, the preliminary rotation axis center coordinates calculated through vector operation include: Performing a first vector calculation on the first ball center coordinates P1 and the second ball center coordinates P2 to obtain a ball center difference vector P; Performing a second vector calculation on the ball center difference vector P and the theoretical tilt axis direction vector v of the rotation axis to obtain a ball center vertical vector q; Translating the ball center midpoint along the ball center vertical vector q by a preset distance d to obtain the preliminary rotation axis center coordinates; wherein the ball center midpoint represents the midpoint of the line connecting the first ball center coordinates and the second ball center coordinates.

[0067] Optionally, the preliminary calculation of the axis center: the program performs the following vector operations: Calculate the ball center difference vector p = P2 - P1.

[0068] Calculate the vector q = p x v (cross product) perpendicular to p and the theoretical axis vector v.

[0069] Unitize the vector q to obtain q_unit.

[0070] Calculate the midpoint M = (P1 + P2) / 2 of P1 and P2.

[0071] The midpoint M is translated along the q_unit direction by a distance d (d is determined by the geometric relationship between p and v, see (1-1) for the specific formula), to obtain the preliminary rotation axis axis coordinate P0 0 , 0 , 0 . This coordinate is not accurate due to the 90° angle positioning error of the B-axis.

[0072] (1-1) wherein the first spherical center coordinate P1 ( , , ), the second spherical center coordinate P2 ( , , ), the theoretical tilt axis direction vector v ( , , ), represents the rotation angle of the rotation axis. The spherical center difference vector p, the theoretical tilt axis direction vector v of the rotation axis, the spherical center vertical vector q, and the preset distance d. The obtained preliminary rotation axis axis coordinate .

[0073] 4. Prediction and verification of the third position (B-axis rotated to 180° or other angles): The program uses the point rotation formula around the axis to calculate the theoretical spherical center coordinate P3_theoretical (x3_t, y3_t, z3_t) of P1 point after rotating 180° around the axis, according to the preliminary rotation axis axis coordinate P0, the theoretical axis v, and the preset third angle (such as 180°). See formula (1-2).

[0074] (1-2) wherein the first spherical center coordinate P1 ( , , ), the theoretical tilt axis direction vector v ( , , ), the preliminary rotation axis axis coordinate P0 ( 0 , 0 , 0 ), represents the rotation angle of the rotation axis. The calculated third measured spherical center coordinate is P3 ( , , ), The program automatically controls the B-axis rotation to 180°, and automatically drives the X, Y and Z axes to move, so that the probe is positioned near the P3_theoretical coordinate.

[0075] The program controls the probe to automatically measure, and obtains the third measured sphere center coordinate P3(θ3) at the third angle. , , ).

[0076] In some embodiments of the application, three non-collinear standard sphere center coordinates can be selected, and a plurality of non-collinear sphere center coordinates can also be selected, so that the accurate rotation axis center coordinate is calculated by the method of fitting a space circle by multiple points. .

[0077] 5. Accurate solution: The program now has three non-collinear measured sphere center coordinates: P1(0°), P2(90°) and P3(180°).

[0078] The program uses the algorithm of finding the center of a circle by three points in space to accurately calculate the center of the space circle formed by the three points O x , y z , which can be solved by referring to formula (1-3). The center is the accurate coordinate of the B-axis rotation center. This calculation process automatically offsets the influence of the angle positioning error of the B-axis at 90° and 180°.

[0079] (1-3) In the formula, the first sphere center coordinate P1(θ1) is , , , the second sphere center coordinate P2(θ2) is , , , the third measured sphere center coordinate P3(θ3) is , , , and the center of the three points solved is , that is, the accurate rotation axis center coordinate.

[0080] 6. Data storage: The program stores the calculated accurate axis center coordinate in the parameter system of the machine tool for subsequent machining compensation.

[0081] Technical effects realized by the embodiments of the application: ​High precision: The center of the circle is calculated by the three-point method, effectively eliminating the influence of the rotational axis angle positioning error on the axis calibration result, and the measurement accuracy is much higher than that of the traditional "two-step method".

