Thermal compensation method, system and equipment for feed shaft of gantry machine tool and medium

Abstract

The embodiment of the invention provides a thermal compensation method, system and equipment for a feed shaft of a gantry machine tool and a medium, and belongs to the field of numerical control machine tools. The method comprises the steps that a plurality of detection points are arranged on a working table in the direction of a feeding shaft of the gantry machine tool, and a thermal error detection device is used for collecting tool nose point position data and lathe bed temperature data at all the detection points at different time points; calculating thermal error values of other detection points relative to a reference point by taking the detection point at the middle position of the feed shaft as the reference point; establishing a thermal compensation model; and obtaining the lathe bed temperature and the lathe coordinate value of the current tool nose point in real time, inputting the thermal compensation model to obtain a real-time thermal error compensation value, and performing thermal error compensation. Feed shaft thermal error collection at different positions in the X-axis direction of the machine tool is realized by utilizing a plurality of standard balls arranged on a working table in the feed shaft direction; the thermal error compensation value of the feed shaft of the machine tool in the X-axis direction can be effectively predicted by establishing the relationship among the thermal error, the component temperature and the coordinate position.

Description

Technical Field

[0001] This invention relates to the field of CNC machine tool technology, and more specifically to a method, system, device and medium for thermal compensation of the feed axis of a gantry milling machine. Background Technology

[0002] Long-stroke gantry milling machines are designed to handle the machining of extremely heavy workpieces in specific industries. These machines are primarily used for machining large structural components such as wind turbine spindles in the energy industry, airfoils in the aerospace industry, and train chassis in the rail transportation industry. One characteristic of this type of machine is its long, spliced ​​bed. The typical bed material, gray cast iron (HT300), has a coefficient of thermal expansion of approximately 10 x 10⁻⁶ / °C at room temperature. This means that for every 1°C increase in bed temperature, the bed elongates by about 0.01 mm per meter. If the bed length is 20 m, theoretically, a 1°C increase in bed temperature would result in an overall bed elongation of 0.2 mm. Although the actual elongation is less than 0.2 mm due to constraints between the bed and the foundation and gaps between the spliced ​​beds, it still has a significant impact, especially since some specialized machine tools have X-axis travels of 40 m or even higher. Changes in bed position cause movement of the machine tool gantry frame, resulting in tool tip drift. This thermal error has a significant impact on this type of machine tool.

[0003] In recent years, thermal error compensation technology for gantry milling machines has been widely used. General thermal error compensation mainly considers temperature changes in heat-generating components such as the spindle, as well as spindle elongation caused by changes in ambient temperature, and bending and torsion of the ram and crossbeam. This is achieved by arranging numerous temperature sensors on the machine tool, establishing a thermal compensation model, and then compensating accordingly. Thermal compensation for long-stroke gantry milling machines is more specialized. In addition to the overall machine thermal compensation mentioned earlier, it is crucial to consider the thermal error of the X-axis feed axis, i.e., the thermal elongation error of the bed. Importantly, the degree of thermal elongation varies at different locations on the bed, resulting in different thermal errors that cannot be effectively compensated for using general compensation methods. Summary of the Invention

[0004] The purpose of this invention is to provide a thermal compensation method, system, device, and medium for the feed axis of a gantry milling machine. This method utilizes multiple standard balls arranged on the worktable along the feed axis direction to collect thermal errors of the feed axis at different positions in the X-axis direction of the machine tool. By establishing the relationship between thermal error and component temperature and coordinate position, the thermal error compensation value of the feed axis of the machine tool in the X-axis direction can be effectively predicted.

