Numerical control machine tool rtcp precision determination method and device, equipment and medium

Abstract

This application provides a method, apparatus, device, and medium for determining the RTCP accuracy of CNC machine tools, relating to the field of CNC machine tool accuracy testing technology. In this application, firstly, a first coordinate point dataset is acquired when the tool posture follow-up transformation function is not activated, and a first center coordinate point is determined based on multiple first coordinate point data included in the first coordinate point dataset; secondly, at least one second coordinate point dataset is acquired when the tool posture follow-up transformation function is activated, and each second center coordinate point is determined based on multiple second coordinate point data included in each second coordinate point dataset; then, the RTCP accuracy data of the target CNC machine tool is determined based at least on each second center coordinate point data. Based on the above, the problems of low efficiency and inability to guarantee the consistency and stability of accuracy testing in the prior art can be improved.

Description

Technical Field

[0001] This application relates to the field of CNC machine tool accuracy testing technology, and more specifically, to a method, apparatus, equipment, and medium for determining the RTCP accuracy of CNC machine tools. Background Technology

[0002] RTCP (Rotational Tool Center Point) is a key function of five-axis CNC machine tools. It automatically maintains the tool tip (center point) in the same spatial position as the tool rotates with the rotary axis, reducing errors caused by changes in workpiece or tool angles. It is an important technology for achieving high-precision five-axis machining. RTCP accuracy is mainly used to evaluate the overall accuracy of a five-axis CNC machine tool. The level of RTCP accuracy directly determines whether the machined product is qualified and is also the most important factor for equipment maintenance personnel to determine whether the machine tool can process. With the development of intelligent workshops and flexible production lines, the machining industry is becoming increasingly automated and intelligent. Traditional detectors, such as mandrels, ball heads, and dial indicators, rely on manual inspection by professionals. This is not only inefficient but also cannot guarantee the consistency and stability of accuracy inspection. Therefore, the traditional manual accuracy inspection mode can no longer meet the development needs of intelligent workshops. Summary of the Invention

[0003] In view of this, the purpose of this application is to provide a method, apparatus, equipment and medium for determining the RTCP accuracy of CNC machine tools, so as to improve the problems of low efficiency and inability to guarantee the consistency and stability of accuracy detection in the prior art.

[0004] To achieve the above objectives, this application adopts the following technical solution: A method for determining the RTCP accuracy of a CNC machine tool, comprising: The first coordinate point dataset is obtained by detecting the target ball head through the target probe when the tool posture follow-up transformation function is not activated on the target CNC machine tool. Based on the multiple first coordinate point data included in the first coordinate point dataset, the first center coordinate point data of the target ball head is determined, wherein the multiple first coordinate point data corresponds to multiple coordinate points on the target ball head. Acquire at least one second coordinate point dataset obtained by detecting the target ball head through the target probe when the target CNC machine tool starts the tool posture follow-up transformation function, and determine each second center coordinate point data of the target ball head based on the multiple second coordinate point data included in each second coordinate point dataset, wherein the multiple second coordinate point data corresponds to multiple coordinate points on the target ball head; The RTCP accuracy data of the target CNC machine tool is determined based on the data of each of the second center coordinate points, or the RTCP accuracy data of the target CNC machine tool is determined based on the data of the first center coordinate point and the data of each of the second center coordinate points.

[0005] In a preferred embodiment of this application, in the above-described method for determining the accuracy of a CNC machine tool RTCP, the steps of acquiring a first coordinate point dataset obtained by detecting the target ball head using a target probe when the target CNC machine tool has not activated the tool posture follow-up transformation function, and determining the first center coordinate point data of the target ball head based on the multiple first coordinate point data included in the first coordinate point dataset, include: The dataset of the first coordinate points is obtained by detecting the target ball head through the target probe when the tool posture follow-up function is not activated on the target CNC machine tool; Based on the multiple first coordinate point data included in the first coordinate point dataset, anomaly removal processing is performed on the multiple coordinate points corresponding to the multiple first coordinate point data to obtain at least one non-abnormal first coordinate point. Based on the data of at least one first coordinate point corresponding to the at least one non-abnormal first coordinate point, the first center coordinate point data of the target ball head is determined.

[0006] In a preferred embodiment of this application, in the above-described CNC machine tool RTCP accuracy determination method, the step of performing outlier removal processing on multiple coordinate points corresponding to the multiple first coordinate point data included in the first coordinate point dataset to obtain at least one non-outlier first coordinate point includes: Based on the multiple first coordinate point data included in the first coordinate point dataset, a plane fitting is performed to obtain the target fitting plane, and the plane normal vector of the target fitting plane is determined. Based on the equation parameters characterizing the target fitting plane, a first reference point and a second reference point are determined, and based on the first reference point, the second reference point and the plane normal vector, a target coordinate system is determined, wherein in the target coordinate system, the origin is the first reference point, the direction of the X-axis is the direction from the first reference point to the second reference point, and the direction of the Y-axis is the direction of the plane normal vector; Based on the vector pointing from the first reference point to the second reference point, the direction vector of the X-axis is determined, and based on the plane normal vector, the direction vector of the Y-axis is determined, and based on the direction vector of the X-axis and the direction vector of the Y-axis, the direction vector of the Z-axis is determined. Based on the direction vectors of the X-axis, Y-axis, and Z-axis, a homogeneous transformation matrix is ​​determined relative to the machine tool coordinate system of the target coordinate system. Based on the homogeneous transformation matrix, the plurality of first coordinate point data are transformed from the machine tool coordinate system to the target coordinate system to obtain a plurality of new first coordinate point data. During the transformation process, the Z-axis coordinate value is configured to 0. The center coordinates of the circle containing the plurality of new first coordinate points are determined, and the center coordinates are transformed from the target coordinate system to the machine tool coordinate system to obtain new center coordinates. Based on the distance between each first coordinate point data and the new center coordinate point data, determine whether the coordinate point corresponding to each first coordinate point data belongs to an abnormal coordinate point, and filter out each coordinate point that belongs to an abnormal coordinate point to obtain at least one non-abnormal first coordinate point.

[0007] In a preferred embodiment of this application, in the above-described CNC machine tool RTCP accuracy determination method, the step of determining the first center coordinate point data of the target ball head based on the at least one first coordinate point data corresponding to the at least one non-abnormal first coordinate point includes: Based on the data of at least one first coordinate point corresponding to the at least one non-abnormal first coordinate point, the center coordinate data of the circle where the at least one non-abnormal first coordinate point is located are determined. The center coordinates of the circle containing the at least one non-abnormal first coordinate point are determined as the first center coordinates of the target sphere.

[0008] In a preferred embodiment of this application, in the above-described method for determining the RTCP accuracy of a CNC machine tool, the steps of acquiring at least one second coordinate point dataset obtained by detecting the target ball head through the target probe when the target CNC machine tool activates the tool posture follow-up transformation function, and determining each second center coordinate point data of the target ball head based on the plurality of second coordinate point data included in each second coordinate point dataset, include: The second coordinate point dataset is obtained by detecting the target ball head through the target probe when the target CNC machine tool starts the tool posture follow-up transformation function; Based on the multiple second coordinate point data included in the second coordinate point dataset, outlier removal processing is performed on the multiple coordinate points corresponding to the multiple second coordinate point data to obtain at least one non-outlier second coordinate point. Based on the data of at least one second coordinate point corresponding to the at least one non-abnormal second coordinate point, the second center coordinate point data of the target ball head is determined.