[0082] Automation: After the initial manual positioning, subsequent rotation, movement, measurement and calculation are all completed automatically by the program, reducing human intervention and improving efficiency and consistency.

[0083] Versatility: This method is based on vector and three-dimensional space geometry operations, and does not depend on the specific direction of the axis, so it is perfectly suitable for orthogonal axes and inclined axes.

[0084] In some embodiments of the present application, when the rotating shaft is a rotary table, the accurate axis coordinates are absolute coordinates in the machine tool coordinate system.

[0085] In some embodiments of the present application, when the rotating shaft is a rotary table, the accurate axis coordinates are absolute coordinates in the machine tool coordinate system.

[0086] Embodiment 2: In some embodiments of the present application, when the rotating shaft is a swing head, the method is used to calculate the offset vector of the swing head relative to the standard sphere center, comprising: Based on the accurate center coordinates The difference between the standard sphere center coordinates P1( , , ) measured at the initial angle of the swing head, combined with the radius R of the space circle and the theoretical inclination angle of the rotating shaft, the offset vector in each direction is calculated through geometric relationship.

[0087] In some embodiments of the present application, the calculation method of the X-direction offset vector δx and the Z-direction offset vector δz of the non-orthogonal B-axis swing head, comprising: In the formula, δx X represents the X-direction offset vector of the B-axis swing head, δz Z represents the Z-direction offset vector of the B-axis swing head, γ represents the inclination angle of the B-axis, R represents the radius of the space circle, P1( , , ) represents the standard sphere center coordinates measured at the initial angle, represents the accurate center coordinates.

[0088] The calculation formula of the Y-direction offset vector δy and the Z-direction offset vector δz of the non-orthogonal A-axis swing head is as follows: In the formula, δy This represents the Y-axis offset vector of the A-axis oscillating head. δz The Z-axis offset vector represents the A-axis tilt angle, γ represents the tilt angle of the A-axis axis, R represents the radius of the spatial circle, and P1 ( , , () represents the coordinates of the center of the standard sphere measured at the initial angle. Represented as precise coordinates of the center of the circle.

[0089] In some embodiments of the present invention, the rotating shaft includes at least an orthogonal turntable, an orthogonal swing head, an inclined turntable, and an inclined swing head.

[0090] Example 3: When the rotation axis is an orthogonal turntable or orthogonal oscillating head, the calculation of the initial rotation axis center coordinates is completed in a two-dimensional plane; Where the axis of rotation is the A-axis, and its axis is parallel to the X-axis, then the coordinates in the YZ plane are used. , )and( , And calculate according to the following formula: In the formula, d represents the preset distance, and the coordinates of the first sphere center are P1 ( , The coordinates of the second sphere's center are P2. , ), The rotation angle of axis A is represented by the circle center O obtained by solving the problem. , This represents the coordinates of the rotation center of axis A.

[0091] If the axis of rotation is the B-axis, and its axis is parallel to the Y-axis, then coordinates in the XZ plane are used. , )and( , And calculate according to the following formula: In the formula, d represents the preset distance, and the coordinates of the first sphere center are P1 ( , The coordinates of the second sphere's center are P2. , ), The rotation angle of axis B is represented by the circle center O obtained by solving the problem. , This represents the coordinates of the rotation center of axis B.

[0092] If the rotation axis is the C-axis, whose axis is parallel to the Z-axis, the coordinates in the XY plane are used (x, y) and are calculated according to the following formula: , ) and (x, y) are calculated according to the following formula: , ) and (x, y) are calculated according to the following formula: In the formula, d represents a preset distance, the first ball center coordinate P1(x1, y1), the second ball center coordinate P2(x2, y2), and the rotation angle of the rotation axis C-axis, and the obtained center O(x0, y0) of the circle represents the C-axis rotation center coordinate. , , ,

[0093] Example 4: Non-primary measurement and calculation example of swing bias vector as follows: This example takes a five-axis machine tool with a positive A-axis swing as an example (the A-axis is parallel to the X-axis, and the theoretical vector v(1, 0, 0)).