[0005] To achieve the above objectives, embodiments of the present invention provide a thermal compensation method for the feed axis of a gantry milling machine, comprising: Multiple detection points are arranged on the worktable along the feed axis of the gantry machine tool, and a pre-installed thermal error detection device is used to collect tool tip position data and bed temperature data at different time points during the operation of the gantry machine tool, so as to obtain multiple sets of thermal error data and bed temperature data that change over time. Based on multiple sets of time-varying thermal error data and bed temperature data, the detection point located in the middle of the feed axis is used as the reference point, and the thermal error values ​​of other detection points relative to the reference point are calculated. A mathematical relationship model is established between the thermal error value, the bed temperature, and the coordinate values ​​of the detection point in the feed axis direction of the gantry machine tool, to obtain the thermal compensation model; During the operation of the gantry milling machine, the bed temperature and the machine coordinate value of the current tool tip in the feed axis direction are acquired in real time, and the thermal compensation model is input to calculate the real-time thermal error compensation value. The compensation value is then output to the servo system through the CNC system for thermal error compensation.

[0006] Optionally, the thermal error detection device has a modular structure, comprising: A long rod is formed by splicing multiple fiber composite tubes together with connecting blocks. The long rod is fixed to the machine tool worktable by a magnetic base and extends along the feed axis. Multiple ball heads spaced apart on the long rod serve as detection points; A magnetic dial indicator mounted on the machine tool spindle is used to measure the position of the spindle relative to the ball head.

[0007] Optionally, the step of establishing a mathematical relationship model between the thermal error value, the bed temperature, and the coordinate values ​​of the detection point on the gantry machine tool in the feed axis direction to obtain a thermal compensation model includes: Determine the machine tool coordinate values ​​of each detection point in the feed axis direction, and translate the coordinate origin to the location of the reference point; For each detection point, the corresponding thermal error data and bed temperature data are linearly fitted to obtain a first-order linear relationship between thermal error and bed temperature at each detection point. The first-order linear relationship includes a slope coefficient and an intercept coefficient. The slope coefficients corresponding to all detection points are fitted to their corresponding machine tool coordinate values ​​to obtain the functional relationship between the slope coefficients and coordinate values. Similarly, the intercept coefficients corresponding to all detection points are fitted to their corresponding machine tool coordinate values ​​to obtain the functional relationship between the intercept coefficients and coordinate values. By combining the first-order linear relationship between thermal error and bed temperature at each detection point, the functional relationship between slope coefficient and coordinate value, and the functional relationship between intercept coefficient and coordinate value, a thermal compensation model with bed temperature and machine tool coordinate value as variables is constructed.

[0008] Optionally, the first-order linear relationship between thermal error and bed temperature is as follows: ; In the formula, Indicates the first Thermal error at each detection point Indicates the first The slope coefficient of each detection point Indicates the temperature of the bed. Indicates the first Intercept coefficient of each detection point; The thermal compensation model is as follows: ; In the formula, Indicates thermal error, Indicates machine tool coordinate values. Indicates the temperature of the bed. Indicates the slope coefficient. This represents the intercept coefficient.

[0009] Optionally, during the process of collecting data from multiple detection points each time the machine tool moves along the feed axis, when the machine tool moves to the middle position of the feed axis stroke, the bed temperature data is collected simultaneously once.

[0010] Optionally, the thermal compensation model can be programmed as a programmable logic controller (PLC) program, so that the CNC system can calculate the thermal error compensation value by calling the bed temperature signal and the processed machine tool coordinate values ​​in real time.

[0011] Optionally, the feed axis is the X-axis of a gantry-type machine tool, and the stroke of the X-axis is not less than a preset stroke threshold.

[0012] Secondly, the present invention also provides a thermal compensation system for the feed axis of a gantry milling machine, comprising: The data acquisition module is used to arrange multiple detection points on the worktable along the feed axis of the gantry machine tool, and use a pre-deployed thermal error detection device to collect the tool tip position data and the bed temperature data of the gantry machine tool at different time points during the operation of the gantry machine tool, so as to obtain multiple sets of thermal error data and bed temperature data that change over time. The reference setting module is used to calculate the thermal error value of other detection points relative to the reference point by taking the detection point located in the middle of the feed axis as the reference point based on multiple sets of thermal error data and bed temperature data that change over time. The model building module establishes a mathematical relationship model between the thermal error value, the bed temperature, and the coordinate values ​​of the detection point in the feed axis direction of the gantry machine tool, and obtains the thermal compensation model. The thermal compensation module is used to acquire the bed temperature and the machine tool coordinate value of the current tool tip point in the feed axis direction in real time during the operation of the gantry machine tool, and input the thermal compensation model to calculate the real-time thermal error compensation value. The compensation value is then output to the servo system through the CNC system for thermal error compensation.