[0009] In a preferred embodiment of this application, in the above-described CNC machine tool RTCP accuracy determination method, the step of obtaining the second coordinate point dataset obtained by detecting the target ball head through the target probe when the target CNC machine tool activates the tool posture follow-up transformation function includes: After the target CNC machine tool activates the tool posture follow-up transformation function, the target CNC machine tool is controlled to move from the target group coordinates to the first group coordinates. The first coordinate point dataset is obtained by the target CNC machine tool under the target group coordinates. Both the target group coordinates and the first group coordinates belong to the coordinates of the A / C rotary axis combination. When the target CNC machine tool is a five-axis CNC machine tool, the A rotary axis rotates around the X axis and the C rotary axis rotates around the Z axis. Based on the first center coordinate point data, the X / Y / Z linear axis coordinate system of the target CNC machine tool is offset to form an offset linear axis coordinate system, wherein the origin of the offset linear axis coordinate system is the coordinate point corresponding to the first center coordinate point data; Based on the offset linear axis coordinate system, a second coordinate point dataset is obtained by detecting the target ball head through the target probe when the target CNC machine tool is located in the first set of coordinates. In the step of determining the RTCP accuracy data of the target CNC machine tool based on each of the second center coordinate point data, or determining the RTCP accuracy data of the target CNC machine tool based on the first center coordinate point data and each of the second center coordinate point data, the second center coordinate point data is used as the RTCP accuracy data.

[0010] In a preferred embodiment of this application, in the above-described method for determining the RTCP accuracy of a CNC machine tool, the step of obtaining a second coordinate point dataset obtained by detecting the target ball head using the target probe when the target CNC machine tool is located in the first set of coordinates, based on the offset linear axis coordinate system, includes: Based on the first set of coordinates, the A / C rotary axis coordinate system of the target CNC machine tool is offset to form an offset rotary axis coordinate system, so that the force direction corresponding to the target probe when it touches the target ball head is perpendicular to the tangent of the target ball head; The probe measurement function is activated, and the target CNC machine tool is controlled to move according to the offset rotation axis coordinate system, so that the target probe moves to the top of the target ball head and measures at the top to obtain the corresponding coordinates. After the target ball head is lowered by a radius distance along the Z axis, the coordinates of the middle of the target ball head after moving along the positive X axis, the coordinates of the middle of the target ball head after moving along the negative X axis, the coordinates of the middle of the target ball head after moving along the positive Y axis, and the coordinates of the middle of the target ball head after moving along the negative Y axis are obtained to obtain the second coordinate point dataset. The X / Y / Z linear axis coordinate system is the coordinate system that controls the target CNC machine tool to move linearly, and the A / C rotation axis coordinate system is the coordinate system that controls the target CNC machine tool to rotate angularly.

[0011] This application also provides a CNC machine tool RTCP accuracy determination device, comprising: The first coordinate acquisition module is used to acquire a first coordinate point dataset obtained by detecting the target ball head through the target probe when the tool posture follow-up transformation function of the target CNC machine tool is not activated, and to determine the first center coordinate point data of the target ball head based on the multiple first coordinate point data included in the first coordinate point dataset, wherein the multiple first coordinate point data corresponds to multiple coordinate points on the target ball head; The second coordinate acquisition module is used to acquire at least one second coordinate point dataset obtained by the target probe detecting the target ball head when the target CNC machine tool starts the tool posture follow-up transformation function, and to determine each second center coordinate point data of the target ball head based on the multiple second coordinate point data included in each second coordinate point dataset, wherein the multiple second coordinate point data corresponds to multiple coordinate points on the target ball head; The RTCP accuracy determination module is used to determine the RTCP accuracy data of the target CNC machine tool based on each of the second center coordinate point data, or to determine the RTCP accuracy data of the target CNC machine tool based on the first center coordinate point data and each of the second center coordinate point data.

[0012] Based on the above, this application also provides an electronic device, including: Memory, used to store computer programs; A processor connected to the memory is used to execute the computer program stored in the memory to implement the above-described CNC machine tool RTCP accuracy determination method.

[0013] Based on the above, this application also provides a computer-readable storage medium storing a computer program that, when executed, performs the various steps of the above-described CNC machine tool RTCP accuracy determination method.

[0014] The CNC machine tool RTCP accuracy determination method, apparatus, equipment, and medium provided in this application firstly acquire a first coordinate point dataset detected when the tool posture follow-up transformation function is not activated, and determine a first center coordinate point based on multiple first coordinate point data included in the first coordinate point dataset; secondly, acquire at least one second coordinate point dataset detected when the tool posture follow-up transformation function is activated, and determine each second center coordinate point based on multiple second coordinate point data included in each second coordinate point dataset; then, determine the RTCP accuracy data of the target CNC machine tool based at least on each second center coordinate point data. Based on the above, since automatic detection can be achieved, eliminating reliance on manual detection by professionals, efficiency is higher, and the consistency and stability of accuracy detection can be guaranteed. Therefore, it can improve the problems of low efficiency and inability to guarantee the consistency and stability of accuracy detection in existing technologies. Attached Figure Description

[0015] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings.

[0016] Figure 1 A structural block diagram of an electronic device provided in an embodiment of this application.

[0017] Figure 2 This is a schematic diagram of the CNC machine tool RTCP accuracy determination method provided in the embodiments of this application.

[0018] Figure 3 This is a schematic diagram of the installation and testing provided in an embodiment of this application.

[0019] Figure 4 This is a front view of the probe measuring A0C0 according to an embodiment of this application.

[0020] Figure 5 This is a side view of the probe measuring A0C0 according to an embodiment of this application.

[0021] Figure 6 This is a front view of the probe measurement after coordinate system offset provided in the embodiments of this application.

[0022] Figure 7 This is a schematic diagram of the probe's side view after coordinate system offset, provided in an embodiment of this application.

[0023] Figure 8 A schematic diagram of the RTCP accuracy determination device for CNC machine tools provided in the embodiments of this application.

[0024] Icons: 1 - Interchangeable worktable; 2 - Magnetic base; 3 - Ball head probe; 4 - Probe. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0026] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0027] like Figure 1 As shown in the figure, this application provides an electronic device. The electronic device may include a memory, a processor, and a CNC machine tool RTCP accuracy determination device.

[0028] In detail, the memory and the processor are electrically connected directly or indirectly to enable data transmission or interaction. For example, the memory and the processor can be electrically connected via one or more communication buses or signal lines. The CNC machine tool RTCP accuracy determination device includes at least one software functional module stored in the memory in the form of software or firmware. The processor is used to execute the executable computer program stored in the memory, such as the software functional module and computer program included in the CNC machine tool RTCP accuracy determination device, to implement the CNC machine tool RTCP accuracy determination method provided in the embodiments of this application.

