Automatic calibration method, device, medium and system for numerical control machine tool

Abstract

The invention provides an automatic calibration method, device, medium and system for a numerical control machine tool, and the method comprises the steps: obtaining: controlling the machine tool to operate according to a preset calibration path, and obtaining a first error parameter; a processing step: preprocessing the first error parameter to obtain a correction parameter, and determining an error compensation amount of each motion axis; a configuration step: configuring the machine tool according to the error compensation amount, and controlling the machine tool to operate according to a preset calibration path; a determination step: obtaining a second error parameter, determining the positioning precision of the machine tool, and determining the error compensation amount as the final error compensation amount under the condition that the positioning precision is greater than or equal to the preset precision; and a circulation step: under the condition that the positioning precision is less than the preset precision, executing the steps of obtaining, processing, configuring and determining circularly at least once until the positioning precision is greater than or equal to the preset precision. The problem that in the prior art, numerical control machine tools generally adopt a manual calibration mode, and consequently the production efficiency is low is solved.

Description

Technical Field

[0001] This application relates to the field of CNC machine tool accuracy testing technology, and more specifically, to an automated calibration method for CNC machine tools, an automated calibration device for CNC machine tools, a computer-readable storage medium, and an automated calibration system for CNC machine tools. Background Technology

[0002] CNC machine tools are widely used in precision machining in aerospace, automotive parts, mold making, and other fields. To ensure machining accuracy and consistency, machine tools typically require geometric and motion accuracy calibration during factory manufacturing, installation and commissioning, and long-term operation and maintenance. This calibration determines the positioning deviations, repeatability errors, and related geometric error parameters of each motion axis, and accordingly configures the corresponding error compensation parameters in the CNC system. As the machine tool's usage time increases and key components are maintained or replaced, its accuracy may change. Therefore, recalibration is often necessary on the production floor to restore or maintain machining accuracy.

[0003] In existing technologies, the calibration of CNC machine tools is generally done manually. This typically requires personnel to set up measuring tools while the machine is stopped, measure and record each axis according to a predetermined calibration procedure, calculate compensation parameters based on the measurement results, and then input them into the CNC system. Verification is then performed through trial cutting or repeated measurements. Because manual calibration requires a significant amount of machine downtime and multiple rounds of measurement and parameter adjustments, it can easily disrupt the equipment's production cycle, leading to reduced production efficiency. Summary of the Invention

[0004] The main objective of this application is to provide an automated calibration method, an automated calibration device, a computer-readable storage medium, and an automated calibration system for CNC machine tools, so as to at least solve the problem of low production efficiency caused by the widespread use of manual calibration methods for CNC machine tools in the prior art.

[0005] To achieve the above objectives, according to one aspect of this application, an automated calibration method for a CNC machine tool is provided, comprising: an acquisition step, controlling the CNC machine tool to run according to a preset calibration path and acquiring a first error parameter, the first error parameter including at least the positional deviation of each motion axis of the CNC machine tool from the preset calibration path; a processing step, preprocessing the first error parameter to obtain a correction parameter, and determining an error compensation amount for each motion axis based on the correction parameter, the preprocessing including filtering and temperature compensation processing; a configuration step, configuring the CNC machine tool according to the error compensation amount and controlling the CNC machine tool to run according to the preset calibration path; a determination step, acquiring a second error parameter, determining the positioning accuracy of the CNC machine tool based on the second error parameter, and determining the error compensation amount as the final error compensation amount if the positioning accuracy is greater than or equal to a preset accuracy; and a looping step, cyclically executing the acquisition step, the processing step, the configuration step, and the determination step at least once if the positioning accuracy is less than the preset accuracy, until the positioning accuracy is greater than or equal to the preset accuracy.

[0006] Optionally, determining the error compensation amount for each motion axis based on the correction parameters includes: constructing a mapping table between the correction parameters and the command position, wherein the command position is the target position value corresponding to each preset sampling position in the preset calibration path; when the motion axis is determined to be a linear axis, constructing a linear axis error model based on the mapping table, wherein the linear axis error model characterizes a first correspondence between the command position of the linear axis and the correction parameters, wherein the linear axis is the motion axis moving along a straight line in the CNC machine tool; when the motion axis is determined to be a rotary axis, constructing a rotary axis error model based on the mapping table, wherein the rotary axis error model characterizes a second correspondence between the command position of the rotary axis and the correction parameters, wherein the rotary axis is the motion axis rotating according to a preset rotary axis in the CNC machine tool; determining the error compensation amount for the linear axis based on the linear axis error model, and determining the error compensation amount for the rotary axis based on the rotary axis error model.

[0007] Optionally, the first error parameter further includes temperature data of each component of the CNC machine tool. Preprocessing the first error parameter to obtain a correction parameter includes: processing the first error parameter using a Kalman filter algorithm to remove noise interference and obtain a filtered first error parameter; determining multiple temperature differences between each temperature data point and a preset standard temperature; determining a motion axis compensation value corresponding to each temperature difference based on the multiple temperature differences and a preset table of temperature difference and motion axis position compensation; and correcting the filtered first error parameter based on the motion axis compensation value to obtain the correction parameter.

[0008] Optionally, controlling the CNC machine tool to run according to a preset calibration path and obtaining a first error parameter includes: when each of the motion axes of the CNC machine tool runs to multiple preset sampling positions, obtaining the command position and the first actual position of each motion axis at each preset sampling position; and determining the first error parameter of each preset sampling position based on the command position and the first actual position of each preset sampling position.

[0009] Optionally, obtaining a second error parameter and determining the positioning accuracy of the CNC machine tool based on the second error parameter includes: when each of the motion axes of the CNC machine tool moves to a plurality of preset sampling positions, obtaining the command position and the second actual position of each motion axis at each preset sampling position; determining the second error parameter of each preset sampling position according to the command position and the second actual position; determining a plurality of absolute values ​​of the plurality of second error parameters, and determining the maximum absolute value as the maximum value of the plurality of absolute values; and determining the maximum absolute value as the compensated positioning accuracy.

[0010] Optionally, after performing the acquisition step, the processing step, the configuration step, and the determination step at least once, the method further includes: determining the number of cycles, and if the number of cycles is greater than a preset number, generating a prompt message to prompt the user to check the sensor installation status of the CNC machine tool and / or the status of the mechanical components of the CNC machine tool, wherein the mechanical components include at least a lead screw, a guide rail, and a coupling.

[0011] Optionally, after controlling the CNC machine tool to run according to a preset calibration path, the method further includes: obtaining the angular deviation and the position deviation of the rotary axis, wherein the angular deviation is the difference between the commanded angle of the rotary axis and the actual angle of the rotary axis; determining the equivalent angular deviation of the rotary axis based on the position deviation; determining the difference between the angular deviation and the equivalent angular deviation; and if the difference is greater than a preset difference, obtaining the angular deviation and the position deviation of the rotary axis again.

[0012] According to another aspect of this application, an automated calibration device for a CNC machine tool is provided, comprising: an acquisition unit, configured to acquire a first error parameter, wherein the first error parameter includes at least the positional deviation of each motion axis of the CNC machine tool from the preset calibration path; a processing unit, configured to preprocess the first error parameter to obtain a correction parameter, and determine an error compensation amount for each motion axis based on the correction parameter, wherein the preprocessing includes filtering and temperature compensation processing; a configuration unit, configured to configure the CNC machine tool according to the error compensation amount, and control the CNC machine tool to run according to the preset calibration path; a determination unit, configured to acquire a second error parameter, and determine the positioning accuracy of the CNC machine tool based on the second error parameter, and determine the error compensation amount as the final error compensation amount if the positioning accuracy is greater than or equal to the preset accuracy; and a looping unit, configured to loop the acquisition step, the processing step, the configuration step, and the determination step at least once if the positioning accuracy is less than the preset accuracy, until the positioning accuracy is greater than or equal to the preset accuracy.

[0013] According to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform any of the methods described.

[0014] According to another aspect of this application, an automated calibration system for a CNC machine tool is provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including methods for performing any one of the methods described.

[0015] By applying the technical solution of this application, a CNC machine tool is automatically controlled to run along a preset calibration path without human intervention. The positional deviation of each motion axis relative to the preset calibration path is automatically collected as a first error parameter. The first error parameter is then filtered and temperature-compensated to obtain a correction parameter. Based on the correction parameter, the error compensation amount of each motion axis is determined and the CNC machine tool is configured accordingly. Subsequently, the machine tool runs along the preset calibration path again to obtain a second error parameter. Based on the second error parameter, the positioning accuracy of the CNC machine tool is determined. When the positioning accuracy meets the preset accuracy requirement, the final error compensation amount is output. If the requirement is not met, the closed-loop iteration of "collection-processing-configuration-verification" is automatically executed until the target is met. This avoids the waiting and downtime caused by repeated manual measurement and parameter adjustment, improves calibration efficiency, and enhances the consistency and repeatability of calibration results, thereby improving the production efficiency of the CNC machine tool. Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0017] Figure 1 A flowchart illustrating an automated calibration method for a CNC machine tool according to an embodiment of this application is shown.