[0094] The implementation steps are as follows: 1. Preparation: Fix the standard ball on the workbench (the position is unchanged). Install the tool (or probe) on the A-axis swing.

[0095] First position measurement (A-axis 0°): 2. Manually move the machine tool to the top of the standard ball when the A-axis is 0° (at this time, the tool axis direction is Z).

[0096] Start the automatic measurement program to measure the ball center coordinate P1(x1, y1). , ,

[0097] 3. Automatic prediction and measurement: The program directly calls the previously calibrated and stored A-axis axis center coordinate O (x0, y0) from the machine tool parameters. x , y z

[0098] The program uses the point rotation formula around the axis to calculate the theoretical coordinates P2_theoretical and P3_theoretical of the standard ball center relative to the machine tool coordinate system when the A-axis is rotated to 90° and 180°, based on the axis center O and the axis v(1, 0, 0).

[0099] ​​​​​​The program automatically controls the A-axis to rotate to 90° and 180° in turn, and automatically drives the linear axis to move to the vicinity of the corresponding theoretical coordinates, and then automatically performs measurement to obtain a second measured center P2( , , ) and a third measured center P3( , , ).

[0100] 4. Precise calculation of the center: the program again uses the P1, P2, P3 three points to calculate the center O_circle( , , ) through the space three-point center formula.

[0101] 5. Calculation of the bias vector: The orthogonal swing A / B / C bias vector calculation formula is as follows: In the formula, δy represents the Y-direction bias vector of the A-axis, δz represents the Z-direction bias vector of the A-axis. The first center P1( , ), ( , ) represents the A-axis center coordinates.

[0102] In the formula, δx represents the X-direction bias vector of the B-axis swing, δz represents the Z-direction bias vector of the B-axis swing. The first center P1( , ), ( , ) represents the B-axis center coordinates.

[0103] In the formula, δx represents the X-direction bias vector of the C-axis swing, δy represents the Y-direction bias vector of the C-axis swing. The first center P1( , ), ( , ) represents the C-axis center coordinates.

[0104] Data storage: store the calculated bias vectors( δy , δz ), ( δx , δz ), ( δx ,δy ) depositing system, parameter setting for post-processing or tool tip point control (RTCP) function.

[0105] The technical effects realized by the embodiments of the present application are as follows: High efficiency and convenience: when not measuring for the first time, no manual intervention is required, and the whole process is automated, greatly improving the efficiency of regular detection and maintenance.

[0106] Concept unification: the calibration of the swing head is ingeniously converted into a model of "fixed ball center and rotating axis center", and a set of core algorithms (multi-point fitting space circle) identical to the rotary table are reused, simplifying system design and operation process.

[0107] Precision guarantee: the angular positioning error during swing head rotation is also eliminated by the three-point method, ensuring the accuracy of the offset vector calibration and thus the accuracy of the tool tip point control in five-axis machining.

[0108] Figure 6 is a schematic diagram of the tilt rotary table B-axis center measurement and calculation provided by the present application, Figure 7 is a schematic diagram of the orthogonal rotary table A-axis center measurement and calculation provided by the present application. In combination with Figure 6 and Figure 7 , the specific content of the measurement and calculation process involved in the present application is as follows: first, if the machine tool is measured for the first time, the following process is performed: At the initial angle of the rotary table, the linear shaft is manually controlled to position the measuring head directly above the standard ball, and then the measuring head automatically measures the standard ball surface in different directions through program control. Through geometric operation, the first ball center coordinates P1 ( , , ) are obtained. The rotary table is rotated by a certain angle, the linear shaft is manually controlled again to position the measuring head directly above the standard ball after rotation, and the standard ball is measured to obtain the second ball center coordinates P2 ( , , ). Using the first ball center coordinates P1 and the second ball center coordinates P2, the ball center difference vector P formed by the two ball center coordinates is cross-multiplied with the theoretical tilt axis direction vector v ( , , ), and the ball center perpendicular vector q perpendicular to the line connecting the two ball centers in the axis plane is obtained. The midpoint of the line connecting the two ball centers is translated along the ball center perpendicular vector q by a distance d, and the preliminary rotation axis center coordinates P0 ( 0 , 0 , 0 ) are calculated (Formula 1-1).