[0029] Optionally, the memory may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.

[0030] Optionally, the processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), a system on chip (SoC), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0031] Understandable. Figure 1 The structure shown is for illustrative purposes only; the electronic device may also include components that are more advanced than those shown. Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown may include, for example, a communication unit for exchanging information with other devices.

[0032] Combination Figure 2 This application also provides a method for determining the RTCP accuracy of a CNC machine tool, applicable to the aforementioned electronic device. The method steps defined in the process of determining the RTCP accuracy of the CNC machine tool can be implemented by the electronic device.

[0033] The following will be about Figure 2 The specific process shown will be explained in detail.

[0034] Step S110: Obtain the first coordinate point dataset obtained by detecting the target ball head through the target probe when the tool posture follow-up transformation function is not activated on the target CNC machine tool; and determine the first center coordinate point data of the target ball head based on the multiple first coordinate point data included in the first coordinate point dataset.

[0035] In this embodiment, the electronic device can acquire a first coordinate point dataset obtained by detecting the target ball end with a target probe when the target CNC machine tool has not activated the tool posture follow-up transformation function, and determine the first center coordinate point data of the target ball end based on the multiple first coordinate point data included in the first coordinate point dataset. The multiple first coordinate point data correspond to multiple coordinate points on the target ball end. That is, the coordinate point data of the center coordinate point of the target ball end can be determined based on the coordinate point data detected by the multiple coordinate points on the target ball end when the tool posture follow-up transformation function is not activated. Furthermore, the tool posture follow-up transformation function refers to the TRAORI function, a control command in the XXX CNC system, short for Transformation Orientation. When this function is enabled, the CNC system automatically performs coordinate transformation according to the machine tool geometry, enabling precise control of the tool end position and posture, achieving RTCP.

[0036] Step S120: Obtain at least one second coordinate point dataset obtained by detecting the target ball head through the target probe when the target CNC machine tool starts the tool posture follow-up transformation function; and determine each second center coordinate point data of the target ball head based on the multiple second coordinate point data included in each second coordinate point dataset.

[0037] In this embodiment, the electronic device can acquire at least one second coordinate point dataset obtained by detecting the target ball head through the target probe when the target CNC machine tool activates the tool posture follow-up transformation function, and determine each second center coordinate point data of the target ball head based on the multiple second coordinate point data included in each second coordinate point dataset. The multiple second coordinate point data correspond to multiple coordinate points on the target ball head. That is, the coordinate point data of the center coordinate point of the target ball head can be determined based on the coordinate point data detected when the tool posture follow-up transformation function is activated from the multiple coordinate points on the target ball head. It should be noted that one second coordinate point dataset corresponds to the coordinates of one A / C rotary axis combination. Furthermore, the coordinates of the A / C rotary axis combination corresponding to the first coordinate point dataset are different from the coordinates of the A / C rotary axis combination corresponding to each second coordinate point dataset. It should also be noted that, as an example, the target CNC machine tool is a five-axis CNC machine tool with an A / C structure, where the A rotary axis rotates around the X-axis and the C rotary axis rotates around the Z-axis.

[0038] Step S130: Determine the RTCP accuracy data of the target CNC machine tool based on each of the second center coordinate point data, or determine the RTCP accuracy data of the target CNC machine tool based on the first center coordinate point data and each of the second center coordinate point data.

[0039] In this embodiment, the electronic device can determine the RTCP accuracy data of the target CNC machine tool based on each of the second center coordinate point data, or it can determine the RTCP accuracy data of the target CNC machine tool based on the first center coordinate point data and each of the second center coordinate point data. That is, the electronic device can determine the RTCP accuracy data of the target CNC machine tool based at least on each of the second center coordinate point data. Furthermore, it should be noted that since one set of second coordinate points corresponds to the coordinates of one A / C rotary axis combination, the RTCP accuracy data includes at least one RTCP accuracy corresponding to the coordinates of at least one A / C rotary axis combination, i.e., one RTCP accuracy per coordinate.

[0040] Based on the above, since automatic detection can be achieved, it no longer relies on manual detection by professionals. Therefore, it is more efficient and can ensure the consistency and stability of accuracy detection, thereby improving the problems of low efficiency and inability to guarantee the consistency and stability of accuracy detection in existing technologies.

[0041] Firstly, regarding step S110, it should be noted that the specific method for determining the first center coordinate point data of the target ball head is not limited and can be selected according to actual needs.

[0042] For example, in an alternative implementation, in order to improve the reliability of determining the first center coordinate point data of the target ball head, the above step S110 may further include steps S111, S112 and S113, wherein the specific contents of each step are as follows.

[0043] Step S111: Obtain the first coordinate point dataset obtained by detecting the target ball head through the target probe when the tool posture follow-up transformation function is not activated on the target CNC machine tool.

[0044] In this embodiment, a first coordinate point dataset obtained by detecting the target ball head using a target probe when the tool posture follow-up function of the target CNC machine tool is not activated can be acquired. For example, without enabling the TRAORI command, the target CNC machine tool can be moved to coordinates (A0, C0), as described below in the target group coordinates. Then, the measurement function of the target probe can be activated, and the target probe can be moved to the top of the target ball head. Coordinates are measured at the top of the target ball head, the Z-axis descends by the radius of the target ball head, and then the coordinates at the center of the target ball head are measured along the positive X-axis, the negative X-axis, the positive Y-axis, and the negative Y-axis. This yields a first coordinate point dataset including five coordinate points.

[0045] Step S112: Based on the multiple first coordinate point data included in the first coordinate point dataset, perform outlier removal processing on the multiple coordinate points corresponding to the multiple first coordinate point data to obtain at least one non-outlier first coordinate point.

[0046] In this embodiment of the application, after obtaining the first coordinate point dataset, outlier removal processing can be performed on the multiple coordinate points corresponding to the multiple first coordinate point data included in the first coordinate point dataset to obtain at least one non-outlier first coordinate point. That is, outlier points can be removed to reduce interference.

[0047] Step S113: Based on the data of at least one first coordinate point corresponding to the at least one non-abnormal first coordinate point, determine the data of the first center coordinate point of the target ball head.

[0048] In this embodiment, after obtaining the at least one non-abnormal first coordinate point, the first center coordinate point data of the target ball head can be determined based on the at least one first coordinate point data corresponding to the at least one non-abnormal first coordinate point. Therefore, since the at least one first coordinate point data is data after anomaly point removal processing, the reliability of the determined first center coordinate point data can be higher.

[0049] It is understood that the specific method of obtaining at least one non-abnormal first coordinate point in step S112 is not limited. For example, in an alternative implementation, in order to achieve high-precision anomaly removal processing and further improve the reliability of the obtained non-abnormal first coordinate point, step S112 may further include the following steps S112a, S112b, S112c, S112d, supplementary S112e, and S112f, as detailed below.

[0050] Step S112a: Perform plane fitting based on the multiple first coordinate point data included in the first coordinate point dataset to obtain the target fitting plane, and determine the plane normal vector of the target fitting plane.

