Method, device, medium and machine tool for measuring the axis of a tilting rotary axis of a machine tool

Abstract

The application provides a kind of for machine tool tilt rotation axis axis of measurement method, device, medium and machine tool, it is related to machine tool technical field.The method comprises: obtaining first ball center coordinates when being in initial angle;Rotating rotation axis to second angle, obtains second ball center coordinates;Based on first ball center coordinates and second ball center coordinates, preliminary rotation axis axis coordinates are obtained by calculation;According to preliminary rotation axis axis coordinates and the preset point rotation formula around axis, the theoretical coordinates of the standard ball ball center under third angle are calculated;Rotating rotation axis to third angle, control probe measures standard ball, obtains third measured ball center coordinates;Based on first ball center coordinates, second ball center coordinates, third measured ball center coordinates, accurate rotation axis axis coordinates are obtained by calculation through space three-point circle center formula.The embodiment provided by the application can support the measurement and calculation of the axis of the non-orthogonal machine tool rotation axis on the basis of compatible orthogonal machine tool measurement and calculation.

Description

Technical Field

[0001] This invention relates to the field of machine tool technology, and in particular to a method, apparatus, medium, and machine tool for measuring the axis of a tilting rotary axis of a machine tool. Background Technology

[0002] In common multi-axis machine tools, the axis of rotation is generally parallel to the X / Y / Z axes. However, there is another type of rotary axis whose axis is not parallel to the X / Y / Z axes, but rather forms an angle with the coordinate axes within a certain coordinate plane. (See attached diagram.) Figure 1 and attached Figure 2 A tilting rotary axis is a rotary axis that forms a 45° angle with the Y-axis on the YOZ plane, or a 50° angle with the Z-axis on the XOZ plane. Tilting rotary axes are generally used for machining large workpieces that require vertical-to-horizontal conversion. Compared to orthogonal rotary axes, tilting rotary axes have advantages in terms of force and stroke. Furthermore, tilting rotary axes are further classified into tilting heads and tilting rotary tables, depending on whether the axis rotates the spindle or the worktable holding the workpiece. Machine tools containing tilting rotary axes are called non-orthogonal machine tools. Non-orthogonal machine tools are not only more complex to design and assemble than orthogonal machine tools, but also present challenges in post-processing calculations and machining path generation.

[0003] In multi-axis positioning or multi-axis linkage machining on multi-axis machine tools, the measurement of the rotary axis center is a key factor affecting machining accuracy and the final product quality. There are currently many methods for measuring the rotary axis center of orthogonal machine tools, such as using standard blocks for trial cutting or using probes to detect standard parts. Regardless of the method used, the calculation of the axis center is relatively simple. For example, for the measurement of the axis center of rotary table A, refer to the appendix... Figure 3 As shown, when A is 90°, probe face 1 of the standard block once in the Y-direction to obtain the Y coordinate y1 when the probe is triggered, and probe face 2 of the standard block once in the Z-direction to obtain the Z coordinate z1 when the probe is triggered. When A is -90°, probe face 1 once in the Y+ direction to obtain the Y coordinate y2 when the probe is triggered, and probe face 3 of the standard block once in the Z-direction to obtain the Z coordinate z2 when the probe is triggered. The axis center of A can then be calculated as AY = (y1 + y2) / 2, AZ = (z1 + z2 - w) / 2. Only AY and AZ are needed for the axis center of A; AX is not affected. Similarly, the axes center of B and C can be obtained in a similar way. Only the X and Z coordinates are needed for the B axis, and only the X and Y coordinates are needed for the C axis.

[0004] For non-orthogonal machine tools, see Appendix. Figure 4As shown, measuring and calculating the axis of rotation is quite difficult. This is because rotating a point around an inclined axis results in a three-dimensional circle, rotating a line around an inclined axis results in a conical surface, and rotating a surface around an inclined axis results in a cone. Therefore, it is impossible to calculate the axis using simple geometric operations.