[0109] But the initial rotation axis coordinate is affected by the angle positioning error of the machine tool rotation axis, and is not the accurate axis coordinate. The point rotation formula can be used to automatically calculate the theoretical coordinate of the standard sphere center at the third angle (Formula 1-2). Then the motor drives the rotation axis to the third angle, and automatically drives the linear axis to move to the vicinity of the standard sphere. The standard sphere at the third angle is measured to obtain the third measured sphere center coordinate P3( , , ). Finally, the accurate rotation axis coordinate O( x , y , z ) is obtained by using the space three-point circle center method (Formula 1-3).

[0110] If it is not the first measurement, the following process is performed. At the initial angle of the rotary table, the linear axis is manually controlled to move so that the probe is positioned directly above the standard sphere. Then the standard sphere is automatically measured from multiple directions to obtain a sphere center coordinate P1( , , ). Then, using the rotation axis coordinate in the current machine tool parameters (represented by O( x , y , z ), the theoretical coordinates of the standard sphere center at the second and third angles are calculated according to the theoretical rotation axis direction and the point rotation formula (Formula 1-2). Then the rotation axis is turned to the second and third angles in turn, and the linear axis is moved to the vicinity of the standard sphere according to the theoretical sphere center coordinates calculated just now to detect the standard sphere to obtain the measured sphere center coordinates at the second and third angles (P2( , , ) and P3( , , ). Finally, the rotation axis center O( x , y , z ) is obtained by using the three-point circle center method (Formula 1-3).

[0111] For the inclined axis, the axis center is not two-dimensional like the orthogonal axis, but must be three-dimensional, regardless of the A-axis, B-axis or C-axis. The axis coordinate must include X, Y and Z three dimensions.

[0112] The algorithm is more universal, supports the tilt of the tilt axis in each direction of space, and is also compatible with the orthogonal axis machine tool. The orthogonal rotary table can be regarded as a special case of the tilt rotary table, that is, the rotation axis is (1, 0, 0) or (0, 1, 0) or (0, 0, 1).

[0113] In some embodiments of the present application, Figure 8 is the tilt head B axis center measurement and calculation schematic diagram provided by the present application, and Figure 9 is the orthogonal head A axis center measurement and calculation schematic diagram provided by the present application. Combined with Figure 8 , Figure 9 for the tool rotation type rotary axis (i.e. head), the tool control point also rotates to different positions at different angles of the rotary axis, and the above machine tool reference changes. Conversely, the position of the standard ball is fixed, so the standard ball can be regarded as the rotation center, and the head is considered to rotate around the standard ball. Therefore, for the head, the axis center cannot be represented by a specific coordinate, but should be measured by a relative coordinate, which is called a bias vector in this embodiment.

[0114] For example, the A-axis head needs to determine the Z-direction bias vector and the Y-direction bias vector of the standard ball center from the head axis center. The X-direction does not need to be determined because the bias of the X-direction will not affect the calculation result. Similarly, the B-axis head only needs to determine the X-direction bias vector and the Z-direction bias vector, and the C-axis head needs to determine the X-direction and Y-direction bias vectors.

[0115] For the tilt head, the measurement process is consistent with the measurement process of the tilt rotary table described above. The difference is that because the head is inclined when the head has an angle, the head is not positioned directly above the standard ball during manual positioning, but is positioned above the current tool axis direction, that is, the extension line of the inclined head passes through the ball center.

[0116] The remaining steps are the same as the measurement and calculation process of the rotary table described above, and will not be described here.