[0051] In this embodiment, a plane fitting can be performed based on multiple first coordinate point data included in the first coordinate point dataset to obtain a target fitting plane, and the plane normal vector of the target fitting plane can be determined. For example, the multiple first coordinate point data may include (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3), (X4, Y4, Z4), and (X5, Y5, Z5), and then a plane equation can be fitted to obtain the plane. , for Term coefficient, for Term coefficient, For constant terms, the coefficients are calculated as follows: ; ; in, and Given a constant matrix, the plane normal vector of the target fitting plane is... for .

[0052] Step S112b: Based on the equation parameters characterizing the target fitting plane, determine the first reference point and the second reference point, and based on the first reference point, the second reference point and the plane normal vector, determine the target coordinate system.

[0053] In this embodiment, after obtaining the target fitting plane and the corresponding plane normal vector, a first reference point and a second reference point can be determined based on the equation parameters characterizing the target fitting plane, and a target coordinate system can be determined based on the first reference point, the second reference point, and the plane normal vector. In the target coordinate system, the origin is the first reference point, the X-axis direction is the direction from the first reference point to the second reference point, and the Y-axis direction is the direction of the plane normal vector. For example, points can be selected... For the origin and point Establish a new coordinate system P, with Let X be the direction of the new coordinate system P, and let the plane normal vector be the direction of the new coordinate system P.

[0054] Step S112c: Based on the vector pointing from the first reference point to the second reference point, determine the direction vector of the X-axis, and based on the plane normal vector, determine the direction vector of the Y-axis, and based on the direction vector of the X-axis and the direction vector of the Y-axis, determine the direction vector of the Z-axis.

[0055] In this embodiment, the X-axis direction vector can be determined based on the vector pointing from the first reference point to the second reference point, the Y-axis direction vector can be determined based on the plane normal vector, and the Z-axis direction vector can be determined based on the X-axis and Y-axis direction vectors. Exemplarily, normalization can be performed to obtain the unit vector of the X-direction of the new coordinate system P. unit vector in the Y direction The calculation formulas for both are as follows: ; ; Then, the direction vector of the Z direction of the new coordinate system P can be determined as follows: .

[0056] Step S112d: Based on the direction vectors of the X-axis, Y-axis, and Z-axis, determine the homogeneous transformation matrix of the target coordinate system relative to the machine tool coordinate system of the target CNC machine tool; and based on the homogeneous transformation matrix, transform the plurality of first coordinate point data from the machine tool coordinate system to the target coordinate system to obtain a plurality of new first coordinate point data.

[0057] In this embodiment, after obtaining the direction vectors of the X-axis, Y-axis, and Z-axis, the homogeneous transformation matrix of the target coordinate system relative to the machine tool coordinate system of the target CNC machine tool can be determined based on these vectors. Then, based on the homogeneous transformation matrix, the plurality of first coordinate point data are transformed from the machine tool coordinate system to the target coordinate system, resulting in a plurality of new first coordinate point data. During the transformation process, the Z-axis coordinate value is configured to 0 to achieve the corresponding planar projection. For example, the homogeneous transformation matrix of the new coordinate system P relative to the machine tool coordinate system can be determined. The homogeneous transformation matrix is ​​used to transform all the obtained first coordinate point data into a new coordinate system P. The transformation method is as follows: , =1, 2, 3, 4, 5; in, The index of the coordinate point, i.e. =1,2,3,4,5 For the first Projection of the X coordinates of a point in the new coordinate system P For the first The Y-coordinate projection of a point in the new coordinate system P.

[0058] Step S112e: Determine the center coordinates of the circle containing the plurality of new first coordinates, and transform the center coordinates from the target coordinate system to the machine tool coordinate system to obtain new center coordinates.

[0059] In this embodiment, after obtaining the plurality of new first coordinate point data, the center coordinate point data of the circle containing the plurality of new first coordinate point data can be determined, and the center coordinate point data can be transformed from the target coordinate system to the machine tool coordinate system to obtain new center coordinate point data. For example, the equation of the circle containing the obtained coordinate point in the new coordinate system P can be set as follows: In the formula Let X be the x-coordinate of the circle in the new coordinate system P. Let be the y-coordinate of the circle in the new coordinate system P. The radius of the circle can be obtained from the following formula. , , : ; Based on this, the coordinates of the center of the circle in the new coordinate system P are: , radius is Then transform the center of the circle from the new coordinate system P back to the machine tool coordinate system:

[0060] in, For any constant, The coordinates of the center of the circle in the machine tool coordinate system are the new center coordinate point data.

[0061] Step S112f: Based on the distance between each first coordinate point data and the new center coordinate point data, determine whether the coordinate point corresponding to each first coordinate point data belongs to an abnormal coordinate point, and filter out each coordinate point that belongs to an abnormal coordinate point to obtain at least one non-abnormal first coordinate point.

[0062] In this embodiment, after obtaining the coordinate distances between the new center coordinate points, it can be determined whether each coordinate point corresponding to each of the first coordinate points is an abnormal coordinate point based on the coordinate distance between each of the first coordinate points and the new center coordinate points. Furthermore, each abnormal coordinate point is filtered out to obtain at least one non-abnormal first coordinate point. For example, the distance from each coordinate point to the center of the fitted circle can be calculated. , The calculation formula is: ; in, For the first The X coordinates of each point in the machine tool coordinate system For the first The Y-coordinate of each coordinate point in the machine tool coordinate system For the first The Z-coordinate of each coordinate point in the machine tool coordinate system For the first Calculate the distance from each coordinate point to the center of the fitted circle in the machine tool coordinate system. The calculation formula is , For the first The residuals from the distances of each coordinate point to the center of the fitted circle are used to set a residual threshold. If the residual at a certain coordinate point Greater than the residual threshold This allows us to identify the coordinate point as an abnormal coordinate point and remove it.

[0063] It is understood that the specific method for determining the first center coordinate point data of the target ball head in step S113 above is not limited. For example, in an alternative implementation, in order to ensure the reliability of the determined first center coordinate point data, step S113 above may further include steps S113a and S113b, wherein the specific contents of each step are as follows.

[0064] Step S113a: Based on the data of at least one first coordinate point corresponding to the at least one non-abnormal first coordinate point, determine the center coordinate data of the circle where the at least one non-abnormal first coordinate point is located.

[0065] In this embodiment, the center coordinates of the circle containing the at least one non-abnormal first coordinate point can be determined based on the data of at least one first coordinate point corresponding to the at least one non-abnormal first coordinate point. That is, the center coordinates of the fitted circle can be determined by fitting the data of at least one first coordinate point corresponding to the at least one non-abnormal first coordinate point, thus obtaining the corresponding center coordinate data.

[0066] Step S113b: The center coordinate data of the circle containing the at least one non-abnormal first coordinate point is determined as the first center coordinate point data of the target sphere.

[0067] In this embodiment of the application, the center coordinate data of the circle where the at least one non-abnormal first coordinate point is located can be determined as the first center coordinate point data of the target sphere.

[0068] Secondly, regarding step S120, it should be noted that the specific method for determining the coordinates of each second center point of the target ball head is not limited and can be selected according to actual needs.