[0005] Currently, orthogonal machine tools remain the mainstream in the market, and few people study the various theories of non-orthogonal machine tools. Furthermore, the methods and calculations for measuring the axis center of rotation of orthogonal machine tools are not applicable to non-orthogonal machine tools. Therefore, how to achieve axis center measurement compatible with both orthogonal and non-orthogonal machine tools is a pressing technical problem that needs to be solved. Summary of the Invention

[0006] This invention provides a method, apparatus, medium, and machine tool for measuring the axis of a tilting rotary axis of a machine tool, thereby overcoming the shortcomings of existing technologies that cannot calculate the axis of a tilting rotary axis, and achieving the ability to support the measurement and calculation of the axis of a non-orthogonal machine tool rotary axis while being compatible with orthogonal machine tool measurement and calculation.

[0007] In a first aspect, the present invention provides a method for measuring the axis of a tilting rotary axis of a machine tool, comprising the following steps: 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. .

[0008] Preferably, according to the method for measuring the axis of a machine tool tilting rotation axis provided by the present invention, the preliminary calculation of the preliminary axis of rotation axis 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.

[0009] Preferably, in the method for measuring the axis of a machine tool tilting rotation axis provided by the present invention, when the rotation axis is a turntable, the precise axis coordinates are absolute coordinates in the machine tool coordinate system.

[0010] Preferably, according to the method for measuring the axis of a machine tool tilting rotation axis provided by the present invention, when the axis of rotation axis is not measured for the first time, the axis coordinates on which the theoretical coordinates of the center of the standard sphere under the second angle and the third angle are based are the preset measured and stored axis coordinates.

[0011] Preferably, according to the method for measuring the axis of a machine tool tilting rotary axis provided by the present invention, when the rotary axis is a swivel head, the method is used to calculate the offset vector of the swivel head relative to the center of a standard sphere, 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.

[0012] Preferably, according to the method for measuring the axis of a machine tool tilting rotation axis provided by the present invention, the X-axis offset vector of the non-orthogonal B-axis tilting head... δx and Z-axis bias vector δz The calculation formula is as follows: In the formula, δx This represents the X-axis offset vector of the B-axis oscillating 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. 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. .

[0015] Thirdly, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the measurement method for the axis of tilting rotation of a machine tool as described above.

[0016] Fourthly, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for measuring the axis of a machine tool tilting rotation as described above.

[0017] Fifthly, the present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the measurement method for the axis of tilting rotation of a machine tool as described above.

[0018] In a sixth aspect, the present invention also provides a machine tool whose control system is configured to perform any of the above-described methods for measuring the axis of a machine tool tilting rotation axis, so as to calibrate the axis or offset vector of the machine tool rotation axis.

[0019] This invention provides a method, apparatus, medium, and machine tool for measuring the center of a tilting rotary axis of a machine tool. A standard ball is fixed to a worktable, and a probe is controlled to measure the standard ball. When the rotary axis is at its initial angle, the probe is controlled to measure the standard ball from multiple directions to obtain the first center coordinate 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 coordinates of the rotation axis center are calculated using the three-point spatial formula for finding the center of a circle. This technology addresses the limitation of existing technologies in calculating the axis of tilted rotation, enabling the measurement and calculation of the axis of rotation on non-orthogonal machine tools while maintaining compatibility with orthogonal machine tool measurement and calculation. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the structure of the tilting turntable provided by the present invention.

[0022] Figure 2 This is a schematic diagram of the structure of the tilting head provided by the present invention.

[0023] Figure 3 This is a schematic diagram of the orthogonal rotary table A-axis measurement according to the prior art provided by the present invention.

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

[0025] Figure 5 This is a flowchart illustrating the method for measuring the axis of a machine tool tilting and rotating shaft provided by the present invention.

[0026] Figure 6 This is a schematic diagram of the measurement and calculation of the axis B of the tilting turntable provided by the present invention.

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

[0028] Figure 8 This is a schematic diagram of the measurement and calculation of the B-axis of the tilting head provided by the present invention.

[0029] Figure 9 This is a schematic diagram of the measurement and calculation of the A-axis of the orthogonal oscillating head provided by the present invention.

[0030] Figure 10 This is a schematic diagram of the structure of the measuring device for the axis of tilting and rotating machine tool provided by the present invention.

[0031] Figure 11 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0033] First, the technical terms used in the embodiments of this invention will be explained: Rotary axis: An axis in a machine tool that performs rotary motion, often referred to as the 4th, 5th, etc. It mainly includes two types: Rotary table: A axis on which the workpiece is mounted and rotates. Its axis is a fixed point in the machine tool coordinate system.