[0013] Thirdly, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the above-described thermal compensation method for the feed axis of the gantry milling machine.

[0014] Fourthly, the present invention also provides a storage medium storing a computer program thereon, wherein the computer program, when executed by a processor, implements the steps of the above-described thermal compensation method for the feed axis of the gantry milling machine.

[0015] The above technical solution utilizes multiple standard balls arranged on the worktable along the feed axis to collect thermal errors of the feed axis at different positions in the X-axis direction of the machine tool. By establishing the relationship between thermal error and component temperature and coordinate position, the thermal error compensation value of the machine tool's feed axis in the X-axis direction can be effectively predicted.

[0016] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart of a thermal compensation method for the feed axis of a gantry milling machine provided in an embodiment of the present invention; Figure 2 This is an installation diagram of a thermal error detection device provided in an embodiment of the present invention; Figure 3 This is provided by the embodiments of the present invention. Figure 2 Enlarged detail image; Figure 4 This is a schematic diagram of the X-axis thermal error detection principle of a long-stroke gantry moving machine tool provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of thermal error detection provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of a thermal compensation model establishment process provided in an embodiment of the present invention; Figure 7 This is a structural diagram of a thermal compensation system for the feed axis of a gantry milling machine provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0018] Various embodiments of this disclosure will be described more fully in the following detailed description. This disclosure may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments of this disclosure to the specific embodiments disclosed herein, but rather this disclosure should be understood to cover all adjustments, equivalents, and / or alternatives falling within the spirit and scope of the various embodiments of this disclosure.

[0019] In the following, the terms “comprising” or “may include”, which may be used in various embodiments of this disclosure, indicate the presence of the disclosed functions or operations and do not limit the addition of one or more functions or operations. Furthermore, as used in various embodiments of this disclosure, the terms “comprising,” “having,” and their cognates are intended only to indicate a specific feature, number, step, operation, or combination of the foregoing and should not be construed as primarily excluding the presence of one or more other features, numbers, steps, operations, or combinations of the foregoing, or the possibility of adding one or more features, numbers, steps, operations, or combinations of the foregoing.

[0020] In various embodiments of this disclosure, the expression "or" or "at least one of A and / or B" includes any combination or all combinations of the words listed simultaneously. For example, the expression "A or B" or "at least one of A and / or B" may include A, may include B, or may include both A and B.

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

[0022] See Figure 1 The diagram shows a flowchart of a thermal compensation method for the feed axis of a gantry milling machine in a specific embodiment, including the following execution steps: Step 100: Arrange multiple detection points on the worktable along the feed axis of the gantry machine tool, and use the pre-installed thermal error detection device to collect the tool tip position data and the bed temperature data of the gantry machine tool at different time points during the operation of the gantry machine tool, so as to obtain multiple sets of thermal error data and bed temperature data that change over time.

[0023] Specifically, the thermal error detection device is a modular structure, comprising: a long rod made of multiple fiber composite tubes joined together by connecting blocks, the long rod being fixed to the machine tool worktable by a magnetic base and extending along the feed axis; ball heads spaced apart on the long rod as detection points; and a magnetic dial indicator mounted on the machine tool spindle for measuring the position of the spindle relative to the ball heads.

[0024] For example, see Figure 2 , Figure 3 As shown, the thermal error detection device consists of a fiber composite tube (2m in length per section), a magnetic base, a magnetic dial indicator, a ball head, connecting block A, and connecting block B. The fiber composite tube exhibits good thermal stability along the fiber direction and has a low coefficient of thermal expansion. This characteristic allows for accurate measurement of tool tip drift caused by bed elongation. The installation method is as follows: Fiber composite tubes are spliced ​​in pairs using connecting blocks A and secured with screws; connecting blocks A are installed on the magnetic base, which is then attached to the worktable. This sequential splicing allows for the creation of a single, fixed fiber composite tube along the entire X-axis of the machine tool; connecting blocks B are evenly spaced on the fiber composite tube, with a 2m interval between each pair, and secured to the fiber composite tube with screws; finally, the ball head is sequentially installed onto connecting blocks B.