[0018] Figure 2 A schematic diagram of the structure of an automated calibration system for CNC machine tools according to an embodiment of this application is shown;

[0019] Figure 3 A structural block diagram of an automated calibration device for a CNC machine tool provided according to an embodiment of this application is shown. Detailed Implementation

[0020] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0021] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0022] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0023] As described in the background section, existing CNC machine tools generally employ manual calibration methods, resulting in low production efficiency. To address the aforementioned technical problems, embodiments of this application provide an automated calibration method for CNC machine tools, an automated calibration device for CNC machine tools, a computer-readable storage medium, and an automated calibration system for CNC machine tools.

[0024] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0025] Figure 1 This is a flowchart of an automated calibration method for a CNC machine tool according to an embodiment of this application. Figure 1 As shown, the method includes the following steps:

[0026] Step S101, obtaining step, controlling the above-mentioned CNC machine tool to run according to the preset calibration path, and obtaining the first error parameter, the first error parameter including at least the positional deviation of each motion axis of the above-mentioned CNC machine tool from the preset calibration path;

[0027] Specifically, in the acquisition step, the calibration system controls the CNC machine tool to run according to a preset calibration path, so that each motion axis sequentially reaches multiple preset sampling positions in the preset calibration path; at each preset sampling position, the corresponding target position value and the actual position value measured by the sensor module are acquired, and a first error parameter is formed accordingly. The aforementioned target position value is obtained by the target position command generated and issued by the CNC system according to the aforementioned preset calibration path; the actual position value is measured by the sensor module, wherein a laser interferometer is used to measure the positioning correlation error of the linear axes (X, Y, Z axes) to obtain the actual position value of the linear axes; a dual-axis tilt sensor is used to measure the rotation angle state of the rotary axes (A-axis, C-axis) to obtain the actual rotation angle value of the rotary axes; a contact displacement sensor is used to measure the relative position deviation between the spindle and the worktable, as a supplement and verification of the rotary axis measurement; temperature sensors are distributed in components such as the spindle, guide rail, and motor to collect temperature data for subsequent temperature compensation processing. Furthermore, the aforementioned first error parameter also includes the angular deviation characterizing the state of the rotating axis (measured by a dual-axis tilt sensor), the relative position deviation used for cross-validation (measured by a contact displacement sensor), and the temperature data of each component of the aforementioned CNC machine tool (collected by a temperature sensor).

[0028] Step S102, processing step, preprocessing the first error parameter to obtain the correction parameter, and determining the error compensation amount of each of the motion axes based on the correction parameter. The preprocessing includes filtering and temperature compensation.

[0029] Specifically, the first error parameter is filtered to suppress sensor measurement noise and random disturbances introduced during calibration, making the first error parameter more stable and continuous at each preset sampling position. Then, temperature compensation is performed using the temperature data from the first error parameter to correct positional deviations caused by thermal expansion and contraction of machine tool components, thus obtaining correction parameters reflecting the error characteristics of the machine tool itself. Based on these correction parameters, a correspondence between the correction parameters and command positions is established, and the error compensation amount for each motion axis at different command positions is determined accordingly, facilitating subsequent configuration of the CNC machine tool and achieving accuracy compensation.

[0030] Step S103, configuration step: Configure the CNC machine tool according to the above error compensation amount, and control the CNC machine tool to run according to the above preset calibration path;

[0031] Specifically, in the configuration step, the control system applies the error compensation amount to the control parameters of the CNC machine tool, enabling the CNC machine tool to compensate and correct the command positions of each motion axis according to the error compensation amount during subsequent motion control, thereby realizing the error compensation function configuration. After the configuration is completed, the control system again controls the CNC machine tool to run according to the above-mentioned preset calibration path, so as to verify the compensation effect after configuration under the same calibration path conditions.

[0032] Step S104: Determine the step, obtain the second error parameter, determine the positioning accuracy of the CNC machine tool based on the second error parameter, and determine the error compensation amount as the final error compensation amount if the positioning accuracy is greater than or equal to the preset accuracy.

[0033] Specifically, after configuring the aforementioned error compensation amount, the control system controls the CNC machine tool to run again along the preset calibration path, and the sensor module collects the compensated measurement data at each preset sampling position to form a second error parameter. Based on the second error parameter, the positioning accuracy of the CNC machine tool under the preset calibration path conditions is calculated, and the positioning accuracy is compared with the preset accuracy. When the positioning accuracy is greater than or equal to the preset accuracy, it is determined that the current error compensation amount meets the accuracy requirements, and it is determined as the final error compensation amount.

[0034] Step S105, loop step: if the positioning accuracy is less than the preset accuracy, the above acquisition step, the above processing step, the above configuration step and the above determination step are executed at least once in a loop until the positioning accuracy is greater than or equal to the preset accuracy.

[0035] Specifically, in the iterative steps, when the positioning accuracy obtained based on the second error parameter is less than the preset accuracy, the calibration system determines that the current error compensation amount has not yet met the accuracy requirements and automatically enters the iterative process.

[0036] Through the above embodiments, by controlling the CNC machine tool to automatically run along a preset calibration path without human intervention, the positional deviation of each motion axis relative to the preset calibration path is automatically collected as a first error parameter. The first error parameter is then filtered and temperature-compensated to obtain a correction parameter. Based on the correction parameter, the error compensation amount of each motion axis is determined and the CNC machine tool is configured accordingly. Subsequently, the machine tool runs along the preset calibration path again to obtain a second error parameter. Based on the second error parameter, the positioning accuracy of the CNC machine tool is determined. When the positioning accuracy meets the preset accuracy requirements, the final error compensation amount is output. If the requirements are not met, the closed-loop iteration of "collection-processing-configuration-verification" is automatically executed until the target is met. This avoids the waiting and downtime caused by repeated manual measurement and parameter adjustment, improves calibration efficiency, and enhances the consistency and repeatability of calibration results, thereby improving the production efficiency of the CNC machine tool.

[0037] In one optional embodiment, determining the error compensation amount for each of the aforementioned motion axes based on the aforementioned correction parameters includes: constructing a mapping table between the correction parameters and the command position, wherein the command position is the target position value corresponding to each preset sampling position in the preset calibration path; when the motion axis is determined to be a linear axis, constructing a linear axis error model based on the aforementioned mapping table, wherein the linear axis error model characterizes a first correspondence between the command position of the linear axis and the aforementioned correction parameters, wherein the linear axis is the motion axis moving along a straight line in the CNC machine tool; when the motion axis is determined to be a rotary axis, constructing a rotary axis error model based on the aforementioned mapping table, wherein the rotary axis error model characterizes a second correspondence between the command position of the rotary axis and the aforementioned correction parameters, wherein the rotary axis is the motion axis in the CNC machine tool that rotates according to a preset rotary axis; determining the error compensation amount for the linear axis based on the aforementioned linear axis error model, and determining the error compensation amount for the rotary axis based on the aforementioned rotary axis error model.

[0038] In the above embodiments, by establishing a mapping relationship between the correction parameters and the target position values ​​corresponding to each preset sampling position in the preset calibration path, the error data and the command position are made to correspond one-to-one. Furthermore, error models are constructed separately for linear axes and rotary axes to describe the first correspondence between the command position of the linear axis and the correction parameters, and the second correspondence between the command position of the rotary axis and the correction parameters. This allows for the calculation of the corresponding error compensation amount for the error characteristics of different types of motion axes, making the error compensation amount match the actual error distribution of each motion axis, improving the pertinence and effectiveness of the compensation parameters, thereby improving the positioning accuracy of the CNC machine tool under different command positions, and ensuring that the compensation results have consistency and stability throughout the entire stroke or angle range.

[0039] Specifically, after obtaining the correction parameters, the calibration system determines the error compensation amount for each motion axis based on these parameters. Specifically, multiple preset sampling positions are set in the preset calibration path. The CNC system generates corresponding target position values ​​at each preset sampling position, and these target position values ​​serve as the command positions. The calibration system associates the command positions at each preset sampling position with the corresponding correction parameters, constructing a mapping table between the correction parameters and command positions to record error information under different command positions. When the motion axis is determined to be a linear axis, the calibration system constructs a linear axis error model based on the mapping table, making the linear axis error model represent the first correspondence between the command position of the linear axis and the correction parameters. When the motion axis is determined to be a rotary axis, the calibration system constructs a rotary axis error model based on the mapping table, making the rotary axis error model represent the second correspondence between the command position of the rotary axis and the correction parameters. Subsequently, the calibration system determines the error compensation amount of the linear axis at each command position based on the linear axis error model, and determines the error compensation amount of the rotary axis at each command position based on the rotary axis error model, so that the error compensation amount can match the command position corresponding to the preset calibration path, which is used for subsequent configuration of the CNC machine tool.