[0034] Swiveling Head: The axis on which the tool is mounted and rotates with it. Its axis moves as the tool swings, so an offset vector is often used to describe the relative relationship between the tool control point and the axis.

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

[0036] Tilting Rotary Table / Head: A rotary table or tilting head whose axis of rotation is not parallel to any of the linear axes of the machine tool and is tilted at a certain angle in space.

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

[0038] Probe: A contact or non-contact sensor mounted on the spindle or worktable of a machine tool, used to probe the surface of a workpiece or a standard sphere.

[0039] Sphere Center Coordinates: The three-dimensional coordinates of the center point of a sphere obtained by measuring multiple points on the surface of a standard sphere and fitting the coordinates using geometric algorithms such as the least squares method.

[0040] Axis Direction Vector: A unit vector that describes the orientation of the rotation axis in space. For example, (0,0,1) indicates that 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 direction vector of the axis, and the rotation angle, this mathematical formula calculates the new coordinates of the point after rotation about that axis. This is a fundamental rotational transformation in three-dimensional space.

[0042] Circle Center from Three Points in Space: A mathematical method for finding the coordinates of the center and radius of a unique circle defined by three non-collinear points in space.

[0043] Offset Vector: For a swivel head, it refers to the vector pointing from the axis of rotation 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 and is usually decomposed into various directions in the machine coordinate system (such as δx, δy, δz).

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

[0045] Technical problems with existing technologies: Common turntable calibration methods in existing technologies typically involve rotating the turntable by two or more angles (e.g., 0° and 180°), measuring a standard part, and then simply taking the midpoint of the measurement coordinates as the axis. This method ignores the angular positioning error of the rotation axis and assumes perfect rotation; therefore, when angular errors exist, the measurement results are inaccurate.

[0046] This method involves directly aligning the rotating shaft with the mechanical surface using tools such as dial indicators and laser interferometers. However, this method is complex, inefficient, and difficult to apply to shafts hidden inside the machine, especially tilted shafts.

[0047] The following is combined with Figures 5-11This invention describes a method, apparatus, medium, and machine tool for measuring the axis of a tilting rotary axis of a machine tool, which addresses the shortcomings of existing technologies in calculating the axis of a tilting rotary axis, and enables the measurement and calculation of the axis of a non-orthogonal machine tool rotary axis while being compatible with orthogonal machine tool measurement and calculation.

[0048] Figure 5 This is a flowchart illustrating a method for measuring the axis of a tilting rotary shaft of a machine tool, as provided by the present invention. Figure 5 As shown, the method may include, but is not limited to, steps S100 to S700: S100: Fix the standard ball on the worktable and control the probe to measure the standard ball; S200, when the rotation axis is at the initial angle, control the probe to measure the standard sphere from multiple directions to obtain the coordinates P1 of the first sphere center. , , ); S300, rotate the rotation axis to the second angle, control the probe to measure the standard sphere from multiple directions, and obtain the second sphere center coordinates P2. , , ); S400, 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. S500, based on the preliminary rotation axis center coordinates and the preset point rotation formula, calculate the theoretical coordinates of the standard sphere center at the third angle; S600, rotate the rotation axis to the third angle, control the probe to measure the standard ball, and obtain the third measured ball center coordinate P3. , , ); S700, 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 are calculated using the three-point spatial formula for finding the center of a circle. .

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

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

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

[0052] In step S400 of some embodiments, based on the first sphere center coordinates P1 and the second sphere center coordinates 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.

[0053] In step S500 of some embodiments, the theoretical coordinates of the center of the standard sphere at the third angle are calculated based on the initial rotation axis center coordinates and the preset point rotation formula around the axis.

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

[0055] In step S700 of some embodiments, 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 are calculated using the three-point spatial formula for finding the center of a circle. .

[0056] Example 1: Precise measurement of the tilting turntable axis (initial measurement) This embodiment takes a five-axis machine tool with a B-axis tilting rotary table as an example. The B-axis axis forms a 45° angle with the positive Y-axis in the YZ plane, and its theoretical tilting axis direction vector is v(0, / 2,- / 2).