[0025] This thermal error detection device uses a fiber composite tube with an extremely low coefficient of thermal expansion as a reference rod, and its splicing structure flexibly adapts to different machine tool strokes. It is quickly installed on the worktable using a magnetic base, and with multiple ball-end detection points that can be arranged along the rod, it achieves synchronous and stable detection of thermal deformation at multiple positions along a long-stroke feed axis. The device is simple in structure, easy to assemble and adjust, and low in cost. It can accurately and reliably separate and acquire the tool tip drift caused by bed thermal elongation, providing a crucial data foundation for establishing a high-precision position-related thermal compensation model.

[0026] In one specific implementation, during the process of collecting data from multiple detection points each time the machine tool moves along the feed axis, when the machine tool moves to the middle position of the feed axis stroke, the bed temperature data is collected simultaneously once.

[0027] Preferably, the feed axis is the X-axis of the gantry-type machine tool, and the stroke of the X-axis is not less than a preset stroke threshold.

[0028] For example, the preset travel threshold can be 20 meters, but the specific setting can be adjusted according to the actual application scenario, and no restrictions are imposed here.

[0029] In one specific implementation, see [reference] Figure 4As shown, assuming the ball joints from the rear to the front of the machine tool are designated as 1 to 11, the feed axis thermal error acquisition method is as follows: The machine tool spindle is equipped with a dial indicator. The machine tool is moved from rear to front along the X-axis. Each time the machine tool reaches the area above and behind the ball joint, it is slowly lowered to the center of the ball joint in the X-direction. The dial indicator is then aligned along the X-direction, and the machine tool axis coordinates at this point are recorded. This process is repeated for all ball joint positions. The machine tool is then moved from rear to front. (Refer to...) Figure 5 As shown, after moving to position A above the ball head, the machine tool slowly feeds along the Z-axis, moving the center of the dial indicator to the center line of the ball head in the X direction, which is position B. Then, it slowly moves to the machine tool coordinate position recorded after the dial indicator is aligned, let's say position C, and records the dial indicator reading. Then, the machine tool returns to position B, slowly lifts back to position A, and continues to move along the X direction to the next ball head, repeating the previous operation until all ball head displacement data are collected. The machine tool returns to the initial position, stays for 10 minutes, and then repeats the previous operation again. This test is conducted continuously for 72 hours, and multiple sets of data are obtained. During the feed axis thermal error test, a bed temperature sensor is embedded on the surface of the bed. Every time the machine tool collects the feed axis thermal error and moves to the middle of the X-axis travel, bed temperature data is collected simultaneously.

[0030] Step 101: Based on multiple sets of thermal error data and bed temperature data that change over time, take the detection point located in the middle of the feed axis as the reference point and calculate the thermal error value of other detection points relative to the reference point.

[0031] For example, through the thermal error acquisition described in step 100, 11 sets of thermal error data over time are obtained from 11 ball joints, along with one set of bed temperature data over time. Based on the thermal elongation characteristics of the bed, the thermal elongation is lowest in the middle and highest at both ends. Therefore, the middle ball joint (the 6th ball joint) is used as the reference ball joint. The thermal error data measured at this ball joint is used as the benchmark. The difference between the thermal error data obtained at the other ball joints and the thermal error data obtained at the reference ball joint yields the thermal error at each ball joint, which is the thermal elongation on one side of the bed. This data processing method eliminates thermal error factors such as bending and twisting of the machine tool gantry frame itself, considering only the thermal error of the feed axis.

[0032] By setting the detection point located at the center of the bed (where thermal elongation is minimal) as the benchmark, and using the difference between the measured values ​​of other points and the benchmark value as the effective thermal error, the influence of common thermal deformations such as overall bending and twisting of the gantry frame on the uniformity of the tool tip position is filtered out. This extracts the tool tip position deviation purely caused by the non-uniform thermal elongation of the bed along the feed axis, enabling the subsequently established thermal compensation model to more accurately characterize the essential relationship between bed elongation and temperature and coordinate position, thus improving the accuracy of thermal error separation and the specificity of the compensation model.