[0040] For example, the calibration system obtains the correction parameters after completing the filtering and temperature compensation processing of the first error parameter. Multiple preset sampling positions are set in the preset calibration path, and the CNC system generates the corresponding target position value as the command position at each preset sampling position. The calibration system associates the command position of each preset sampling position with the corresponding correction parameter to construct a mapping relationship table between the correction parameter and the command position. (1) Linear axis error model: Taking the linear axis X-axis as an example, the preset calibration path sets multiple preset sampling positions in the X-axis direction, and the command positions are, for example: 0mm, 200mm, 400mm, 600mm, 800mm, 1000mm. The corresponding correction parameters are, for example: +2μm, +5μm, +7μm, +10μm, +8μm, +3μm. This results in a mapping table: (0mm, +2μm), (200mm, +5μm), (400mm, +7μm), (600mm, +10μm), (800mm, +8μm), (1000mm, +3μm). Given that the aforementioned motion axis is a linear axis, a linear axis error model is constructed based on this mapping table. For example, the linear axis error model can be fitted to the data pairs in the mapping table using the least squares method to obtain the first correspondence between the "command position and correction parameter." Since the linear axis error typically exhibits non-monotonic or locally curved characteristics along the entire stroke, in this embodiment, the linear axis error model is not limited to a linear function but can be fitted using a quadratic or cubic polynomial form, or a piecewise fitting method can be used to fit multiple stroke intervals separately, thereby enabling the model to better characterize the error change trend across the entire stroke range. Based on the aforementioned linear axis error model, the calibration system determines the error compensation amount for the linear axis at each command position. For example, the error compensation amount is set to a compensation value opposite in direction to the corresponding correction parameter, used to offset the error at that command position. (2) Rotation axis error model: Taking the rotation axis A as an example, the preset calibration path sets multiple preset sampling positions in the direction of axis A, and the command positions are, for example: 0°, 30°, 60°, 90°, 120°. The corresponding correction parameters are, for example: +0.0002°, +0.0008°, +0.0014°, +0.0010°, +0.0003°. Thus, a mapping relationship table is formed: (0°, +0.0002°), (30°, +0.0008°), (60°, +0.0014°), (90°, +0.0010°), (120°, +0.0003°). When the above motion axis is determined to be a rotation axis, a rotation axis error model is constructed based on the above mapping relationship table, so that the above rotation axis error model represents the second correspondence between the command position of the rotation axis and the correction parameters.For example, the rotation axis error may have periodic or piecewise characteristics as the rotation angle changes. Therefore, in this embodiment, the rotation axis error model can be fitted to the above mapping table using the least squares method to obtain the correspondence between angle and error; or, for cases with stronger nonlinearity, the "command position and correction parameter" in the above mapping table can be used as training samples, and the above second correspondence can be learned using a neural network algorithm to obtain the rotation axis error model. Based on the above rotation axis error model, the calibration system determines the error compensation amount of the rotation axis at each command angle. For example, the error compensation amount is set to a compensation value opposite to the direction of the corresponding correction parameter to offset the error at the command angle. (3) Compensation amount output form: In some embodiments, in order to facilitate the configuration of the CNC machine tool, the calibration system organizes the error compensation amount of the linear axis and the error compensation amount of the rotation axis into a compensation table according to the command position. The above compensation table corresponds to the preset sampling position of the preset calibration path so that the CNC machine tool can call the corresponding error compensation amount at different command positions when performing motion control.

[0041] In another alternative embodiment, the first error parameter further includes temperature data of each component of the CNC machine tool. Preprocessing the first error parameter to obtain a correction parameter includes: processing the first error parameter using a Kalman filter algorithm to remove noise interference, obtaining a filtered first error parameter; determining multiple temperature differences between each of the aforementioned temperature data and a preset standard temperature; determining motion axis compensation values ​​corresponding to each of the aforementioned temperature differences based on the multiple temperature differences and a preset table of temperature difference and motion axis position compensation; and correcting the filtered first error parameter based on each of the aforementioned motion axis compensation values ​​to obtain the correction parameter.

[0042] In the above embodiments, by incorporating temperature data of various components of the CNC machine tool into the first error parameter, the error data not only reflects the deviation of the motion axis under the preset calibration path, but also reflects the impact of temperature changes on the error. Furthermore, the first error parameter is first processed using a Kalman filter algorithm to remove noise interference, thereby improving the stability and reliability of the error data. Then, the motion axis compensation value is determined based on the temperature difference between the temperature data and the preset standard temperature, as well as the preset temperature difference and motion axis position compensation relationship table. The filtered first error parameter is then corrected using the aforementioned motion axis compensation value, thereby obtaining a correction parameter that is closer to the error characteristics of the machine tool body. This reduces the impact of error fluctuations introduced by temperature changes on the determination result of the compensation amount, thereby improving the accuracy and consistency of the error compensation amount determination, and ultimately contributing to improving the stability of the positioning accuracy after calibration.

[0043] Specifically, the aforementioned linear axis error model can be described using a linear function. However, when the error variation of the linear axis over its entire travel range exhibits nonlinearity or piecewise characteristics, the linear axis error model can also adopt a form more suitable for characterizing the error distribution over the entire travel range. For example, the least squares method can be used to fit the data in the mapping table to obtain a polynomial relationship, or the entire travel range can be divided into multiple intervals and piecewise fitting relationships can be established for each interval, or the mapping table between the correction parameter and the command position can be directly used as the basis for compensation. Correspondingly, the aforementioned rotation axis error model is used to characterize the second correspondence between the command position and the correction parameter of the rotation axis. For example, the aforementioned rotation axis error model can be described using a linear function. However, when the rotation axis error exhibits obvious periodicity or strong nonlinearity with the change of rotation angle, the aforementioned rotation axis error model can use an angle-error mapping table and establish a correspondence by fitting it using the least squares method, or use the aforementioned mapping table as training samples and employ a neural network to establish a correspondence between the rotation angle and the error, thereby improving the error model's ability to characterize the variation law of the rotation axis error.

[0044] In some exemplary embodiments, controlling the CNC machine tool to run according to a preset calibration path and obtaining a first error parameter includes: when each of the motion axes of the CNC machine tool runs to a plurality of preset sampling positions, obtaining the command position and the first actual position of each of the motion axes at each of the preset sampling positions; and determining the first error parameter of each of the preset sampling positions based on the command position and the first actual position of each of the preset sampling positions.

[0045] In the above embodiments, by simultaneously acquiring the corresponding command position and the first actual position when each motion axis moves to multiple preset sampling positions, and determining the first error parameter for each preset sampling position based on the two, the first error parameter can accurately characterize the actual deviation distribution of each motion axis at multiple sampling positions of the preset calibration path. This provides a data basis with positional correspondence for subsequent preprocessing and error compensation determination, avoiding insufficient characterization of error characteristics caused by taking points only at a few positions, improving the integrity and consistency of calibration data, and thus helping to improve the reliability and repeatability of automated calibration results.

[0046] In other exemplary embodiments, obtaining a second error parameter and determining the positioning accuracy of the CNC machine tool based on the second error parameter includes: when each of the motion axes of the CNC machine tool moves to a plurality of preset sampling positions, obtaining the command position and the second actual position of each motion axis at each of the preset sampling positions; determining the second error parameter of each preset sampling position based on the command position and the second actual position of each preset sampling position; determining a plurality of absolute values ​​of the plurality of second error parameters, and determining the maximum absolute value as the maximum value of the plurality of absolute values; and determining the maximum absolute value as the compensated positioning accuracy.

[0047] In the above embodiments, after configuring the CNC machine tool, each motion axis is run to multiple preset sampling positions again to obtain the corresponding command position and second actual position, thereby determining the second error parameter of each preset sampling position. This allows the second error parameter to directly reflect the residual error distribution after compensation takes effect. Furthermore, the absolute value of multiple second error parameters is taken, and the maximum absolute value is selected as the positioning accuracy after compensation. This allows the positioning accuracy after compensation to be evaluated based on the error of the most unfavorable sampling position. As a result, the compensation effect can be uniformly, intuitively, and quantifiably judged within the entire calibration path range, avoiding the local position error being masked by the average value, improving the reliability of accuracy verification, and providing clear judgment conditions for whether to enter the iterative loop.