[0057] The implementation steps are as follows: 1. Preparations: Securely mount the standard ball onto the worktable of the B-axis rotary table.

[0058] Install the trigger probe on the machine tool spindle.

[0059] The measurement macro program of the present invention is loaded and run in the CNC system of the machine tool.

[0060] 2. First position measurement (B-axis 0°): The program prompts "Please manually move it directly above the ball." The operator uses the handwheel to control the X, Y, and Z axes, moving the probe directly above the visually accurate standard ball.

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

[0062] The program internally uses the least squares method to fit the collected points and calculates the precise coordinates P1 of the center of the standard sphere at a 0° angle. , , ).

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

[0064] The program prompts again, "Please manually move it directly above the ball." Since the worktable is tilted, the operator must manually position the probe again directly above the rotated standard ball.

[0065] After operator confirmation, the program automatically completes the measurement and calculates the coordinates of the second sphere center, P2. , , ).

[0066] In some embodiments of the present invention, 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.

[0067] Optional, preliminary calculation of the axis: The program performs the following vector operations: Calculate the difference vector between the centers of the spheres, p = P2 - P1.

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

[0069] Normalize the vector q to obtain q_unit.

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

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

[0072] (1-1) In the formula, the coordinates of the first sphere center are P1 ( , , The coordinates of the second sphere's center are P2. , , ), theoretical tilt axis direction vector v ( , , ), This represents the rotation angle of the rotation axis. The vectors representing the center difference of the spheres are p, the direction vector of the theoretical tilt axis of the rotation axis is v, the perpendicular vector from the center of the spheres is q, and the distance d is preset. The initial coordinates of the rotation axis center are obtained by solving this problem. .

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

[0074] (1-2) In the formula, the coordinates of the first sphere center are P1 ( , , ), theoretical tilt axis direction vector v ( , , ), initial rotation axis center coordinates P0 ( 0 , 0 , 0 ), This represents the rotation angle of the axis of rotation. The calculated coordinates of the third measured sphere center are P3 ( , , ), The program automatically controls the B-axis to rotate 180° and automatically drives the X, Y, and Z axes to position the probe near the P3_theoretical coordinate.

[0075] The program controls the probe to automatically measure and obtain the third measured sphere center coordinates P3 at the third angle. , , ).

[0076] In some embodiments of the present invention, the coordinates of the centers of three non-collinear standard spheres can be selected, or the coordinates of multiple non-collinear sphere centers can be selected, so as to calculate the accurate coordinates of the axis of rotation by fitting a spatial circle at multiple points. .

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

[0078] The program uses an algorithm to find the center of a circle by using three points in space, accurately calculating the center of the circle formed by these three points. O ( x , y z The exact coordinates of the B-axis rotation center can be found by referring to formula (1-3). This calculation process automatically compensates for the angular positioning errors of the B-axis at 90° and 180°.

[0079] (1-3) In the formula, the coordinates of the first sphere center are P1 ( , , The coordinates of the second sphere's center are P2. , , The third measured coordinate of the sphere's center is P3. , , The center of the circle obtained by solving for the three points is... That is, the precise coordinates of the axis of rotation.

[0080] 6. Data storage: The program will calculate the precise axis coordinates The parameters are stored in the machine tool's parameter system for subsequent processing compensation.

[0081] Technical effects achieved by the embodiments of the present invention: High precision: By using the three-point method to find the center of the circle, the influence of the rotation axis angle positioning error on the axis calibration result is effectively eliminated, and the measurement accuracy is far 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] Universality: This method is based on vector and three-dimensional spatial geometric operations and does not depend on the specific direction of the axis, so it is perfectly applicable to orthogonal and tilted axes.

[0084] In some embodiments of the present invention, when the rotation axis is a rotary table, the precise axis center coordinates are absolute coordinates in the machine tool coordinate system.

[0085] In some embodiments of the present invention, 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 preset measured and stored axis center coordinates.

[0086] Example 2: In some embodiments of the present invention, 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 sphere, 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.

[0087] In some embodiments of the present invention, the X-direction offset vector of the non-orthogonal B-axis oscillating head... δx and Z-axis bias vector δz The calculation methods include: 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 center of the circle.

[0088] 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.