[0117] The orthogonal axis can also be regarded as a special case of the tilt axis. It can be considered that the rotation axis vector is (1, 0, 0) or (0, 1, 0) or (0, 0, 1). The inclination angle of the axis in the coordinate plane can be considered as 0° or 90°, such as the axis center data calculation of the orthogonal A-axis head, please refer to the above embodiment 4.

[0118] In some embodiments of the present application, a machine tool is also provided, and a control system of the machine tool is configured to perform the measurement method for the axis center of the tilt rotary axis of the machine tool as described above to calibrate the axis center or the bias vector of the rotary axis of the machine tool.

[0119] The measuring device for the axis of the inclined rotating shaft of the machine tool provided by the application is described below, and the measuring device for the axis of the inclined rotating shaft of the machine tool described below can be correspondingly referred to the measuring method for the axis of the inclined rotating shaft of the machine tool described above.

[0120] As Figure 10 shown is a structural schematic diagram of the measuring device for the axis of the inclined rotating shaft of the machine tool provided by the application, a measuring device for the axis of the inclined rotating shaft of the machine tool, comprising the following modules: a pretreatment module 710, configured to fix a standard ball on a workbench and control a probe to measure the standard ball; an obtaining first ball center coordinate module 720, configured to control the probe to measure the standard ball from multiple directions when the rotating shaft is at an initial angle, and obtain a first ball center coordinate P1 ( , , ); an obtaining second ball center coordinate module 730, configured to rotate the rotating shaft to a second angle, control the probe to measure the standard ball from multiple directions, and obtain a second ball center coordinate P2 ( , , ); a preliminary calculation module 740, configured to preliminarily calculate a preliminary rotating shaft axis coordinate based on the first ball center coordinate P1 and the second ball center coordinate P2, in combination with a theoretical inclined axis direction vector v of the rotating shaft ( , , ) through vector operation; a calculating theoretical coordinate module 750, configured to calculate a theoretical coordinate of the ball center of the standard ball at a third angle according to the preliminary rotating shaft axis coordinate and a preset point rotation formula; an obtaining third measured ball center coordinate module 760, configured to rotate the rotating shaft to the third angle, control the probe to measure the standard ball, and obtain a third measured ball center coordinate P3 ( , , ); a calculating accurate rotating shaft axis coordinate module 770, configured to calculate an accurate rotating shaft axis coordinate O based on the first ball center coordinate P1, the second ball center coordinate P2 and the third measured ball center coordinate P3 through a space three-point center formula. x , y z ).

[0121] Preferably, the application provides a device for measuring the axis of an inclined rotating shaft of a machine tool, and is further used for performing a first vector calculation on the first spherical center coordinate P1 and the second spherical center coordinate P2 to obtain a spherical center difference vector P. A second vector calculation is performed on the spherical center difference vector P and a theoretical inclined axis direction vector v of the rotating shaft to obtain a spherical center vertical vector q. A spherical center midpoint is translated along the spherical center vertical vector q by a preset distance d to obtain the preliminary rotating shaft axis coordinate; wherein the spherical center midpoint represents a midpoint of a line connecting the first spherical center coordinate and the second spherical center coordinate.

[0122] Preferably, the application provides a device for measuring the axis of an inclined rotating shaft of a machine tool, and is further used for, when the rotating shaft is a rotary table, accurately obtaining an axis coordinate which is an absolute coordinate in a machine tool coordinate system.

[0123] Preferably, the application provides a device for measuring the axis of an inclined rotating shaft of a machine tool, and is further used for, when the rotating shaft is a rotary table, accurately obtaining an axis coordinate which is an absolute coordinate in a machine tool coordinate system.

[0124] Preferably, the application provides a device for measuring the axis of an inclined rotating shaft of a machine tool, and is further used for, when the rotating shaft is a rotary table, accurately obtaining an axis coordinate which is an absolute coordinate in a machine tool coordinate system. x , y z ) and the spherical center coordinate P1(x1, y1, z1) of the standard sphere measured at the initial angle, in combination with the radius R of the space circle and the theoretical inclination angle of the rotating shaft, to obtain the bias vector in each direction through geometric relationship. 1 , 1 ) and the spherical center coordinate P1(x1, y1, z1) of the standard sphere measured at the initial angle, in combination with the radius R of the space circle and the theoretical inclination angle of the rotating shaft, to obtain the bias vector in each direction through geometric relationship.