[0033] Step 102: Establish a mathematical relationship model between the thermal error value, the bed temperature, and the coordinate value of the detection point on the gantry machine tool in the feed axis direction to obtain the thermal compensation model.

[0034] Specifically, when executing step 102, the following steps can be performed: S1020: Determine the machine tool coordinate values ​​of each detection point in the feed axis direction, and translate the coordinate origin to the location of the reference point.

[0035] S1021: For each detection point, the corresponding thermal error data and bed temperature data are linearly fitted to obtain a first-order linear relationship between thermal error and bed temperature at each detection point, wherein the first-order linear relationship includes a slope coefficient and an intercept coefficient.

[0036] Specifically, the first-order linear relationship between thermal error and bed temperature is as follows: ; In the formula, Indicates the first Thermal error at each detection point Indicates the first The slope coefficient of each detection point Indicates the temperature of the bed. Indicates the first Intercept coefficient of each detection point.

[0037] S1022: Fit the slope coefficients corresponding to all detection points to their corresponding machine tool coordinate values ​​to obtain the functional relationship between the slope coefficients and coordinate values; and fit the intercept coefficients corresponding to all detection points to their corresponding machine tool coordinate values ​​to obtain the functional relationship between the intercept coefficients and coordinate values.

[0038] S1023: Combining the first-order linear relationship between thermal error and bed temperature at each detection point, the functional relationship between slope coefficient and coordinate value, and the functional relationship between intercept coefficient and coordinate value, a thermal compensation model with bed temperature and machine tool coordinate value as variables is constructed.

[0039] Specifically, the thermal compensation model is as follows: ; In the formula, Indicates thermal error, Indicates machine tool coordinate values. Indicates the temperature of the bed. Indicates the slope coefficient. This represents the intercept coefficient.

[0040] In one specific implementation, the conventional thermal compensation model only uses thermal error and temperature data for establishment. However, considering the different degrees of thermal elongation at different locations of the bed, see [reference needed]. Figure 6 As shown, this application incorporates the machine tool coordinate values ​​of the X-axis into the thermal compensation model. For ease of use, the machine tool's coordinate values ​​are preprocessed. Assuming the machine tool's X-axis coordinate is -2000 to 0 mm within a 20m travel range, translation processing is performed to make the coordinate of the reference ball joint position 0. Therefore, within the 20m travel range, the machine tool's X-axis coordinate is -1000 to 1000 mm. If necessary, a scaling factor can be assigned to the coordinates before use. Assuming the preprocessed X-axis coordinate values ​​for the 11 ball joint positions are x1 to x11, a set of X-axis coordinate position data is obtained. The thermal error data measured at each ball joint position is linearly fitted with the measured bed temperature data, resulting in 11 sets of linear relationships between thermal error Y and bed temperature T. In these 11 linear relationships, the linear coefficients a and b are 11 different values. Linear fitting is then performed using the 11 coordinate data X and the 11 sets of linear coefficients a and b, respectively, to obtain the relationships between linear coefficient a and coordinate value X, and between linear coefficient b and coordinate value X. Through mathematical processing, the relationship between thermal error Y, bed temperature T, and coordinate value X is obtained, establishing a thermal compensation model.

[0041] Step 103: During the operation of the gantry milling machine, the bed temperature and the machine tool coordinate value of the current tool tip point in the feed axis direction are acquired in real time, and the real-time thermal error compensation value is calculated by inputting the thermal compensation model. The compensation value is then output to the servo system through the CNC system for thermal error compensation.

[0042] Preferably, the thermal compensation model is programmed as a programmable logic controller (PLC) program, so that the CNC system can calculate the thermal error compensation value by calling the bed temperature signal and the processed machine tool coordinate values ​​in real time.

[0043] For example, thermal error compensation follows the same approach as conventional thermal error compensation. The compensation model is programmed into a PLC. The system calls the bed temperature and processed coordinate values ​​in real time, calculates the compensation value in real time, and writes it into the system compensation module in the form of NC variables. This activates the servo system and outputs the compensation value.