[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 axis of rotation is the C-axis, and its axis is parallel to the Z-axis, then coordinates in the XY 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 the rotation axis C is given by the solution, and the center O of the circle is obtained by solving. , This represents the coordinates of the C-axis rotation center.

[0093] Example 4: The following is an example of calculating the non-initial measurement and the oscillating head offset vector: This embodiment takes a five-axis machine tool with an orthogonal A-axis tilting head as an example (the A-axis axis is parallel to the X-axis, and the theoretical vector is v(1, 0, 0)).

[0094] The implementation steps are as follows: 1. Preparation: Fix the standard ball on the worktable (keeping its position unchanged). Install the cutting tool (or probe) on the A-axis oscillating head.

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

[0096] The automatic measurement program was started, and the coordinates of the sphere's center P1 were measured. , , ).

[0097] 3. Automatic prediction and measurement: The program directly retrieves the previously calibrated and stored A-axis center coordinates from the machine tool parameters. O ( 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 center of the standard sphere 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 sequentially to 90° and 180°, and automatically drives the linear axis to move to the vicinity of the corresponding theoretical coordinates. Then, it automatically performs measurements to obtain the second measured coordinate P2. , , ) and the third measured sphere center coordinates P3 ( , , ).

[0100] 4. Precise calculation of the circle center: The program again uses the formula for finding the circle center through three points in space, P1, P2, and P3, to calculate the circle center O_circle. , , ).

[0101] 5. Calculate the bias vector: The formulas for calculating the offset vectors of the orthogonal oscillating head A / B / C are as follows: In the formula, δy This represents the Y-axis offset vector of the A-axis. δz This represents the Z-axis offset vector along the A-axis. The coordinates of the first sphere center are P1 ( , ), ( , () represents the coordinates of the center of the circle on axis A.

[0102] In the formula, δx This represents the X-axis offset vector of the B-axis oscillating head. δz This represents the Z-axis offset vector of the B-axis oscillating head. The coordinates of the first sphere center are P1 ( , ), ( , () represents the coordinates of the center of the circle on the B-axis.

[0103] In the formula, δx This represents the X-axis offset vector of the C-axis oscillating head. δy This represents the Y-axis offset vector of the C-axis oscillating head. The coordinates of the first sphere center are P1 ( , ), ( , () represents the coordinates of the center of the circle along the C-axis.

[0104] Data storage: The calculated bias vector ( δy , δz ), ( δx , δz ), ( δx , δy The data is stored in the system for parameter settings in post-processing or tool tip control (RTCP) functions.

[0105] Technical effects achieved by the embodiments of the present invention: Highly efficient and convenient: For measurements other than the first time, no manual intervention is required; the entire process is automated, greatly improving the efficiency of regular inspections and maintenance.

[0106] Conceptual unification: The calibration of the oscillating head is cleverly transformed into a model of "fixed ball center and rotating axis", and a core algorithm (multi-point fitting of spatial circle) is reused as the same as that of the turntable, which simplifies the system design and operation process.

[0107] Precision assurance: The three-point method is also used to eliminate the angular positioning error during head rotation, ensuring the accuracy of the offset vector calibration, thereby guaranteeing the tool tip control accuracy in five-axis machining.

[0108] Figure 6 This is a schematic diagram illustrating the measurement and calculation of the B-axis center of the tilting turntable provided by the present invention. Figure 7 This is a schematic diagram illustrating the measurement and calculation of the A-axis center of the orthogonal rotary table provided by the present invention. (Combined with...) Figure 6 and Figure 7 As shown, the specific content of the measurement and calculation process involved in this invention is as follows: First, if the machine tool is being measured for the first time, the following procedure is followed: At the initial angle of the turntable, the linear axis is manually controlled to position the probe directly above the standard sphere. Then, through program control, the probe automatically measures the surface of the standard sphere in different directions. Through geometric calculations, the coordinates P1 of the first sphere center are obtained. , , The turntable is rotated a certain angle, and the linear axis is manually controlled again to position the probe directly above the standard sphere. The rotated standard sphere is then measured to obtain the coordinates of the second sphere center, P2. , , Using the first sphere center coordinates P1 and the second sphere center coordinates P2, the sphere center difference vector P formed by these two sphere center coordinates is compared with the theoretical tilt axis direction vector v. , , The cross product can be used to find the perpendicular vector q of the sphere center on the plane of the axis of rotation, which is perpendicular to the line connecting the two sphere centers. By translating the midpoint of the line connecting the two sphere centers along the perpendicular vector q by a distance d, the initial coordinates of the axis of rotation P0 can be calculated. 0 , 0 , 0 ) (Formula 1-1).