[0069] For example, in an alternative implementation, in order to improve the reliability of determining the second center coordinate point data of the target ball head, the above step S120 may further include steps S121, S122 and S123, wherein the specific contents of each step are as follows.

[0070] Step S121: Obtain the second coordinate point dataset obtained by detecting the target ball head through the target probe when the target CNC machine tool starts the tool posture follow-up transformation function.

[0071] In this embodiment, a second coordinate point dataset can be obtained by detecting the target ball head using the target probe when the target CNC machine tool activates its tool posture follow-up function. It should be noted that the second coordinate point dataset can be one or multiple, and the corresponding detection methods can be the same or different.

[0072] Step S122: Based on the multiple second coordinate point data included in the second coordinate point dataset, perform outlier removal processing on the multiple coordinate points corresponding to the multiple second coordinate point data to obtain at least one non-outlier second coordinate point.

[0073] In this embodiment of the application, after obtaining the second coordinate point dataset, outlier removal processing can be performed on the multiple coordinate points corresponding to the multiple second coordinate point data included in the second coordinate point dataset to obtain at least one non-abnormal second coordinate point. For example, when there are multiple second coordinate point datasets, outlier removal processing can be performed on the multiple coordinate points corresponding to the multiple second coordinate point data included in each second coordinate point dataset to obtain at least one non-abnormal second coordinate point corresponding to that second coordinate point dataset. For example, the specific method for obtaining the at least one non-abnormal second coordinate point can refer to the relevant content described above regarding the process of obtaining at least one non-abnormal first coordinate point.

[0074] Step S123: Based on the data of at least one second coordinate point corresponding to the at least one non-abnormal second coordinate point, determine the second center coordinate point data of the target ball head.

[0075] In this embodiment of the application, after obtaining the at least one non-abnormal second coordinate point, the second center coordinate point data of the target ball head can be determined based on the at least one second coordinate point data corresponding to the at least one non-abnormal second coordinate point. For example, when there are multiple second coordinate point datasets, the second center coordinate point data corresponding to each second coordinate point dataset can be determined based on the at least one second coordinate point data corresponding to that dataset. For example, the specific method for obtaining the second center coordinate point data can refer to the relevant content described above regarding the process of obtaining the first center coordinate point data.

[0076] It is understood that the specific method of detecting the second coordinate point dataset in step S121 above is not limited. For example, in an alternative implementation, in order to make full use of the first center coordinate point data so that the RTCP accuracy data of the target CNC machine tool can be determined efficiently and reliably in the subsequent step S130, step S121 above may further include steps S121a, S121b and S121c, the specific contents of each step are as follows.

[0077] Step S121a: After the target CNC machine tool starts the tool posture follow-up transformation function, control the target CNC machine tool to move from the target group coordinates to the first group coordinates.

[0078] In this embodiment, after the target CNC machine tool activates the tool posture follow-up function, the target CNC machine tool can be controlled to move from the target set coordinates to the first set coordinates. The first set of coordinate points is obtained by detecting the target CNC machine tool in the target set coordinates, and both the target set coordinates and the first set coordinates belong to the A / C rotary axis combination. When the target CNC machine tool is a five-axis CNC machine tool, the A rotary axis rotates around the X-axis, and the C rotary axis rotates around the Z-axis.

[0079] Step S121b: Based on the first center coordinate point data, offset the X / Y / Z linear axis coordinate system of the target CNC machine tool to form an offset linear axis coordinate system.

[0080] In this embodiment, after the target CNC machine tool moves from the target set coordinates to the first set coordinates, the X / Y / Z linear axis coordinate system of the target CNC machine tool can be offset based on the first center coordinate point data to form an offset linear axis coordinate system. In this offset linear axis coordinate system, the origin is the coordinate point corresponding to the first center coordinate point data. That is, by offsetting the coordinate system, the center of the sphere can be set to the origin (0, 0, 0). According to the RTCP principle, the subsequently detected center coordinates should theoretically also be (0, 0, 0). If they are not 0, the detected value is the RTCP accuracy deviation of the target CNC machine tool.

[0081] Step S121c: Based on the offset linear axis coordinate system, obtain the second coordinate point dataset obtained by the target probe detecting the target ball head when the target CNC machine tool is located in the first set of coordinates.

[0082] In this embodiment, after forming the offset linear axis coordinate system, a second coordinate point dataset obtained by detecting the target ball head with the target probe when the target CNC machine tool is located in the first set of coordinates can be obtained based on the offset linear axis coordinate system. Specifically, when performing the step of determining the RTCP accuracy data of the target CNC machine tool based on each of the second center coordinate point data, or determining the RTCP accuracy data of the target CNC machine tool based on the first center coordinate point data and each of the second center coordinate point data, i.e., when performing step S130, the second center coordinate point data can be used as the RTCP accuracy data to achieve efficient determination of the RTCP accuracy data.

[0083] It should be noted that after obtaining the dataset of second coordinate points corresponding to the first set of coordinates, the target CNC machine tool can be controlled to move from the first set of coordinates to the second set of coordinates. Then, following the processing logic described above, the dataset of second coordinate points corresponding to the second set of coordinates is obtained. Furthermore, the target CNC machine tool can also be controlled to move from the second set of coordinates to the third set of coordinates. Then, following the processing logic described above, the dataset of second coordinate points corresponding to the third set of coordinates is obtained. Based on this, multiple datasets of second coordinate points corresponding to multiple sets of coordinates can be obtained.

[0084] It is understood that the specific method of detecting the second coordinate point dataset in step S121c above is not limited. For example, in an alternative implementation, in order to reduce the measurement error, i.e. to ensure the reliability of the second coordinate point dataset, step S121c above may further include steps c1 and c2, wherein the specific contents of each step are as follows.

[0085] Step c1: Based on the first set of coordinates, offset the A / C rotary axis coordinate system of the target CNC machine tool to form an offset rotary axis coordinate system, so that the force direction corresponding to the target probe when it touches the target ball head is perpendicular to the tangent of the target ball head.

[0086] In this embodiment of the application, the A / C rotary axis coordinate system of the target CNC machine tool can be offset based on the first set of coordinates to form an offset rotary axis coordinate system, so that the direction of the measuring force corresponding to the target probe when it touches the target ball head is perpendicular to the tangent of the target ball head. In this way, the measurement error can be reduced to a certain extent.

[0087] Step c2: Activate the probe measurement function and control the target CNC machine tool to move according to the offset rotation axis coordinate system, so that the target probe moves to the top of the target ball head and performs measurement at the top to obtain the corresponding coordinates. After descending the target ball head by the radius distance along the Z-axis, obtain the coordinates of the middle of the target ball head after moving along the positive X-axis, the coordinates of the middle of the target ball head after moving along the negative X-axis, the coordinates of the middle of the target ball head after moving along the positive Y-axis, and the coordinates of the middle of the target ball head after moving along the negative Y-axis, so as to obtain the second coordinate point dataset.