[0048] For example, temperature sensors are arranged at components such as the spindle, motor, and guide rail to collect temperature data of the corresponding components. After performing Kalman filtering on the above-mentioned first error parameter, the filtered first error parameter is obtained. 1) Determine multiple temperature difference values: The preset standard temperature is 20℃. During the process of the CNC machine tool running according to the preset calibration path and collecting the above-mentioned first error parameter, the collected temperature data includes, for example: spindle temperature: 26℃, X-axis motor temperature: 30℃, X-axis guide rail temperature: 28℃. The corresponding multiple temperature difference values ​​are: spindle temperature difference: 26℃-20℃=6℃, X-axis motor temperature difference: 30℃-20℃=10℃, X-axis guide rail temperature difference: 28℃-20℃=8℃. 2) Determine the motion axis compensation value according to the temperature difference and compensation relationship table: In this embodiment, a preset temperature difference and motion axis position compensation relationship table is used to give the compensation amount relationship of different component temperature differences to the position deviation of each motion axis. For example, the above relationship table sets compensation coefficients for the X-axis according to component type, and characterizes the degree of temperature influence with the compensation amount (μm) corresponding to each 1℃. For example: spindle: X-axis compensation coefficient is 0.4μm / ℃, X-axis motor: X-axis compensation coefficient is 0.6μm / ℃, X-axis guide rail: X-axis compensation coefficient is 0.5μm / ℃. Then, the calibration system determines the motion axis compensation value corresponding to each temperature difference based on multiple temperature difference values ​​and the above relationship table. For example, the spindle corresponds to... The X-axis compensation value is 6℃×0.4μm / ℃=2.4μm, the X-axis compensation value corresponding to the X-axis motor is 10℃×0.6μm / ℃=6.0μm, and the X-axis compensation value corresponding to the X-axis guide rail is 8℃×0.5μm / ℃=4.0μm. In this embodiment, the above multiple motion axis compensation values ​​are summarized to obtain the total motion axis compensation value of the X-axis. The summation method is: total motion axis compensation value of the X-axis = 2.4μm + 6.0μm + 4.0μm = 12.4μm. (Note: In other embodiments, weighted summation or taking the maximum value can also be used to summarize, but this embodiment uses summation.) 3) Based on the motion axis compensation value, the first error parameter after correction and filtering is obtained to obtain the correction parameter: In this embodiment, the first error parameter after filtering includes the position deviation of the X-axis at a certain preset sampling position. For example, at the preset sampling position with a command position of 600mm, the first error parameter after filtering is: position deviation = +10.0μm. The calibration system corrects the filtered first error parameter based on the aforementioned X-axis total motion axis compensation value to eliminate the deviation effect introduced by temperature factors, resulting in the corrected parameter. For example, the correction method is to subtract the aforementioned total motion axis compensation value from the filtered first error parameter, i.e.: Corrected parameter = 10.0μm - 12.4μm = -2.4μm. Therefore, the corrected data is used to subsequently determine the error compensation amount, making the error compensation amount closer to the machine tool body error rather than the temperature drift error.

[0049] In some exemplary embodiments of this application, after the above-described acquisition step, processing step, configuration step, and determination step are executed at least once, the method further includes: determining the number of cycles; and if the number of cycles is greater than a preset number, generating a prompt message to prompt the inspection of the sensor installation status of the CNC machine tool and / or the mechanical component status of the CNC machine tool, wherein the mechanical component includes at least a lead screw, a guide rail, and a coupling.

[0050] In the above embodiments, by counting the number of iterations after executing the acquisition step, processing step, configuration step, and determination step at least once, and generating a prompt message when the number of iterations exceeds a preset number, prompting the user to check the sensor installation status and / or the status of mechanical components (including lead screws, guide rails, and couplings), a clear direction for troubleshooting can be provided in a timely manner when the positioning accuracy fails to meet the preset accuracy for a long period of time, avoiding the waste of time caused by the system continuously iterating ineffectively under abnormal conditions. At the same time, it helps to quickly locate potential causes that make it difficult to converge errors (such as sensor installation misalignment, loose or worn mechanical components, etc.), improve the controllability and troubleshooting efficiency of the calibration process, thereby improving the success rate of automated calibration and overall production efficiency.

[0051] In some further exemplary embodiments of this application, after controlling the CNC machine tool to run according to a preset calibration path, the method further includes: obtaining the angular deviation of the rotary axis and the position deviation, wherein the angular deviation is the difference between the commanded angle of the rotary axis and the actual angle of the rotary axis; determining the equivalent angular deviation of the rotary axis based on the position deviation; determining the difference between the angular deviation and the equivalent angular deviation; and if the difference is greater than a preset difference, obtaining the angular deviation and the position deviation of the rotary axis again.

[0052] In the above embodiments, after the CNC machine tool runs according to the preset calibration path, the angular deviation and positional deviation of the rotary axis are simultaneously acquired, and the equivalent angular deviation is calculated from the positional deviation. Then, the difference between the angular deviation and the equivalent angular deviation is judged. This allows for cross-consistency verification of the rotary axis error using two different types of measurement quantities. Thus, when sensor interference, installation offset, or measurement abnormalities cause inconsistencies between the two types of error results, the angular deviation and positional deviation are promptly acquired again by triggering the condition that "the difference is greater than the preset difference." This avoids using abnormal measurement data for subsequent compensation determination, improves the reliability and stability of the rotary axis calibration data, and thereby improves the accuracy of error compensation determination and the reliability of calibration results.

[0053] For example, during the automated calibration of a rotary axis (e.g., the A-axis) on a five-axis CNC machine tool, the machine tool sequentially runs to multiple preset sampling positions (e.g., 0°, 30°, 60°, 90°, etc.) according to a preset calibration path. At a certain preset sampling position (e.g., 60°), the system simultaneously acquires the angular deviation and positional deviation of the rotary axis: the angular deviation is obtained by the difference between the commanded angle and the actual angle of the rotary axis; the positional deviation is obtained by displacement measurement and used to convert it into an equivalent angular deviation. If a slight offset of the contact displacement sensor probe, micro-vibration of the workpiece / worktable, or cable traction causes a momentary jump in the sampling, resulting in an angle deviation of +0.0012°, and the equivalent angle deviation calculated from the position deviation is +0.0004°, then the difference between the two is 0.0008°. When this difference is greater than the preset difference (e.g., 0.0005°), the system automatically determines that the data at this sampling point is inconsistent and triggers the acquisition of the angle deviation and position deviation at the same sampling position again. After the retest, if the angle deviation is +0.0011° and the equivalent angle deviation is +0.0010°, the difference is 0.0001°, which meets the preset difference requirement, then the data at this sampling point is confirmed as valid and enters the subsequent error compensation determination process. Through the aforementioned cross-validation and over-threshold retest mechanism, abnormal measurement points can be automatically detected and eliminated during the rotary axis calibration process, avoiding the introduction of occasional interference or sensor anomalies into the error compensation amount, and reducing the probability of over-compensation or under-compensation of the rotary axis compensation parameters. At the same time, it makes the positioning accuracy evaluation corresponding to the second error parameter more stable and easier to achieve the preset accuracy, thereby reducing the number of invalid cycles, improving the success rate and consistency of automated calibration, and ultimately improving the stability of the positioning accuracy after rotary axis (and even the whole machine) compensation.

[0054] To enable those skilled in the art to better understand the technical solution of this application, the implementation process of the automated calibration method for CNC machine tools of this application will be described in detail below with reference to specific embodiments.