[0125] Preferably, the application provides a device for measuring the axis of an inclined rotating shaft of a machine tool, and is further used for, when the rotating shaft is a rotary table, accurately obtaining an axis coordinate which is an absolute coordinate in a machine tool coordinate system. In the formula, δx represents the X-direction bias vector of the B-axis swing head, δx δz represents the Z-direction bias vector of the B-axis swing head, γ represents the inclination angle of the B-axis, R represents the radius of the space circle, and P1(x1, y1, z1) represents the spherical center coordinate of the standard sphere measured at the initial angle. δz , , O(x0, y0, z0) represents the accurate center coordinate of the space circle.​ x , y z ) represents the exact center coordinates of the circle. Y-direction offset vector of non-orthogonal A-axis swing head δy and Z-direction offset vector δz The calculation formula is as follows: In the formula, δy represents the Y-direction offset vector of the A-axis swing head, δz represents the Z-direction offset vector of the A-axis swing head, γ represents the inclination angle of the A-axis, and R represents the radius of the space circle. , , ) represents the standard ball center coordinates measured at the initial angle, O( x , y z ) represents the exact center coordinates of the circle.

[0126] Preferably, the application provides a measuring device for the axis of an inclined rotary axis of a machine tool, and is particularly used for the rotary axis comprising at least an orthogonal rotary table, an orthogonal swing head, an inclined rotary table, and an inclined swing head.

[0127] Figure 11 An example of a schematic diagram of a physical structure of an electronic device is shown in Figure 11 The electronic device can include a processor 810, a communications interface 820, a memory 830, and a communications bus 840, wherein the processor 810, the communications interface 820, and the memory 830 complete mutual communication through the communications bus 840. The processor 810 can invoke the logical instructions in the memory 830 to execute a method for measuring the axis of an inclined rotary axis of a machine tool, which comprises: fixing a standard ball on a workbench and controlling a measuring head to measure the standard ball; when the rotary axis is at an initial angle, controlling the measuring head to measure the standard ball from multiple directions to obtain first ball center coordinates P1( , , ); rotating the rotary axis to a second angle, controlling the measuring head to measure the standard ball from multiple directions to obtain second ball center coordinates P2( , , ); based on the first ball center coordinates P1and the second ball center coordinates P2, combining the theoretical inclined axis direction vector v of the rotary axis, , , ), the initial rotation axis is calculated by vector operation; the theoretical coordinates of the standard sphere center at the third angle are calculated according to the initial rotation axis and a preset point rotation formula; the rotation axis is rotated to the third angle, the probe is controlled to measure the standard sphere, and the third measured sphere center coordinates P3 are obtained , , ); the accurate rotation axis coordinates O are calculated by a space three-point circle center formula based on the first sphere center coordinates P1, the second sphere center coordinates P2 and the third measured sphere center coordinates P3 x , y z ).

[0128] In addition, the logical instructions in the memory 830 described above can be realized in the form of a software function unit and sold or used as an independent product, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0129] On the other hand, the present application also provides a computer program product, the computer program product includes a computer program, the computer program can be stored on a non-transitory computer readable storage medium, when the computer program is executed by a processor, the computer can execute the measurement method of the inclined rotation axis center of the machine tool provided by the above-mentioned method, the method includes: fixing a standard sphere on a workbench and controlling a probe to measure the standard sphere; when the rotation axis is at an initial angle, the probe is controlled to measure the standard sphere from multiple directions, and the first sphere center coordinates P1 are obtained , , ); the rotation axis is rotated to the second angle, the probe is controlled to measure the standard sphere from multiple directions, and the second sphere center coordinates P2 are obtained , , Based on the coordinates of the first sphere center P1 and the second sphere center P2, combined with the theoretical tilt axis direction vector v of the rotation axis ( , , The initial coordinates of the rotation axis center are obtained through vector operations; based on the initial coordinates of the rotation axis center and the preset point rotation formula around the axis, the theoretical coordinates of the standard sphere center at the third angle are calculated; the rotation axis is rotated to the third angle, and the probe is controlled to measure the standard sphere to obtain the third measured sphere center coordinates P3. , , Based on the first sphere center coordinates P1, the second sphere center coordinates P2, and the third measured sphere center coordinates P3, the precise rotation axis center coordinates O are calculated using the three-point spatial center-finding formula. x , y z ).