[0088] In this embodiment, after forming the offset rotation axis coordinate system, the probe measurement function can be activated, and the target CNC machine tool can be controlled to move according to the offset rotation axis coordinate system, so that the target probe moves to the top of the target ball head and performs measurement at the top to obtain the corresponding coordinates. After descending the target ball head by a radius distance along the Z-axis, the coordinates of the middle of the target ball head after moving along the positive X-axis, the coordinates of the middle of the target ball head after moving along the negative X-axis, the coordinates of the middle of the target ball head after moving along the positive Y-axis, and the coordinates of the middle of the target ball head after moving along the negative Y-axis are obtained to obtain a second coordinate point dataset, such as second coordinate point data including 5 coordinate points. The X / Y / Z linear axis coordinate system is the coordinate system for controlling the linear movement of the target CNC machine tool, and the A / C rotation axis coordinate system is the coordinate system for controlling the angular rotation of the target CNC machine tool.

[0089] Thirdly, regarding step S130, it should be noted that the specific method for determining the RTCP accuracy data of the target CNC machine tool is not limited and can be selected according to actual needs.

[0090] For example, if the first center coordinate point data is not used in determining the second center coordinate point data, the RTCP accuracy data of the target CNC machine tool is determined based on the first center coordinate point data and each of the second center coordinate point data, such as by calculating the coordinate difference between the first center coordinate point data and the second center coordinate point data to obtain the RTCP accuracy data.

[0091] For example, if the first center coordinate point data is used in the process of determining the second center coordinate point data, such as by offsetting the coordinate system based on the first center coordinate point data, the RTCP accuracy data of the target CNC machine tool can be determined based on the second center coordinate point data. For example, the second center coordinate point data can be determined as RTCP accuracy data.

[0092] To facilitate understanding of the above-described method for determining the RTCP accuracy of CNC machine tools, this application embodiment also provides an application example, which may specifically include the following: Step S1: As Figure 3 As shown, the ball head probe 3 (i.e., the target ball head mentioned above) is installed on the magnetic gauge base 2, the magnetic gauge base 2 is installed on the interchangeable worktable 1, and the probe 4 (i.e., the target probe mentioned above) is placed in the tool magazine and automatically called by the machine tool. When precision testing is required, the interchangeable worktable 1 is manually or automatically called into the machine tool that requires precision testing. Once installed, it can be used permanently.

[0093] Step S2: After the interchangeable worktable carrying the ball-head probe enters the machine tool, the pre-compiled measurement program is automatically executed. Without activating the TRAORI command, the machine tool moves to coordinates (A0, C0) and activates the probe measurement function. Figure 4 As shown, the probe moves to the top of the ball head and measures the coordinates (X1, Y1, Z1) at the top. The Z-axis represents the radius distance of the ball head's descent. Then, it moves along the positive X-axis to measure the coordinates (X2, Y2, Z2) at the center of the ball head, and moves along the negative X-axis to measure the coordinates (X3, Y3, Z3) at the center of the ball head. Figure 5 As shown, move the measuring ball head along the positive Y-axis to measure the coordinates (X4, Y4, Z4), and move the measuring ball head along the negative Y-axis to measure the coordinates (X5, Y5, Z5).

[0094] Furthermore, the plane equation is obtained by fitting the measured points. , for Term coefficient, for Term coefficient, For constant terms, the coefficients are calculated as follows: ; ; In the formula and Given a constant matrix, the normal vector of the fitting plane is... for Take point For the origin and point Establish a new coordinate system P, with Let the x-direction of the new coordinate system P be the normal vector of the fitted plane shown, and let the y-direction of the new coordinate system P be the normal vector of the fitted plane shown. Normalize both to obtain the unit vector of the x-direction of the new plane P. unit vector in the y-direction The calculation formula is: ; ; Then the direction vector of the z-direction of the new coordinate system P is The homogeneous transformation matrix of the new coordinate system P relative to the machine tool coordinate system can be obtained. The homogeneous transformation matrix is ​​used to transform all the obtained measurement points into the new coordinate system P. The transformation method is as follows: , =1, 2, 3, 4, 5; In the formula The index of the point is =1,2,3,4,5 For the first The X-coordinate projection of the obtained measurement point in the new coordinate system P For the first The Y-coordinate projection of the obtained measurement point in the new coordinate system P will be the first... Set the Z-coordinate of each measured point in the new coordinate system P to 0, and let the equation of the circle containing the measured points in the new coordinate system P be... In the formula Let X be the x-coordinate of the circle in the new coordinate system P. Let be the y-coordinate of the circle in the new coordinate system P. Let be the radius of the circle, which can be obtained using the following formula: ; The coordinates of the center of the circle in the new coordinate system P are: , radius is Then transform the center of the circle from the new coordinate system P back to the machine tool coordinate system: ; In the formula For any constant, The coordinates of the center of the circle in the machine tool coordinate system; Furthermore, the distances from the measured points to the center of the fitted circle are calculated respectively. The formula is: ; In the formula: For the first The obtained X-coordinate of the measurement point in the machine tool coordinate system For the first The Y-coordinate of the measured point in the machine tool coordinate system For the first The Z-coordinate of the measured point in the machine tool coordinate system For the first Calculate the distance from each measurement point to the center of the fitted circle in the machine tool coordinate system, and then calculate the residual distance from each measurement point to the center of the fitted circle. The calculation formula is , For the first The residuals of the distances from the measured points to the center of the fitted circle are used to set a residual threshold. If the residual at a certain point Greater than the residual threshold If a point is found to be an outlier, it is considered an outlier and removed. After removing the outlier, the previous and current steps are repeated until the center of the circle containing the measured point is obtained after removing all outliers. .

[0095] Step S3: Perform a measurement according to the pre-defined coordinate group. The coordinate group consists of the A-axis and the C-axis. The detection range of the A-axis is Q = |Qmax| + |Qmin|, then the detection step size λ1 = Where Qmax is the positive limit of the A-axis coordinate, Qmin is the negative limit of the A-axis coordinate, λ1 is the detection step distance of the A-axis, and N is the number of detection points on the A-axis; the detection range of the C-axis U = |Umax| + |Umin|, then the detection step distance λ2 = Where Umax is the positive limit of the C-axis coordinate, Umin is the negative limit of the C-axis coordinate, λ2 is the detection step distance of the C-axis, and W is the number of detection points of the C-axis.