[0109] However, the initial axis center coordinates are affected by the machine tool's rotation axis angular positioning error and are not precise axis center coordinates. The point-around-axis rotation formula can be used to automatically calculate the theoretical coordinates of the standard sphere's center at the third angle (Formula 1-2). Then, when the motor drives the rotation axis to the third angle, it automatically drives the linear axis to move near the standard sphere, measures the standard sphere at that angle, and obtains the third measured sphere center coordinate P3. , , Finally, the precise coordinates of the axis of rotation O are obtained by using the method of finding the center of the circle from three points in space. x , y , z ) (Formula 1-3).

[0110] If this is not the first measurement, proceed as follows: At the initial angle of the turntable, manually control the linear axis movement to position the probe directly above the standard sphere. Then, automatically measure the standard sphere from multiple directions to obtain the sphere's center coordinates P1. , , Next, use the rotary axis center coordinates from the current machine tool parameters (using ( x , y , z (This is represented by the formula 1-2), based on the theoretical rotation axis direction and the rotation formula around the axis, the theoretical coordinates of the standard sphere's center at the second and third angles are calculated respectively. Then, the rotation axis rotates sequentially to the second and third angles, while the linear axis moves to the vicinity of the standard sphere based on the previously calculated theoretical center coordinates, probing the standard sphere to obtain the measured center coordinates at the second and third angles. , , )and( , , Finally, the center O of the rotation axis is found using the three-point method. x , y , z ) (Formula 1-3).

[0111] For tilted axes, the axis center is not two-dimensional like orthogonal axes; it must be three-dimensional. Whether it is the A-axis, B-axis, or C-axis, the axis center coordinates must include the three dimensions of X, Y, and Z.

[0112] This algorithm is highly versatile, supporting tilting axes in all directions of space and is also compatible with orthogonal axis machine tools. An orthogonal rotary table can be considered a special case of a tilting rotary table, specifically when the rotation axis is (1, 0, 0), (0, 1, 0), or (0, 0, 1).

[0113] In some embodiments of the present invention Figure 8 This invention provides a schematic diagram for measuring and calculating the B-axis of the tilting head. Figure 9 This is a schematic diagram illustrating the measurement and calculation of the A-axis center of the orthogonal oscillating head provided by the present invention. Combined with... Figure 8 , Figure 9 As shown, for a tool-rotating rotary axis (i.e., a swivel head), the tool control point rotates to different positions when the axis is at different angles, thus changing the aforementioned machine tool reference. Conversely, the position of the standard sphere remains fixed, so the standard sphere can be considered the center of rotation, and the swivel head is considered to rotate around the standard sphere. Therefore, for the swivel head, the axis cannot be represented by specific coordinates, but should be measured by relative coordinates, which is called the offset vector in this embodiment.

[0114] For example, for the A-axis oscillator, it is necessary to determine the Z-axis and Y-axis offset vectors of the distance between the center of the standard sphere and the center of the oscillator axis. The X-axis offset is not required because the amount of the X-axis offset will not affect the post-processing calculation results. Similarly, for the B-axis oscillator, only the X-axis and Z-axis offset vectors need to be determined, while for the C-axis oscillator, both the X and Y-axis offset vectors need to be determined.

[0115] For tilting heads, the measurement process is the same as that for tilting turntables. The difference is that when the tilting head is at an angle, the probe is tilted. Therefore, when manually positioning, the probe does not need to be positioned directly above the standard ball at all angles. Instead, it needs to be positioned above the current cutter axis direction, that is, the extension line of the tilted probe passes through the center of the ball.

[0116] The remaining steps are the same as the measurement and calculation process for the turntable described above, and will not be repeated here.