[0130] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, performs the measurement method for the axis of a machine tool tilting rotation provided by the methods described above. This method includes: fixing a standard ball on a worktable and controlling a probe to measure the standard ball; when the rotation axis is at an initial angle, controlling the probe to measure the standard ball from multiple directions to obtain the first center coordinates P1 (…). , , Rotate the rotation axis to the second angle to control the probe to measure the standard sphere from multiple directions and obtain the second sphere center coordinates P2. , , Based on the coordinates of the first sphere center P1 and the second sphere center P2, combined with the theoretical tilt axis direction vector v of the rotation axis ( , , The initial coordinates of the rotation axis center are obtained through vector operations; based on the initial coordinates of the rotation axis center and the preset point rotation formula around the axis, the theoretical coordinates of the standard sphere center at the third angle are calculated; the rotation axis is rotated to the third angle, and the probe is controlled to measure the standard sphere to obtain the third measured sphere center coordinates P3. , , Based on the first sphere center coordinates P1, the second sphere center coordinates P2, and the third measured sphere center coordinates P3, the precise rotation axis center coordinates O are calculated using the three-point spatial center-finding formula. x , y z )。

[0131] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed to multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment scheme according to actual needs. Those skilled in the art can understand and implement it without creative labor.

[0132] Through the description of the above embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software and the necessary general hardware platform, and of course can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0133] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for measuring the axis of a tilting rotary shaft in a machine tool, characterized in that, include: Fix the standard ball on the worktable and control the probe to measure the standard ball; When the rotation axis is at the initial angle, the probe is controlled to measure the standard sphere from multiple directions to obtain the coordinates P1 of the first sphere center. , , ); Rotate the rotation axis to the second angle to control the probe to measure the standard sphere from multiple directions and obtain the second sphere center coordinates P2. , , ); Based on the coordinates of the first sphere center P1 and the second sphere center P2, combined with the theoretical tilt axis direction vector v of the rotation axis ( , , The initial coordinates of the rotation axis center are obtained through vector operations. Based on the initial axis coordinates and the preset point rotation formula, calculate the theoretical coordinates of the standard sphere's center at the third angle; Rotate the rotation axis to the third angle, control the probe to measure the standard sphere, and obtain the third measured sphere center coordinates P3. , , ); Based on the first sphere center coordinates P1, the second sphere center coordinates P2, and the third measured sphere center coordinates P3, the precise coordinates of the rotation axis center are calculated using the formula for finding the center of a circle from three points in space. .

2. The method for measuring the axis of a machine tool tilting rotation shaft according to claim 1, characterized in that, The preliminary calculation of the initial rotation axis center coordinates through vector operations includes: A first vector calculation is performed on the first sphere center coordinates P1 and the second sphere center coordinates P2 to obtain the sphere center difference vector P; A second vector calculation is performed on the sphere center difference vector P and the theoretical tilt axis direction vector v of the rotation axis to obtain the sphere center perpendicular vector q; The center point of the sphere is translated by a preset distance d along the vertical vector q of the sphere center to obtain the initial axis coordinates of the rotation axis; wherein, the center point of the sphere center is represented as the midpoint of the line connecting the first sphere center coordinates and the second sphere center coordinates.