[0096] Furthermore, the combinations of coordinate groups are shown in Table 1 below: Table 1 Coordinate Group Table

[0097] Furthermore, after activating the TRAORI function, the machine tool moves to the first set of coordinates (Q1, U1) of the A / C axis combination, and then the sphere center coordinates obtained in step S2 above are used. Assign values ​​to the machine tool coordinate system, and perform X / Y / Z linear axis coordinate system offset (coordinate system offset means setting the center of the sphere to the origin (0, 0, 0). According to the RTCP principle, the subsequently detected center of the sphere should theoretically also be (0, 0, 0). If it is not 0, the detected value is the machine tool RTCP accuracy deviation, which is clear and easy to observe); then assign the first set of coordinates (Q1, U1) of the A / C axis combination to the machine tool coordinate system, and perform A / C rotary axis coordinate system offset (the purpose of performing coordinate system offset is to ensure that the direction of the measuring force when the probe touches the ball head is always perpendicular to the tangential surface of the ball head, reducing measurement errors); activate the probe measurement function, and the machine tool moves according to the offset coordinate system. The measurement steps are similar to step S2 above. The probe moves to the top of the ball head, as shown in the figure. Figure 6 As shown, the coordinates (X6, Y6, Z6) are measured at the top of the ball head. The Z-axis is lowered by the ball head radius. Then, the ball head is moved along the positive X-axis to measure the coordinates (X7, Y7, Z7) at the middle. The ball head is then moved along the negative X-axis to measure the coordinates (X8, Y8, Z8) at the middle. Figure 7 As shown, move along the positive Y-axis to measure the coordinates of the center of the ball (X9, Y9, Z9), and move along the negative Y-axis to measure the coordinates of the center of the ball (X10, Y10, Z10). Then, using the same data filtering method and fitted circle calculation as in step S2 above, calculate the center coordinates of the ball (X11, Y11, Z11) of the first set of coordinates.

[0098] Furthermore, after enabling the TRAORI function, the machine tool moves sequentially from the second set of coordinates (Q2, U2) to the Lth set of coordinates (QN, UW) of the A / C axis combination. Then, following the same coordinate system offset and measurement method as the first set of coordinates (Q1, U1) mentioned above, the sphere center coordinates (X21, Y21, Z21), ..., (XL1, YL1, ZL1) from the second set of coordinates to the Lth set of coordinates are obtained sequentially.

[0099] Step S4: Automatically output the accuracy test data as text. The text content should include the test time, coordinate points, and corresponding RTCP accuracy deviation, presented as a step error of the CNC machine tool RTCP accuracy spatial grid, for easy viewing by operators and maintenance personnel. The text format is shown in Table 2 below: Table 2 RTCP Accuracy Deviation Table

[0100] Furthermore, the CNC system panel displays a message indicating "Precision testing complete"; Furthermore, operators and maintenance personnel check the accuracy output text according to system prompts, matching the maximum movement angle of the machining trajectory with the coordinate angle in the text. They then compare the detected accuracy error at that angle with the contour error of the machined part. If the contour error of the machined part is greater than or equal to the detected accuracy error, the machining requirements are met; if the contour error of the machined part is less than the detected accuracy error, the machining requirements are not met. Unlike the traditional method of judging based on the maximum accuracy error across the entire stroke, some parts have small AC axis machining angles. As long as the machine tool accuracy at this angle is less than the contour error of the machined part, machining is sufficient. Therefore, the accuracy adaptation method of this application is more conducive to determining whether the machine tool meets the machining requirements.

[0101] Combination Figure 8 This application also provides a CNC machine tool RTCP accuracy determination device applicable to the aforementioned electronic equipment. The CNC machine tool RTCP accuracy determination device may include a first coordinate acquisition module, a second coordinate acquisition module, and an RTCP accuracy determination module.

[0102] The first coordinate acquisition module is used to acquire a first coordinate point dataset obtained by detecting the target ball head through a target probe when the tool posture follow-up function of the target CNC machine tool is not activated, and to determine the first center coordinate point data of the target ball head based on the multiple first coordinate point data included in the first coordinate point dataset, wherein the multiple first coordinate point data correspond to multiple coordinate points on the target ball head. In this embodiment of the application, the first coordinate acquisition module can be used to perform... Figure 2For details regarding step S110 shown, please refer to the previous description of step S110 for information about the first coordinate acquisition module.

[0103] The second coordinate acquisition module is used to acquire at least one second coordinate point dataset obtained by detecting the target ball head through the target probe when the target CNC machine tool starts the tool posture follow-up transformation function, and to determine each second center coordinate point data of the target ball head based on the multiple second coordinate point data included in each second coordinate point dataset, wherein the multiple second coordinate point data corresponds to multiple coordinate points on the target ball head. In this embodiment of the application, the second coordinate acquisition module can be used to perform... Figure 2 The relevant content regarding the second coordinate acquisition module in step S120 shown can be found in the previous description of step S120.

[0104] The RTCP accuracy determination module is used to determine the RTCP accuracy data of the target CNC machine tool based on each of the second center coordinate point data, or to determine the RTCP accuracy data of the target CNC machine tool based on the first center coordinate point data and each of the second center coordinate point data. In this embodiment, the RTCP accuracy determination module can be used to perform... Figure 2 The relevant content regarding the RTCP accuracy determination module in step S130 shown can be found in the previous description of step S130.

[0105] In this embodiment of the application, corresponding to the above-described method for determining the accuracy of a CNC machine tool using RTCP applied to the electronic device, a computer-readable storage medium is also provided. This computer-readable storage medium stores a computer program, which executes each step of the method for determining the accuracy of a CNC machine tool using RTCP when it is run.

[0106] The steps executed by the aforementioned computer program during runtime will not be described in detail here, but can be found in the explanation of the RTCP accuracy determination method for CNC machine tools described above.

[0107] In summary, the CNC machine tool RTCP accuracy determination method, apparatus, equipment, and medium provided in this application firstly acquire a first coordinate point dataset detected when the tool posture follow-up transformation function is not activated, and determine a first center coordinate point based on multiple first coordinate point data included in the first coordinate point dataset; secondly, acquire at least one second coordinate point dataset detected when the tool posture follow-up transformation function is activated, and determine each second center coordinate point based on multiple second coordinate point data included in each second coordinate point dataset; then, determine the RTCP accuracy data of the target CNC machine tool based at least on each second center coordinate point data. Based on the above, since automatic detection can be achieved, eliminating reliance on manual detection by professionals, efficiency is higher, and the consistency and stability of accuracy detection can be guaranteed. Therefore, it can improve the problems of low efficiency and inability to guarantee the consistency and stability of accuracy detection in existing technologies.

[0108] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus and method embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0109] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0110] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, electronic device, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks. It should be noted that, in this document, 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 a process, method, article, or apparatus.

[0111] 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. A method for determining the RTCP accuracy of a CNC machine tool, characterized in that, include: The first coordinate point dataset is obtained by detecting the target ball head through the target probe when the tool posture follow-up transformation function is not activated on the target CNC machine tool. Based on the multiple first coordinate point data included in the first coordinate point dataset, the first center coordinate point data of the target ball head is determined, wherein the multiple first coordinate point data corresponds to multiple coordinate points on the target ball head. After the target CNC machine tool activates the tool posture follow-up function, it is controlled to move from the target set coordinates to the first set coordinates. The first set of coordinate points is obtained by detecting the target CNC machine tool in the target set coordinates, and both the target set coordinates and the first set coordinates belong to the A / C rotary axis combination. When the target CNC machine tool is a five-axis CNC machine tool, the A rotary axis rotates around the X-axis, and the C rotary axis rotates around the Z-axis. Based on the first center coordinate point data, the X / Y / Z linear axis coordinate system of the target CNC machine tool is offset to form an offset linear axis coordinate system. In the offset linear axis coordinate system, the origin is the coordinate point corresponding to the first center coordinate point data; based on the offset linear axis coordinate system, a second coordinate point dataset is obtained by detecting the target ball head through the target probe when the target CNC machine tool is located in the first set of coordinates; based on the multiple second coordinate point data included in the second coordinate point dataset, anomaly removal processing is performed on the multiple coordinate points corresponding to the multiple second coordinate point data to obtain at least one non-abnormal second coordinate point; based on the at least one non-abnormal second coordinate point corresponding to at least one second coordinate point data, the second center coordinate point data of the target ball head is determined; The data of the second center coordinate point is used as the RTCP precision data.