[0044] In this embodiment, by combining segmented detection, modeling, and real-time compensation, the tool tip position error caused by the non-uniform distribution of bed thermal expansion along the feed axis can be effectively identified and compensated. By establishing a mathematical relationship model between thermal error, bed temperature, and machine tool coordinate position, accurate prediction and dynamic compensation of thermal deformation at any position on a long-stroke feed axis (such as the X-axis) are achieved. This significantly improves the positioning accuracy and machining stability of long-stroke gantry milling machines when machining large workpieces, overcoming the technical bottleneck of traditional thermal compensation methods in handling differences in thermal error at different coordinate positions.

[0045] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0046] like Figure 7 As shown, the following are embodiments of the thermal compensation system for the feed axis of a gantry milling machine provided in this disclosure. The thermal compensation method for the feed axis of the gantry milling machine provided in the above embodiments belongs to the same inventive concept. For details not described in detail in the embodiments of the thermal compensation system for the feed axis of the gantry milling machine, please refer to the embodiments of the thermal compensation method for the feed axis of the gantry milling machine provided above.

[0047] The thermal compensation system for the feed axis of a gantry milling machine includes: The data acquisition module is used to arrange multiple detection points on the worktable along the feed axis of the gantry machine tool, and use a pre-deployed thermal error detection device to collect the tool tip position data and the bed temperature data of the gantry machine tool at different time points during the operation of the gantry machine tool, so as to obtain multiple sets of thermal error data and bed temperature data that change over time. The reference setting module is used to calculate the thermal error value of other detection points relative to the reference point by taking the detection point located in the middle of the feed axis as the reference point based on multiple sets of thermal error data and bed temperature data that change over time. The model building module establishes a mathematical relationship model between the thermal error value, the bed temperature, and the coordinate values ​​of the detection point in the feed axis direction of the gantry machine tool, and obtains the thermal compensation model. The thermal compensation module is used to acquire the bed temperature and the machine tool coordinate value of the current tool tip point in the feed axis direction in real time during the operation of the gantry machine tool, and input the thermal compensation model to calculate the real-time thermal error compensation value. The compensation value is then output to the servo system through the CNC system for thermal error compensation.

[0048] Figure 8 This is a schematic diagram of the hardware structure of an electronic device that implements various embodiments of the present invention.

[0049] The thermal compensation method for the feed axis of a gantry milling machine provided in this application embodiment can be applied to electronic devices. Those skilled in the art will understand that the electronic device structure involved in the embodiments of this invention does not constitute a limitation on the electronic device. An electronic device may include more or fewer components than illustrated, or combine certain components, or have different component arrangements. In the embodiments of this invention, the electronic device includes, but is not limited to, laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the embodiments of this application described and / or claimed herein.

[0050] Electronic devices may include processors, external memory interfaces, internal memory, universal serial bus (USB) interfaces, charging management modules, power management modules, batteries, wireless communication modules, audio modules, speakers, microphones, sensor modules, buttons, cameras, displays, and SIM card interfaces, etc.

[0051] It is understood that the structures illustrated in the embodiments of this application do not constitute a specific limitation on the electronic device. In other embodiments of this application, the electronic device may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0052] A processor may include one or more processing units, such as: a central processing unit (CPU), an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, memory, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural network processing unit (NPU). Different processing units may be independent devices or integrated into one or more processors.

[0053] The processor can serve as the nerve center and command center of an electronic device. The controller can generate operation control signals based on the instruction opcode and timing signals to control the fetching and execution of instructions.

[0054] The processor may also include memory for storing instructions and data. In some embodiments, the memory in the processor is a cache memory. This memory can store instructions or data that the processor has just used or that are used repeatedly. If the processor needs to use the instruction or data again, it can retrieve it directly from this memory. This avoids repeated accesses, reduces processor latency, and thus improves system efficiency.

[0055] An external storage interface (ESI) can be used to connect external memory cards, such as microSD cards, to expand the storage capacity of electronic devices. The external memory card communicates with the processor through the ESI to perform data storage functions, such as saving music and video files on the external memory card.