[0055] This embodiment relates to a specific automated calibration method for CNC machine tools, which is applied to an automated calibration system for a five-axis CNC machine tool. For example... Figure 2As shown, the aforementioned automated calibration system includes a sensor module, a data acquisition and processing module, an automatic compensation execution module, and a human-machine interaction and monitoring module. These modules interact with each other via an industrial bus or wireless communication protocol. In this embodiment, the sensor module serves as a measurement unit, used to collect error information of the five-axis CNC machine tool. This error information includes at least the positional deviation of the linear axes and the angular deviation of the rotary axes, and may further include geometrically related measurements. For example, the sensor module includes: a laser interferometer for measuring the errors of the linear axes (X-axis, Y-axis, Z-axis); a dual-axis tilt sensor for measuring the attitude changes of the rotary axes (A-axis, C-axis); a contact displacement sensor for measuring the relative positional deviation between the spindle and the worktable; and a temperature sensor for collecting temperature data. The temperature sensors are respectively arranged at heat-generating or heat-sensitive components such as the spindle, guide rails, and motors to obtain temperature data reflecting the thermal state of the machine tool. The data acquisition and processing module receives the raw measurement data uploaded by the sensor module and preprocesses and analyzes the raw measurement data. Specifically, the data acquisition and processing module performs filtering on the raw measurement data, preferably using a Kalman filter algorithm to reduce measurement noise and random disturbances; and performs temperature compensation processing based on the temperature data acquired by the temperature sensor to correct the influence of temperature changes on the measurement results. For example, the data acquisition and processing module can pre-store a table of temperature difference and motion axis position compensation relationships. The temperature difference is determined by the temperature data relative to a preset standard temperature, and the corresponding motion axis compensation value is obtained by matching the temperature difference in the table, thereby correcting the filtered error data and obtaining correction parameters for subsequent calculations. After obtaining the correction parameters, the data acquisition and processing module further models and calculates the error to determine the error compensation amount for each motion axis. For example, the above error modeling can be performed separately for linear axes and rotary axes: for the positioning error of the linear axis, a correspondence between error and position is established based on the data corresponding to each preset sampling position, and the error curve is fitted using the least squares method to determine the compensation amount; for the angular deviation of the rotary axis, a correspondence between angular error and rotational position is established, and the least squares method or neural network algorithm can be used to solve the above correspondence to obtain the compensation amount of the rotary axis under different command angles. Thus, the data acquisition and processing module outputs the error compensation amount for each motion axis and provides it to the automatic compensation execution module. The automatic compensation execution module communicates directly with the CNC system of the five-axis CNC machine tool to automatically apply the above error compensation amount to the machine tool.For example, the aforementioned automatic compensation execution module uses an open interface of the CNC system, such as a serial communication interface (RS-232 Serial Interface, a point-to-point serial communication method) or an Ethernet control automation technology interface (EtherCAT, Ethernet for Control Automation Technology), to write compensation values ​​into the machine tool parameter register. This enables the automatic configuration of compensation parameters such as linear axis backlash compensation and rotary axis angle compensation, thereby replacing manual parameter input. After the compensation parameter configuration is completed, the automatic compensation execution module controls the machine tool to run again according to the preset calibration path to verify the compensation effect. During the verification run, it coordinates the sensor module to continue collecting measurement data and transmitting it back to the data acquisition and processing module. In this embodiment, to ensure the reliability of the rotation axis measurement data, the sensor module employs a "cross-validation-triggered retest" mechanism: a dual-axis tilt sensor is used to obtain the angular deviation of the rotation axis, and a contact displacement sensor is used to obtain the relative position deviation related to the rotation axis. The data acquisition and processing module calculates the equivalent angular deviation based on the relative position deviation and performs a difference calculation between the angular deviation and the equivalent angular deviation. When the difference exceeds a preset threshold, the system generates a retest command, triggering the sensor module to re-collect the angular deviation and relative position deviation at the same sampling position. This eliminates data distortion caused by single sensor installation misalignment, interference, or abnormalities, thereby improving the reliability of the rotation axis error data. The accuracy determination is performed by the data acquisition and processing module. For example, after configuring the compensation parameters, the system runs the preset calibration path again and collects the second error parameters. These second error parameters include, at least, the error data at each preset sampling location after the compensation takes effect. The data acquisition and processing module determines the positioning accuracy based on these second error parameters and compares the positioning accuracy with a preset accuracy threshold. For example, it compares the positioning error and angle deviation with preset thresholds (e.g., positioning error ≤ 5μm, angle deviation ≤ 0.001°). When the positioning accuracy meets the preset accuracy threshold, the system determines the current error compensation amount as the final error compensation amount. When the positioning accuracy does not meet the preset accuracy threshold, the system outputs a "re-measurement and compensation required" command, triggering the next iteration to re-execute the measurement, preprocessing, compensation amount calculation and configuration, and verification judgment process until the preset accuracy threshold is met. The aforementioned human-machine interaction and monitoring module provides operators with a visual interface for calibration process control, status display, data storage and query, and alarms and prompts. For example, the interface provides access points for automatic calibration, manual calibration, and parameter settings, allowing users to set preset accuracy thresholds and sensor measurement frequencies; and displays information such as error changes and temperature changes in the form of curves or graphs. After each calibration, the system stores the original measurement data, compensation parameters, and calibration results, and supports querying historical records by time or machine tool number to trace the trend of machine tool accuracy changes.When an anomaly occurs, such as the accuracy still not meeting the standard after compensation, sensor failure, or data transmission interruption, the system triggers an alarm and pauses the calibration process. The system displays the cause of the anomaly on the interface and saves the collected data, thereby improving the safety and maintainability of the calibration process. Compared with existing technologies, the automated calibration system of this application significantly shortens calibration time through automated measurement, automated compensation, and closed-loop verification. A complete calibration can be completed in 30 minutes to 2 hours (depending on the machine tool travel and calibration accuracy requirements), reducing downtime by more than 80% and thus significantly improving machine tool utilization. Simultaneously, by employing multi-sensor collaborative measurement and mutual compensation mechanisms combined with temperature error correction, higher calibration accuracy and stability are achieved, with measurement accuracy reaching ±0.3μm / m. Furthermore, the accuracy deviation between different batches can be controlled within 1μm, reducing the impact of human operation differences on the results. In addition, the calibration process eliminates the need for manual measurement with handheld measuring tools and manual parameter adjustment; parameter settings and process monitoring are completed solely through a human-machine interface, reducing reliance on operational experience and minimizing human error and safety risks. The system also supports timed automatic calibration and triggered calibration, allowing calibration to be performed during production breaks to adapt to dynamic production needs and reduce dedicated downtime. Moreover, it automatically stores historical calibration data, supporting traceability analysis of machine tool accuracy decay and component wear trends to predict maintenance needs in advance and reduce equipment maintenance costs.

[0056] This embodiment also provides a specific automated calibration method for CNC machine tools. In this embodiment, a five-axis CNC machine tool is used as an example. The X-axis travel is 1500mm, the Y-axis travel is 1200mm, the Z-axis travel is 800mm, the A-axis rotation range is -120° to 120°, and the C-axis rotation range is 0° to 360°. The CNC machine tool has been running continuously for a preset period (e.g., 6 months) and requires periodic accuracy calibration. Furthermore, the mechanical components of the X-axis (e.g., the lead screw) have recently been replaced, therefore, the X-axis needs to be recalibrated to restore its positioning accuracy. Before calibration begins, the operator selects the automatic calibration mode through the human-machine interaction and monitoring module and sets preset accuracy thresholds. For example, the linear axis positioning error threshold is ≤5μm, the rotary axis angle deviation threshold is ≤0.001°, and the sensor measurement frequency parameters are set (e.g., 100Hz). Subsequently, the installation status of the sensor modules was confirmed: the laser interferometer's transmitting end was fixed to the machine tool base, and the receiving end was fixed to the corresponding linear axis slide, used to collect error data of the linear axis; the dual-axis tilt sensor was installed on the rotary axis worktable surface, used to collect rotary axis angle-related data; the contact displacement sensor was installed on the spindle end with the probe aligned with the worktable reference surface, used to collect the relative positional deviation between the spindle and the worktable; temperature sensors were respectively arranged on components such as the motor, spindle housing, and guide rails to collect temperature data. After the system was started, each module completed a self-test, which included at least sensor communication status detection and data acquisition and processing module working status detection. After passing the self-test, the calibration process began. During the data acquisition phase, the calibration system controlled the CNC machine tool to run according to the preset calibration path, and the sensor modules collected raw measurement data according to the preset sampling rules. For example, a laser interferometer is used to collect error data across the entire travel of the X, Y, and Z axes, and collects corresponding data points at preset sampling intervals; a dual-axis tilt sensor is used to collect angle-related data for the A-axis within the range of -120° to 120° and the C-axis within the range of 0° to 360°, and collects corresponding data points at preset sampling angle intervals; a contact displacement sensor is used to collect relative position deviation data of the spindle at different Z-axis height positions, and collects corresponding data points at preset sampling height intervals; a temperature sensor is used to collect temperature data of each component and update it according to preset sampling intervals. The data acquisition and processing module receives the above raw measurement data and performs filtering processing on the raw measurement data to remove random interference. Simultaneously, it performs temperature compensation processing on the raw measurement data in conjunction with the temperature data to reduce the impact of temperature changes on the measurement results. In the error analysis and compensation stage, the data acquisition and processing module constructs an error model based on the temperature-compensated data and determines the error compensation amount.For example, for linear axes (such as the X-axis), when the error distribution of the X-axis changes due to the replacement of the leadscrew, the data acquisition and processing module can identify the peak error position of the X-axis in the middle of its stroke and determine the corresponding compensation amount. For rotary axes (such as the A-axis), the data acquisition and processing module determines the compensation amount based on the angular deviation corresponding to different command angles. The automatic compensation execution module receives the above error compensation amount and applies it to the control parameters of the CNC machine tool, thereby completing the compensation configuration of the CNC machine tool. Subsequently, the CNC machine tool is controlled to run again according to the above preset calibration path. The sensor module collects the compensated measurement data again to form a second error parameter. The data acquisition and processing module determines the positioning accuracy based on the above second error parameter and compares it with the above preset accuracy threshold. If the positioning accuracy meets the above preset accuracy threshold, the current error compensation amount is determined as the final error compensation amount. If the positioning accuracy does not meet the above preset accuracy threshold, the re-measurement and compensation process is triggered to enter the next iteration. After calibration is completed, the human-machine interaction and monitoring module outputs a calibration completion prompt and generates calibration result information, which includes at least the measurement data, error compensation amount, and positioning accuracy determination result. The system automatically stores the relevant data from this calibration into the database to support subsequent queries and tracing through historical records, and can output prompts for the next calibration to assist in maintenance and management.

[0057] In the above embodiments, the laser interferometer can be replaced with an optical grating ruler to measure the positional deviation of the linear axes (X, Y, Z axes), which can reduce costs and provide a more economical option for the system. The dual-axis tilt sensor can be replaced by a combination of a single tilt sensor and an angle encoder to detect the angular deviation of the rotary axes (A-axis, C-axis), but this helps control costs. The contact displacement sensor can be updated to a non-contact laser displacement sensor to monitor the relative positional deviation between the spindle and the worktable. The industrial bus or wireless communication can be replaced with the Modbus RTU (Remote Terminal Unit, a communication protocol) serial communication protocol.

[0058] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0059] This application also provides an automated calibration device for CNC machine tools. It should be noted that the automated calibration device for CNC machine tools in this application can be used to execute the automated calibration method for CNC machine tools provided in this application. This device is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0060] The following describes the automated calibration device for CNC machine tools provided in the embodiments of this application.

[0061] Figure 3 This is a schematic diagram of an automated calibration device for a CNC machine tool according to an embodiment of this application. Figure 3 As shown, the device includes:

[0062] The first acquisition unit 10 is used for the acquisition step, controlling the CNC machine tool to run according to the preset calibration path, and acquiring the first error parameter, which includes at least the positional deviation of each motion axis of the CNC machine tool from the preset calibration path.