3. The method for measuring the axis of a machine tool tilting rotation shaft according to claim 1, characterized in that, The method further includes: When the rotation axis is a rotary table, the precise axis center coordinates are the absolute coordinates in the machine tool coordinate system.

4. The method for measuring the axis of a machine tool tilting rotation axis according to claim 3, characterized in that, When the rotation axis center is not measured for the first time, the axis center coordinates on which the theoretical coordinates of the standard sphere center under the second and third angles are based are the preset measured and stored axis center coordinates.

5. The method for measuring the axis of a machine tool tilting rotation shaft according to claim 1, characterized in that, When the rotation axis is a pendulum head, the method is used to calculate the offset vector of the pendulum head relative to the center of a standard ball, including: Based on the precise center coordinates The coordinates of the center of the standard sphere, P1, measured by the oscillating head at the initial angle ( , , The difference between the two values, combined with the radius R of the spatial circle and the theoretical tilt angle of the rotation axis, is used to calculate the offset vector in each direction through geometric relationships.

6. The method for measuring the axis of a machine tool tilting rotation shaft according to claim 5, characterized in that, The formulas for calculating the X-axis offset vector δx and Z-axis offset vector δz of a non-orthogonal B-axis oscillating head are as follows: In the formula, δx This represents the X-axis offset vector of the B-axis oscillating head. δz Let γ represent the Z-axis offset vector of the B-axis oscillation head, γ represent the tilt angle of the B-axis axis, R represent the radius of the space circle, and P1 ( , , () represents the coordinates of the center of the standard sphere measured at the initial angle. Represented as precise coordinates of the circle's center; Y-axis offset vector of non-orthogonal A-axis oscillator δy and Z-axis bias vector δz The calculation formula is as follows: In the formula, δy This represents the Y-axis offset vector of the A-axis oscillating head. δz The Z-axis offset vector represents the A-axis tilt angle, γ represents the tilt angle of the A-axis axis, R represents the radius of the spatial circle, and P1 ( , , () represents the coordinates of the center of the standard sphere measured at the initial angle. Represented as precise coordinates of the center of the circle.

7. The method for measuring the axis of a machine tool tilting rotation axis according to claim 1, characterized in that, The rotating shaft includes at least an orthogonal turntable, an orthogonal swing head, an inclined turntable, and an inclined swing head.

8. A measuring device for the axis of a machine tool tilting rotation shaft, characterized in that, include: The preprocessing module is used to fix the standard ball on the worktable and control the probe to measure the standard ball; The module for obtaining the first sphere center coordinates is used to control the probe to measure the standard sphere from multiple directions when the rotation axis is at the initial angle, and to obtain the first sphere center coordinates P1. , , ); The module for obtaining the second sphere center coordinates is used to rotate the rotation axis to a second angle, control the probe to measure the standard sphere from multiple directions, and obtain the second sphere center coordinates P2. , , ); The preliminary calculation module is used to calculate the direction vector v of the theoretical tilt axis of the rotation axis based on the coordinates of the first sphere center P1 and the second sphere center P2. , , The initial coordinates of the rotation axis center are obtained through vector operations. The theoretical coordinate calculation module is used to calculate the theoretical coordinates of the center of the standard sphere at the third angle based on the initial rotation axis center coordinates and the preset point rotation formula around the axis. The module for obtaining the third measured sphere center coordinates is used to rotate the rotation axis to the third angle, control the probe to measure the standard sphere, and obtain the third measured sphere center coordinates P3. , , ); The module for calculating the precise coordinates of the rotation axis center is used to calculate the precise coordinates of the rotation axis center based on the coordinates of the first sphere center P1, the second sphere center P2, and the third measured sphere center P3, using the formula for finding the center of a circle from three points in space. .

9. A non-transitory 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 method for measuring the axis of tilting rotation of a machine tool as described in any one of claims 1 to 7.

10. A machine tool, characterized in that, Its control system is configured to perform the measurement method for the axis of tilting rotation of a machine tool as described in any one of claims 1-7, in order to calibrate the axis of rotation or the offset vector of the machine tool.

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