[0056] Internal memory can be used to store computer executable program code, which includes instructions. The processor executes various functional applications and data processing of electronic devices by running the instructions stored in internal memory. Internal memory can include a program storage area and a data storage area. Internal memory can include high-speed random access memory, and can also include non-volatile memory, such as at least one disk storage device, flash memory device, universal flash storage (UFS), etc.

[0057] Wireless communication functionality in electronic devices can be achieved through antennas, wireless communication modules, modem processors, and baseband processors.

[0058] Wireless communication modules can provide solutions for wireless communication applications in electronic devices, including wireless local area networks (WLANs) (such as wireless fidelity (Wi-Fi) networks), Bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), and infrared (IR) technologies.

[0059] Electronic devices can implement audio functions through audio modules, speakers, receivers, microphones, headphone jacks, and application processors.

[0060] Electronic devices can achieve shooting functions through ISPs, cameras, video codecs, GPUs, displays, and application processors.

[0061] Electronic devices can achieve display functions through GPUs, displays, and application processors.

[0062] A GPU is a microprocessor for image processing, connected to the display screen and application processor. GPUs are used to perform mathematical and geometric calculations for graphics rendering. A processor may include one or more GPUs, which execute program instructions to generate or modify display information.

[0063] A display screen is used to display images, videos, etc. A display screen includes a display panel.

[0064] The storage medium provided in this application stores a program product capable of implementing a thermal compensation method for the feed axis of a gantry milling machine.

[0065] The thermal compensation method for the feed axis of a gantry milling machine includes: arranging multiple detection points on the worktable along the feed axis direction of the gantry milling machine, and using a pre-deployed thermal error detection device, collecting tool tip position data and bed temperature data at different time points during the operation of the gantry milling machine, obtaining multiple sets of time-varying thermal error data and bed temperature data; based on the multiple sets of time-varying thermal error data and bed temperature data, using the detection point located at the middle position of the feed axis as a reference point, calculating the thermal error value of other detection points relative to this reference point; establishing a mathematical relationship model between the thermal error value, bed temperature, and the gantry milling machine coordinate values ​​of the detection points in the feed axis direction, obtaining a thermal compensation model; during the operation of the gantry milling machine, acquiring the bed temperature and the current tool tip coordinate values ​​in the feed axis direction in real time, inputting them into the thermal compensation model to calculate the real-time thermal error compensation value, and outputting the compensation value to the servo system through the CNC system for thermal error compensation.

[0066] In some possible implementations, the subject matter of this disclosure, namely, "Method and System for Thermal Compensation of Feed Axis of Gantry Milling Machine," can be implemented as a program product comprising program code that, when run on a terminal device, causes the terminal device to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of this disclosure.

[0067] The storage medium disclosed herein may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0068] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for thermal compensation of the feed axis of a gantry milling machine, characterized in that, include: Multiple detection points are arranged on the worktable along the feed axis of the gantry machine tool, and a pre-installed thermal error detection device is used to collect tool tip position data and bed temperature data at different time points during the operation of the gantry machine tool, so as to obtain multiple sets of thermal error data and bed temperature data that change over time. Based on multiple sets of time-varying thermal error data and bed temperature data, the detection point located in the middle of the feed axis is used as the reference point, and the thermal error values ​​of other detection points relative to the reference point are calculated. A mathematical relationship model is established between the thermal error value, the bed temperature, and the coordinate values ​​of the detection point in the feed axis direction of the gantry machine tool, to obtain the thermal compensation model; During the operation of the gantry milling machine, the bed temperature and the machine coordinate value of the current tool tip in the feed axis direction are acquired in real time, and the thermal compensation model is input to calculate the real-time thermal error compensation value. The compensation value is then output to the servo system through the CNC system for thermal error compensation.

2. The thermal compensation method for the feed axis of a gantry milling machine according to claim 1, characterized in that, The thermal error detection device has a modular structure, including: A long rod is formed by splicing multiple fiber composite tubes together with connecting blocks. The long rod is fixed to the machine tool worktable by a magnetic base and extends along the feed axis. Multiple ball heads spaced apart on the long rod serve as detection points; A magnetic dial indicator mounted on the machine tool spindle is used to measure the position of the spindle relative to the ball head.