[0063] The processing unit 20 is used for processing steps, preprocessing the first error parameter to obtain the correction parameter, and determining the error compensation amount of each of the motion axes based on the correction parameter. The preprocessing includes filtering and temperature compensation.

[0064] The configuration unit 30 is used for the configuration steps, configuring the CNC machine tool according to the above error compensation amount, and controlling the CNC machine tool to run according to the above preset calibration path;

[0065] The first determining unit 40 is used to determine the steps, obtain the second error parameter, determine the positioning accuracy of the CNC machine tool based on the second error parameter, and determine the error compensation amount as the final error compensation amount when the positioning accuracy is greater than or equal to the preset accuracy.

[0066] The loop unit 50 is used for looping steps. When the positioning accuracy is less than the preset accuracy, the above acquisition step, the above processing step, the above configuration step and the above determination step are executed at least once until the positioning accuracy is greater than or equal to the preset accuracy.

[0067] In one optional embodiment, the processing unit includes: a first construction module, configured to construct a mapping table between the correction parameters and the command position based on the correction parameters, wherein the command position is the target position value corresponding to each preset sampling position in the preset calibration path; a second construction module, configured to construct a linear axis error model based on the mapping table when the motion axis is determined to be a linear axis, wherein the linear axis error model characterizes a first correspondence between the command position of the linear axis and the correction parameters, wherein the linear axis is the motion axis moving along a straight line in the CNC machine tool; a third construction module, configured to construct a rotary axis error model based on the mapping table when the motion axis is determined to be a rotary axis, wherein the rotary axis error model characterizes a second correspondence between the command position of the rotary axis and the correction parameters, wherein the rotary axis is the motion axis rotating along a preset rotary axis in the CNC machine tool; and a first determination module, configured to determine the error compensation amount of the linear axis based on the linear axis error model and to determine the error compensation amount of the rotary axis based on the rotary axis error model.

[0068] In another optional embodiment, the processing unit includes: a processing module, used to process the first error parameter using a Kalman filter algorithm to remove noise interference from the first error parameter and obtain a filtered first error parameter; a second determining module, used to determine multiple temperature differences between each of the temperature data and a preset standard temperature; a third determining module, used to determine a motion axis compensation value corresponding to each of the multiple temperature differences and a preset temperature difference and motion axis position compensation relationship table; and a correction module, used to correct the filtered first error parameter based on each of the motion axis compensation values ​​to obtain the corrected parameter.

[0069] In some exemplary embodiments, the first acquisition unit includes: a first acquisition module, configured to acquire the command position and first actual position of each of the motion axes at each of the preset sampling positions when each of the motion axes of the CNC machine tool moves to a plurality of preset sampling positions; and a fourth determination module, configured to determine the first error parameter of each of the preset sampling positions based on the command position and the first actual position of each of the preset sampling positions.

[0070] In some other exemplary embodiments, the first determining unit includes: a second acquiring module, configured to acquire the command position and the second actual position of each of the motion axes at each of the preset sampling positions when each of the motion axes of the CNC machine tool moves to a plurality of preset sampling positions; a fifth determining module, configured to determine the second error parameter of each of the preset sampling positions based on the command position and the second actual position; a sixth determining module, configured to determine a plurality of absolute values ​​of the plurality of the second error parameters, and determine the maximum absolute value as the maximum value of the plurality of the absolute values; and a seventh determining module, configured to determine the maximum absolute value as the compensated positioning accuracy.

[0071] In one alternative embodiment, the device further includes: a second determining unit, configured to determine the number of cycles, and generate a prompt message when the number of cycles exceeds a preset number, prompting the user to check the sensor installation status of the CNC machine tool and / or the status of the mechanical components of the CNC machine tool, wherein the mechanical components include at least a lead screw, a guide rail, and a coupling.

[0072] In another alternative embodiment, the above-mentioned device further includes: a second acquisition unit, configured to acquire the angular deviation of the rotating shaft and the position deviation, wherein the angular deviation is the difference between the commanded angle of the rotating shaft and the actual angle of the rotating shaft; a third determination unit, configured to determine the equivalent angular deviation of the rotating shaft based on the position deviation; a fourth determination unit, configured to determine the difference between the angular deviation and the equivalent angular deviation; and a third acquisition unit, configured to acquire the angular deviation and the position deviation of the rotating shaft again if the difference is greater than a preset difference.

[0073] The aforementioned automated calibration device for CNC machine tools includes a processor and a memory. The first acquisition unit, the processing unit, the configuration unit, the first determination unit, and the loop unit are all stored as program units in the memory. The processor executes these program units stored in the memory to achieve the corresponding functions. All of the above modules are located in the same processor; alternatively, the modules may be located in different processors in any combination.

[0074] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and adjusting kernel parameters can at least address the problem of low production efficiency caused by the prevalent manual calibration methods in current CNC machine tools.

[0075] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0076] This invention provides a computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform the automated calibration method of the CNC machine tool.

[0077] Specifically, the automated calibration methods for CNC machine tools include:

[0078] Step S101, obtaining step, controlling the above-mentioned CNC machine tool to run according to the preset calibration path, and obtaining the first error parameter, the first error parameter including at least the positional deviation of each motion axis of the above-mentioned CNC machine tool from the preset calibration path;

[0079] Specifically, in the acquisition step, the calibration system controls the CNC machine tool to run according to a preset calibration path, so that each motion axis sequentially reaches multiple preset sampling positions in the preset calibration path; at each preset sampling position, the corresponding target position value and the actual position value measured by the sensor module are acquired, and a first error parameter is formed accordingly. The aforementioned target position value is obtained by the target position command generated and issued by the CNC system according to the aforementioned preset calibration path; the actual position value is measured by the sensor module, wherein a laser interferometer is used to measure the positioning correlation error of the linear axes (X, Y, Z axes) to obtain the actual position value of the linear axes; a dual-axis tilt sensor is used to measure the rotation angle state of the rotary axes (A-axis, C-axis) to obtain the actual rotation angle value of the rotary axes; a contact displacement sensor is used to measure the relative position deviation between the spindle and the worktable, as a supplement and verification of the rotary axis measurement; temperature sensors are distributed in components such as the spindle, guide rail, and motor to collect temperature data for subsequent temperature compensation processing. Furthermore, the aforementioned first error parameter also includes the angular deviation characterizing the state of the rotating axis (measured by a dual-axis tilt sensor), the relative position deviation used for cross-validation (measured by a contact displacement sensor), and the temperature data of each component of the aforementioned CNC machine tool (collected by a temperature sensor).

[0080] Step S102, processing step, preprocessing the first error parameter to obtain the correction parameter, and determining the error compensation amount of each of the motion axes based on the correction parameter. The preprocessing includes filtering and temperature compensation.

[0081] Specifically, the first error parameter is filtered to suppress sensor measurement noise and random disturbances introduced during calibration, making the first error parameter more stable and continuous at each preset sampling position. Then, temperature compensation is performed using the temperature data from the first error parameter to correct positional deviations caused by thermal expansion and contraction of machine tool components, thus obtaining correction parameters reflecting the error characteristics of the machine tool itself. Based on these correction parameters, a correspondence between the correction parameters and command positions is established, and the error compensation amount for each motion axis at different command positions is determined accordingly, facilitating subsequent configuration of the CNC machine tool and achieving accuracy compensation.

[0082] Step S103, configuration step: Configure the CNC machine tool according to the above error compensation amount, and control the CNC machine tool to run according to the above preset calibration path;

[0083] Specifically, in the configuration step, the control system applies the error compensation amount to the control parameters of the CNC machine tool, enabling the CNC machine tool to compensate and correct the command positions of each motion axis according to the error compensation amount during subsequent motion control, thereby realizing the error compensation function configuration. After the configuration is completed, the control system again controls the CNC machine tool to run according to the above-mentioned preset calibration path, so as to verify the compensation effect after configuration under the same calibration path conditions.

[0084] Step S104: Determine the step, obtain the second error parameter, determine the positioning accuracy of the CNC machine tool based on the second error parameter, and determine the error compensation amount as the final error compensation amount if the positioning accuracy is greater than or equal to the preset accuracy.

[0085] Specifically, after configuring the aforementioned error compensation amount, the control system controls the CNC machine tool to run again along the preset calibration path, and the sensor module collects the compensated measurement data at each preset sampling position to form a second error parameter. Based on the second error parameter, the positioning accuracy of the CNC machine tool under the preset calibration path conditions is calculated, and the positioning accuracy is compared with the preset accuracy. When the positioning accuracy is greater than or equal to the preset accuracy, it is determined that the current error compensation amount meets the accuracy requirements, and it is determined as the final error compensation amount.

[0086] Step S105, loop step: if the positioning accuracy is less than the preset accuracy, the above acquisition step, the above processing step, the above configuration step and the above determination step are executed at least once in a loop until the positioning accuracy is greater than or equal to the preset accuracy.