[0117] The orthogonal axis can also be considered a special case of the tilted axis. It can be considered a special case when the axis vector of the rotation axis is (1, 0, 0), (0, 1, 0), or (0, 0, 1). The tilt angle of the axis in the coordinate plane can be considered as 0° or 90°. For example, the calculation of the axis center data of the orthogonal A-axis oscillating head is described in Example 4 above.

[0118] In some embodiments of the present invention, a machine tool is also provided, wherein the control system is configured to perform the measurement method for the tilting rotation axis of the machine tool as described above, to calibrate the axis or offset vector of the machine tool rotation axis.

[0119] The measuring device for the axis of a machine tool tilting and rotating shaft provided by the present invention will be described below. The measuring device for the axis of a machine tool tilting and rotating shaft described below can be referred to in correspondence with the measuring method for the axis of a machine tool tilting and rotating shaft described above.

[0120] like Figure 10 The diagram shown is a structural schematic of a measuring device for the axis of a machine tool tilting rotation axis provided by the present invention. The measuring device for the axis of a machine tool tilting rotation axis includes the following modules: The preprocessing module 710 is used to fix the standard ball on the worktable and control the probe to measure the standard ball; The module 720 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 second sphere center coordinate module 730 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 coordinate P2. , , ); The preliminary calculation module 740 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 750 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 760 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 770 for calculating the precise axis center coordinates of the rotation axis is used to calculate the precise axis center coordinates O based on the first sphere center coordinates P1, the second sphere center coordinates P2, and the third measured sphere center coordinates P3, using the formula for finding the center of a circle from three points in space. x , y z ).

[0121] Preferably, the measuring device for the axis of a machine tool tilting rotation provided by the present invention is further used to perform a first vector calculation 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.

[0122] Preferably, the measuring device for the axis of a machine tool tilting rotation axis provided by the present invention is further used to ensure that the precise axis coordinates are absolute coordinates in the machine tool coordinate system when the rotation axis is a turntable.

[0123] Preferably, the measuring device for the axis of a machine tool tilting rotation axis provided by the present invention is further used to calculate the axis coordinates on which the theoretical coordinates of the center of a standard sphere are based at the second and third angles when the axis of rotation axis is not measured for the first time. These are preset measured and stored axis coordinates.

[0124] Preferably, the measuring device for the axis of a machine tool tilting rotation provided by the present invention, when the rotation axis is a swivel head, is used to calculate the offset vector of the swivel head relative to the center of a standard sphere, specifically based on the precise center coordinates O ( x , y z ) and the coordinates of the center of the standard sphere P1(x1, ) measured by the oscillating head at the initial angle. 1 , 1 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.

[0125] Preferably, the measuring device for the axis of a machine tool tilting rotation provided by the present invention is further used to calculate the X-axis offset vector δx and Z-axis offset vector δz of a non-orthogonal B-axis tilting head, 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 ( , , O represents the coordinates of the center of the standard sphere measured at the initial angle. x , y z () represents the 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 ( , , O represents the coordinates of the center of the standard sphere measured at the initial angle. x , y z ) represents the precise coordinates of the center of the circle.

[0126] Preferably, the measuring device for the axis of a machine tool tilting rotation axis provided by the present invention is further used in the case where the rotation axis includes at least an orthogonal rotary table, an orthogonal tilting head, a tilting rotary table, and a tilting tilting head.

[0127] Figure 11 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 11 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other through the communication bus 840. The processor 810 can call logical instructions in the memory 830 to execute a method for measuring the center of a machine tool tilting rotary axis. This method includes: fixing a standard ball on the worktable and controlling a probe to measure the standard ball; when the rotary axis is at an initial angle, controlling the probe to measure the standard ball from multiple directions to obtain the first ball 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 ).

[0128] Furthermore, the logical instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0129] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to execute the measurement method for the axis of a machine tool tilting rotation provided by the above methods. The 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 ball 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 ).

[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. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0132] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments 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 invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

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. ; 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. 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.

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, The rotating shaft includes at least an orthogonal turntable, an orthogonal swing head, an inclined turntable, and an inclined swing head.

6. A measuring device for the axis of a machine tool tilting rotation axis, applicable to the measuring method for the axis of a machine tool tilting rotation axis as described in any one of claims 1 to 5, 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. .

7. 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 5.

8. 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 1-5, in order to calibrate the axis of rotation or the offset vector of the machine tool.

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