2. The method for determining the RTCP accuracy of CNC machine tools according to claim 1, characterized in that, The steps of acquiring the first coordinate point dataset obtained by detecting the target ball head through the target probe when the tool posture follow-up function of the target CNC machine tool is not activated, and determining the first center coordinate point data of the target ball head based on the multiple first coordinate point data included in the first coordinate point dataset, include: The dataset of the first coordinate points is obtained by detecting the target ball head through the target probe when the tool posture follow-up function is not activated on the target CNC machine tool; Based on the multiple first coordinate point data included in the first coordinate point dataset, anomaly removal processing is performed on the multiple coordinate points corresponding to the multiple first coordinate point data to obtain at least one non-abnormal first coordinate point. Based on the data of at least one first coordinate point corresponding to the at least one non-abnormal first coordinate point, the first center coordinate point data of the target ball head is determined.

3. The method for determining the RTCP accuracy of CNC machine tools according to claim 2, characterized in that, The step of removing outliers from multiple coordinate points corresponding to the multiple coordinate points in the first coordinate point dataset to obtain at least one non-outlier first coordinate point includes: Based on the multiple first coordinate point data included in the first coordinate point dataset, a plane fitting is performed to obtain the target fitting plane, and the plane normal vector of the target fitting plane is determined. Based on the equation parameters characterizing the target fitting plane, a first reference point and a second reference point are determined, and based on the first reference point, the second reference point and the plane normal vector, a target coordinate system is determined, wherein in the target coordinate system, the origin is the first reference point, the direction of the X-axis is the direction from the first reference point to the second reference point, and the direction of the Y-axis is the direction of the plane normal vector; Based on the vector pointing from the first reference point to the second reference point, the direction vector of the X-axis is determined, and based on the plane normal vector, the direction vector of the Y-axis is determined, and based on the direction vector of the X-axis and the direction vector of the Y-axis, the direction vector of the Z-axis is determined. Based on the direction vectors of the X-axis, Y-axis, and Z-axis, a homogeneous transformation matrix is ​​determined relative to the machine tool coordinate system of the target coordinate system. Based on the homogeneous transformation matrix, the plurality of first coordinate point data are transformed from the machine tool coordinate system to the target coordinate system to obtain a plurality of new first coordinate point data. During the transformation process, the Z-axis coordinate value is configured to 0. The center coordinates of the circle containing the plurality of new first coordinate points are determined, and the center coordinates are transformed from the target coordinate system to the machine tool coordinate system to obtain new center coordinates. Based on the distance between each first coordinate point data and the new center coordinate point data, determine whether the coordinate point corresponding to each first coordinate point data belongs to an abnormal coordinate point, and filter out each coordinate point that belongs to an abnormal coordinate point to obtain at least one non-abnormal first coordinate point.

4. The method for determining the RTCP accuracy of CNC machine tools according to claim 2, characterized in that, The step of determining the first center coordinate point data of the target ball head based on the first or at least one first coordinate point data corresponding to the at least one non-abnormal first coordinate point includes: Based on the data of at least one first coordinate point corresponding to the at least one non-abnormal first coordinate point, the center coordinate data of the circle where the at least one non-abnormal first coordinate point is located are determined. The center coordinates of the circle containing the at least one non-abnormal first coordinate point are determined as the first center coordinates of the target sphere.

5. The method for determining the RTCP accuracy of CNC machine tools according to claim 1, characterized in that, The step of obtaining the second coordinate point dataset obtained by detecting the target ball head with the target probe when the target CNC machine tool is located in the first set of coordinates based on the offset linear axis coordinate system includes: Based on the first set of coordinates, the A / C rotary axis coordinate system of the target CNC machine tool is offset to form an offset rotary axis coordinate system, so that the force direction corresponding to the target probe when it touches the target ball head is perpendicular to the tangent of the target ball head; The probe measurement function is activated, and the target CNC machine tool is controlled to move according to the offset rotation axis coordinate system, so that the target probe moves to the top of the target ball head and measures at the top to obtain the corresponding coordinates. After the target ball head is lowered by a radius distance along the Z axis, the coordinates of the middle of the target ball head after moving along the positive X axis, the coordinates of the middle of the target ball head after moving along the negative X axis, the coordinates of the middle of the target ball head after moving along the positive Y axis, and the coordinates of the middle of the target ball head after moving along the negative Y axis are obtained to obtain the second coordinate point dataset. The X / Y / Z linear axis coordinate system is the coordinate system that controls the target CNC machine tool to move linearly, and the A / C rotation axis coordinate system is the coordinate system that controls the target CNC machine tool to rotate angularly.

6. A CNC machine tool RTCP accuracy determination device, characterized in that, include: The first coordinate acquisition module is used to acquire a first coordinate point dataset obtained by detecting the target ball head through the target probe when the tool posture follow-up transformation function of the target CNC machine tool is not activated, and to determine the first center coordinate point data of the target ball head based on the multiple first coordinate point data included in the first coordinate point dataset, wherein the multiple first coordinate point data corresponds to multiple coordinate points on the target ball head; The second coordinate acquisition module is used to control the target CNC machine tool to move from the target set coordinates to the first set coordinates after the target CNC machine tool activates the tool posture follow-up transformation function. The first coordinate point dataset is obtained by detecting the target CNC machine tool in the target set coordinates, and both the target set coordinates and the first set coordinates belong to the A / C rotary axis combination. When the target CNC machine tool is a five-axis CNC machine tool, the A rotary axis rotates around the X-axis, and the C rotary axis rotates around the Z-axis. Based on the first center coordinate point data, the X / Y / Z linear axis coordinate system of the target CNC machine tool is offset to form an offset linear axis coordinate system. In the offset linear axis coordinate system, the origin is the coordinate point corresponding to the first center coordinate point data; based on the offset linear axis coordinate system, a second coordinate point dataset is obtained by detecting the target ball head through the target probe when the target CNC machine tool is located in the first set of coordinates; based on the multiple second coordinate point data included in the second coordinate point dataset, anomaly removal processing is performed on the multiple coordinate points corresponding to the multiple second coordinate point data to obtain at least one non-abnormal second coordinate point; based on the at least one non-abnormal second coordinate point corresponding to at least one second coordinate point data, the second center coordinate point data of the target ball head is determined; The RTCP accuracy determination module is used to use the second center coordinate point data as RTCP accuracy data.

7. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor connected to the memory is used to execute the computer program stored in the memory to implement the CNC machine tool RTCP accuracy determination method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium contains a computer program that, when executed, performs the CNC machine tool RTCP accuracy determination method according to any one of claims 1-5.

Images