[0087] Specifically, in the iterative steps, when the positioning accuracy obtained based on the second error parameter is less than the preset accuracy, the calibration system determines that the current error compensation amount has not yet met the accuracy requirements and automatically enters the iterative process.

[0088] In one embodiment of this application, determining the error compensation amount for each of the aforementioned motion axes based on the aforementioned correction parameters includes: constructing a mapping table between the aforementioned correction parameters and the command position, wherein the command position is the target position value corresponding to each preset sampling position in the aforementioned preset calibration path; when the motion axis is determined to be a linear axis, constructing a linear axis error model based on the aforementioned mapping table, wherein the linear axis error model characterizes the first correspondence between the command position of the linear axis and the aforementioned correction parameters, wherein the linear axis is the motion axis moving along a straight line in the aforementioned CNC machine tool; when the motion axis is determined to be a rotary axis, constructing a rotary axis error model based on the aforementioned mapping table, wherein the rotary axis error model characterizes the second correspondence between the command position of the rotary axis and the aforementioned correction parameters, wherein the rotary axis is the motion axis in the aforementioned CNC machine tool that rotates according to a preset rotation axis; determining the error compensation amount for the linear axis based on the aforementioned linear axis error model, and determining the error compensation amount for the rotary axis based on the aforementioned rotary axis error model.

[0089] In one embodiment of this application, the first error parameter further includes temperature data of each component of the CNC machine tool. Preprocessing the first error parameter to obtain a correction parameter includes: processing the first error parameter using a Kalman filter algorithm to remove noise interference and obtain a filtered first error parameter; determining multiple temperature differences between each of the temperature data and a preset standard temperature; determining a motion axis compensation value corresponding to each of the multiple temperature differences and a preset table of temperature difference and motion axis position compensation; and correcting the filtered first error parameter based on the motion axis compensation values ​​to obtain the correction parameter.

[0090] In one embodiment of this application, controlling the CNC machine tool to run according to a preset calibration path and obtaining a first error parameter includes: when each of the motion axes of the CNC machine tool runs to a plurality of preset sampling positions, obtaining the command position and the first actual position of each of the motion axes at each of the preset sampling positions; and determining the first error parameter of each of the preset sampling positions based on the command position and the first actual position of each of the preset sampling positions.

[0091] In one embodiment of this application, obtaining a second error parameter and determining the positioning accuracy of the CNC machine tool based on the second error parameter includes: when each of the motion axes of the CNC machine tool moves to a plurality of preset sampling positions, obtaining the command position and the second actual position of each motion axis at each of the preset sampling positions; determining the second error parameter of each preset sampling position according to the command position and the second actual position; determining a plurality of absolute values ​​of the plurality of second error parameters, and determining the maximum absolute value as the maximum value of the plurality of absolute values; and determining the maximum absolute value as the compensated positioning accuracy.

[0092] In one embodiment of this application, after the above-mentioned acquisition step, processing step, configuration step and determination step are executed at least once, the method further includes: determining the number of cycles, and if the number of cycles is greater than a preset number, generating a prompt message to prompt the inspection of the sensor installation status of the CNC machine tool and / or the mechanical component status of the CNC machine tool, wherein the mechanical component includes at least a lead screw, a guide rail and a coupling.

[0093] In one embodiment of this application, after controlling the CNC machine tool to run according to a preset calibration path, the method further includes: obtaining the angular deviation and the position deviation of the rotary axis, wherein the angular deviation is the difference between the commanded angle of the rotary axis and the actual angle of the rotary axis; determining the equivalent angular deviation of the rotary axis based on the position deviation; determining the difference between the angular deviation and the equivalent angular deviation; and if the difference is greater than a preset difference, obtaining the angular deviation and the position deviation of the rotary axis again.

[0094] This invention provides an automated calibration system for a CNC machine tool, including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs at least the following steps: Step S101, obtaining steps, controlling the CNC machine tool to run according to a preset calibration path, and obtaining a first error parameter, wherein the first error parameter includes at least the positional deviation of each motion axis of the CNC machine tool from the preset calibration path.

[0095] Specifically, in the acquisition step, the calibration system controls the CNC machine tool to run according to a preset calibration path, so that each motion axis sequentially reaches multiple preset sampling positions in the preset calibration path; at each preset sampling position, the corresponding target position value and the actual position value measured by the sensor module are acquired, and a first error parameter is formed accordingly. The aforementioned target position value is obtained by the target position command generated and issued by the CNC system according to the aforementioned preset calibration path; the actual position value is measured by the sensor module, wherein a laser interferometer is used to measure the positioning correlation error of the linear axes (X, Y, Z axes) to obtain the actual position value of the linear axes; a dual-axis tilt sensor is used to measure the rotation angle state of the rotary axes (A-axis, C-axis) to obtain the actual rotation angle value of the rotary axes; a contact displacement sensor is used to measure the relative position deviation between the spindle and the worktable, as a supplement and verification of the rotary axis measurement; temperature sensors are distributed in components such as the spindle, guide rail, and motor to collect temperature data for subsequent temperature compensation processing. Furthermore, the aforementioned first error parameter also includes the angular deviation characterizing the state of the rotating axis (measured by a dual-axis tilt sensor), the relative position deviation used for cross-validation (measured by a contact displacement sensor), and the temperature data of each component of the aforementioned CNC machine tool (collected by a temperature sensor).

[0096] Step S102, processing step, preprocessing the first error parameter to obtain the correction parameter, and determining the error compensation amount of each of the motion axes based on the correction parameter. The preprocessing includes filtering and temperature compensation.

[0097] Specifically, the first error parameter is filtered to suppress sensor measurement noise and random disturbances introduced during calibration, making the first error parameter more stable and continuous at each preset sampling position. Then, temperature compensation is performed using the temperature data from the first error parameter to correct positional deviations caused by thermal expansion and contraction of machine tool components, thus obtaining correction parameters reflecting the error characteristics of the machine tool itself. Based on these correction parameters, a correspondence between the correction parameters and command positions is established, and the error compensation amount for each motion axis at different command positions is determined accordingly, facilitating subsequent configuration of the CNC machine tool and achieving accuracy compensation.

[0098] Step S103, configuration step: Configure the CNC machine tool according to the above error compensation amount, and control the CNC machine tool to run according to the above preset calibration path;

[0099] Specifically, in the configuration step, the control system applies the error compensation amount to the control parameters of the CNC machine tool, enabling the CNC machine tool to compensate and correct the command positions of each motion axis according to the error compensation amount during subsequent motion control, thereby realizing the error compensation function configuration. After the configuration is completed, the control system again controls the CNC machine tool to run according to the above-mentioned preset calibration path, so as to verify the compensation effect after configuration under the same calibration path conditions.

[0100] Step S104: Determine the step, obtain the second error parameter, determine the positioning accuracy of the CNC machine tool based on the second error parameter, and determine the error compensation amount as the final error compensation amount if the positioning accuracy is greater than or equal to the preset accuracy.

[0101] Specifically, after configuring the aforementioned error compensation amount, the control system controls the CNC machine tool to run again along the preset calibration path, and the sensor module collects the compensated measurement data at each preset sampling position to form a second error parameter. Based on the second error parameter, the positioning accuracy of the CNC machine tool under the preset calibration path conditions is calculated, and the positioning accuracy is compared with the preset accuracy. When the positioning accuracy is greater than or equal to the preset accuracy, it is determined that the current error compensation amount meets the accuracy requirements, and it is determined as the final error compensation amount.

[0102] Step S105, loop step: if the positioning accuracy is less than the preset accuracy, the above acquisition step, the above processing step, the above configuration step and the above determination step are executed at least once in a loop until the positioning accuracy is greater than or equal to the preset accuracy.

[0103] Specifically, in the iterative steps, when the positioning accuracy obtained based on the second error parameter is less than the preset accuracy, the calibration system determines that the current error compensation amount has not yet met the accuracy requirements and automatically enters the iterative process.

[0104] In one embodiment of this application, determining the error compensation amount for each of the aforementioned motion axes based on the aforementioned correction parameters includes: constructing a mapping table between the aforementioned correction parameters and the command position, wherein the command position is the target position value corresponding to each preset sampling position in the aforementioned preset calibration path; when the motion axis is determined to be a linear axis, constructing a linear axis error model based on the aforementioned mapping table, wherein the linear axis error model characterizes the first correspondence between the command position of the linear axis and the aforementioned correction parameters, wherein the linear axis is the motion axis moving along a straight line in the aforementioned CNC machine tool; when the motion axis is determined to be a rotary axis, constructing a rotary axis error model based on the aforementioned mapping table, wherein the rotary axis error model characterizes the second correspondence between the command position of the rotary axis and the aforementioned correction parameters, wherein the rotary axis is the motion axis in the aforementioned CNC machine tool that rotates according to a preset rotation axis; determining the error compensation amount for the linear axis based on the aforementioned linear axis error model, and determining the error compensation amount for the rotary axis based on the aforementioned rotary axis error model.