3. The thermal compensation method for the feed axis of a gantry milling machine according to claim 1, characterized in that, The establishment of a mathematical relationship model between the thermal error value, the bed temperature, and the coordinate values ​​of the detection point on the feed axis of the gantry milling machine yields a thermal compensation model, including: Determine the machine tool coordinate values ​​of each detection point in the feed axis direction, and translate the coordinate origin to the location of the reference point; For each detection point, the corresponding thermal error data and bed temperature data are linearly fitted to obtain a first-order linear relationship between thermal error and bed temperature at each detection point. The first-order linear relationship includes a slope coefficient and an intercept coefficient. The slope coefficients corresponding to all detection points are fitted to their corresponding machine tool coordinate values ​​to obtain the functional relationship between the slope coefficients and coordinate values. Similarly, the intercept coefficients corresponding to all detection points are fitted to their corresponding machine tool coordinate values ​​to obtain the functional relationship between the intercept coefficients and coordinate values. By combining the first-order linear relationship between thermal error and bed temperature at each detection point, the functional relationship between slope coefficient and coordinate value, and the functional relationship between intercept coefficient and coordinate value, a thermal compensation model with bed temperature and machine tool coordinate value as variables is constructed.

4. The thermal compensation method for the feed axis of a gantry milling machine according to claim 3, characterized in that, The first-order linear relationship between thermal error and bed temperature is as follows: ； In the formula, Indicates the first Thermal error at each detection point Indicates the first The slope coefficient of each detection point Indicates the temperature of the bed. Indicates the first Intercept coefficient of each detection point; The thermal compensation model is as follows: ； In the formula, Indicates thermal error, Indicates machine tool coordinate values. Indicates the temperature of the bed. Indicates the slope coefficient. This represents the intercept coefficient.

5. The thermal compensation method for the feed axis of a gantry milling machine according to claim 1, characterized in that, During the process of collecting data from multiple detection points each time the machine tool moves along the feed axis, when the machine tool moves to the middle position of the feed axis stroke, the bed temperature data is collected simultaneously.

6. The thermal compensation method for the feed axis of a gantry milling machine according to claim 1, characterized in that, The thermal compensation model is programmed into a programmable logic controller (PLC) program so that the CNC system can calculate the thermal error compensation value by calling the bed temperature signal and the processed machine tool coordinate values ​​in real time.

7. The thermal compensation method for the feed axis of a gantry milling machine according to claim 1, characterized in that, The feed axis is the X-axis of the gantry-type moving machine tool, and the stroke of the X-axis is not less than a preset stroke threshold.

8. A thermal compensation system for the feed axis of a gantry milling machine, characterized in that, include: The data acquisition module is used to arrange multiple detection points on the worktable along the feed axis of the gantry machine tool, and use a pre-deployed thermal error detection device to collect the tool tip position data and the bed temperature data of the gantry machine tool at different time points during the operation of the gantry machine tool, so as to obtain multiple sets of thermal error data and bed temperature data that change over time. The reference setting module is used to calculate the thermal error value of other detection points relative to the reference point by taking the detection point located in the middle of the feed axis as the reference point based on multiple sets of thermal error data and bed temperature data that change over time. The model building module establishes a mathematical relationship model between the thermal error value, the bed temperature, and the coordinate values ​​of the detection point in the feed axis direction of the gantry machine tool, and obtains the thermal compensation model. The thermal compensation module is used to acquire the bed temperature and the machine tool coordinate value of the current tool tip point in the feed axis direction in real time during the operation of the gantry machine tool, and input the thermal compensation model to calculate the real-time thermal error compensation value. The compensation value is then output to the servo system through the CNC system for thermal error compensation.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the thermal compensation method for the feed axis of the gantry milling machine as described in any one of claims 1 to 7.

10. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the thermal compensation method for the feed axis of the gantry milling machine as described in any one of claims 1 to 7.

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