[0105] In one embodiment of this application, the first error parameter further includes temperature data of each component of the CNC machine tool. Preprocessing the first error parameter to obtain a correction parameter includes: processing the first error parameter using a Kalman filter algorithm to remove noise interference and obtain a filtered first error parameter; determining multiple temperature differences between each of the temperature data and a preset standard temperature; determining a motion axis compensation value corresponding to each of the multiple temperature differences and a preset table of temperature difference and motion axis position compensation; and correcting the filtered first error parameter based on the motion axis compensation values ​​to obtain the correction parameter.

[0106] In one embodiment of this application, controlling the CNC machine tool to run according to a preset calibration path and obtaining a first error parameter includes: when each of the motion axes of the CNC machine tool runs to a plurality of preset sampling positions, obtaining the command position and the first actual position of each of the motion axes at each of the preset sampling positions; and determining the first error parameter of each of the preset sampling positions based on the command position and the first actual position of each of the preset sampling positions.

[0107] In one embodiment of this application, obtaining a second error parameter and determining the positioning accuracy of the CNC machine tool based on the second error parameter includes: when each of the motion axes of the CNC machine tool moves to a plurality of preset sampling positions, obtaining the command position and the second actual position of each motion axis at each of the preset sampling positions; determining the second error parameter of each preset sampling position according to the command position and the second actual position; determining a plurality of absolute values ​​of the plurality of second error parameters, and determining the maximum absolute value as the maximum value of the plurality of absolute values; and determining the maximum absolute value as the compensated positioning accuracy.

[0108] In one embodiment of this application, after the above-mentioned acquisition step, processing step, configuration step and determination step are executed at least once, the method further includes: determining the number of cycles, and if the number of cycles is greater than a preset number, generating a prompt message to prompt the inspection of the sensor installation status of the CNC machine tool and / or the mechanical component status of the CNC machine tool, wherein the mechanical component includes at least a lead screw, a guide rail and a coupling.

[0109] In one embodiment of this application, after controlling the CNC machine tool to run according to a preset calibration path, the method further includes: obtaining the angular deviation and the position deviation of the rotary axis, wherein the angular deviation is the difference between the commanded angle of the rotary axis and the actual angle of the rotary axis; determining the equivalent angular deviation of the rotary axis based on the position deviation; determining the difference between the angular deviation and the equivalent angular deviation; and if the difference is greater than a preset difference, obtaining the angular deviation and the position deviation of the rotary axis again.

[0110] The devices mentioned in this article can be servers, PCs, tablets, mobile phones, etc.

[0111] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0112] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0113] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0114] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0115] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0116] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0117] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0118] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0119] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0120] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0121] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0122] The automated calibration method for CNC machine tools disclosed in this application controls the CNC machine tool to automatically run along a preset calibration path without human intervention. It automatically collects the positional deviation of each motion axis relative to the preset calibration path as a first error parameter, and performs filtering and temperature compensation processing on the first error parameter to obtain correction parameters. Based on these correction parameters, it determines the error compensation amount for each motion axis and configures the CNC machine tool accordingly. Subsequently, it runs along the preset calibration path again to obtain a second error parameter, and determines the positioning accuracy of the CNC machine tool based on the second error parameter. When the positioning accuracy meets the preset accuracy requirements, it outputs the final error compensation amount; otherwise, it automatically performs a closed-loop iteration of "collection—processing—configuration—verification" until the target is met. This avoids the waiting and downtime caused by repeated manual measurements and parameter adjustments, improves calibration efficiency, and enhances the consistency and repeatability of calibration results, thereby increasing the production efficiency of the CNC machine tool.

[0123] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An automated calibration method for CNC machine tools, characterized in that, include: The acquisition step involves controlling the CNC machine tool to run according to a preset calibration path and acquiring a first error parameter, wherein the first error parameter includes at least the positional deviation of each motion axis of the CNC machine tool from the preset calibration path; The processing steps include preprocessing the first error parameter to obtain a correction parameter, and determining the error compensation amount for each motion axis based on the correction parameter. The preprocessing includes filtering and temperature compensation. The configuration steps involve configuring the CNC machine tool according to the error compensation amount and controlling the CNC machine tool to run according to the preset calibration path. The steps are as follows: a second error parameter is obtained, and the positioning accuracy of the CNC machine tool is determined based on the second error parameter. If the positioning accuracy is greater than or equal to the preset accuracy, the error compensation amount is determined as the final error compensation amount. In the loop step, if the positioning accuracy is less than the preset accuracy, the acquisition step, the processing step, the configuration step, and the determination step are executed at least once until the positioning accuracy is greater than or equal to the preset accuracy.

2. The method according to claim 1, characterized in that, Determining the error compensation amount for each of the motion axes based on the correction parameters includes: Based on the correction parameters, a mapping table between the correction parameters and the command positions is constructed, wherein the command positions are the target position values ​​corresponding to each preset sampling position in the preset calibration path; When the motion axis is determined to be a linear axis, a linear axis error model is constructed based on the mapping table. The linear axis error model characterizes the first correspondence between the command position of the linear axis and the correction parameter. The linear axis is the motion axis that moves in a straight line in the CNC machine tool. When the motion axis is determined to be a rotary axis, a rotary axis error model is constructed based on the mapping table. The rotary axis error model characterizes the second correspondence between the command position of the rotary axis and the correction parameter. The rotary axis is the motion axis in the CNC machine tool that performs rotational motion according to a preset rotary axis. The error compensation amount of the linear axis is determined according to the linear axis error model, and the error compensation amount of the rotary axis is determined according to the rotary axis error model.

3. The method according to claim 1, characterized in that, The first error parameter also includes temperature data of each component of the CNC machine tool. Preprocessing the first error parameter yields correction parameters, including: The first error parameter is processed using the Kalman filter algorithm to remove noise interference from the first error parameter, resulting in the filtered first error parameter. Determine multiple temperature differences between each of the stated temperature data and a preset standard temperature; Based on the multiple temperature difference values ​​and the preset temperature difference value and motion axis position compensation relationship table, determine the motion axis compensation value corresponding to each temperature difference value; The first error parameter after filtering is corrected based on the compensation values ​​of each motion axis to obtain the corrected parameter.

4. The method according to claim 1, characterized in that, Controlling the CNC machine tool to run according to a preset calibration path and acquiring a first error parameter includes: When each of the motion axes of the CNC machine tool moves to a plurality of preset sampling positions, the command position and the first actual position of each motion axis at each preset sampling position are obtained; The first error parameter of each preset sampling position is determined based on the instruction position and the first actual position of each preset sampling position.

5. The method according to claim 1, characterized in that, Obtaining a second error parameter and determining the positioning accuracy of the CNC machine tool based on the second error parameter includes: When each of the motion axes of the CNC machine tool moves to a plurality of preset sampling positions, the command position and the second actual position of each motion axis at each preset sampling position are obtained; The second error parameter of each preset sampling position is determined based on the instruction position and the second actual position of each preset sampling position; Determine multiple absolute values ​​of multiple second error parameters, and determine the maximum absolute value as the maximum of the multiple absolute values; The maximum absolute value is determined to be the positioning accuracy after compensation.

6. The method according to claim 1, characterized in that, After performing the acquisition step, the processing step, the configuration step, and the determination step at least once in a loop, the method further includes: The number of cycles is determined. If the number of cycles is greater than a preset number, a prompt message is generated to prompt the user to check the sensor installation status of the CNC machine tool and / or the status of the mechanical components of the CNC machine tool, wherein the mechanical components include at least a lead screw, a guide rail, and a coupling.

7. The method according to claim 1, characterized in that, After controlling the CNC machine tool to run according to a preset calibration path, the method further includes: The angular deviation of the rotation axis and the position deviation are obtained, wherein the angular deviation is the difference between the commanded angle of the rotation axis and the actual angle of the rotation axis; The equivalent angular deviation of the rotation axis is determined based on the positional deviation. Determine the difference between the angular deviation and the equivalent angular deviation; If the difference is greater than a preset difference, the angular deviation and the positional deviation of the rotating axis are obtained again.

8. An automated calibration device for a CNC machine tool, characterized in that, include: The acquisition unit is used to acquire steps, control the CNC machine tool to run according to a preset calibration path, and acquire a first error parameter, wherein the first error parameter includes at least the positional deviation of each motion axis of the CNC machine tool from the preset calibration path; The processing unit is used for processing steps, preprocessing the first error parameter to obtain a correction parameter, and determining the error compensation amount of each motion axis based on the correction parameter. The preprocessing includes filtering and temperature compensation processing. A configuration unit is used for configuring steps, configuring the CNC machine tool according to the error compensation amount, and controlling the CNC machine tool to run according to the preset calibration path; A determining unit is used to determine steps, obtain a second error parameter, determine the positioning accuracy of the CNC machine tool based on the second error parameter, and determine the error compensation amount as the final error compensation amount if the positioning accuracy is greater than or equal to a preset accuracy. The loop unit is used to loop the steps, and when the positioning accuracy is less than the preset accuracy, the acquisition step, the processing step, the configuration step and the determination step are executed at least once, until the positioning accuracy is greater than or equal to the preset accuracy.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the method according to any one of claims 1 to 7.

10. An automated calibration system for a CNC machine tool, characterized in that, include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising methods for performing any one of claims 1 to 7.

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