74 results about "Contour error" patented technology

The present invention relates to a contour accuracy compensation method and system for a precision hot-press forming mold. The method comprises: delineating grids on a three-dimensional model of a hot-press forming mold to obtain mold surface grid data; performing curvature analysis to obtain a high-curvature region and a low-curvature region; performing high-density sampling on the high-curvature region, and performing low-density sampling on the low-curvature region, so as to obtain a sampling point set; using a coordinate measuring machine to perform three-dimensional coordinate measurement on the sampling point set to obtain surface contour data; performing comparative analysis on the surface contour data and a theoretical model to obtain a contour error distribution; on the basis of the contour error distribution, using an inverse distance weighted interpolation algorithm to perform interpolation operation on an entire mold surface to obtain a mold surface compensation amount distribution; and on the basis of the mold surface compensation amount distribution, correcting the three-dimensional model of the hot-press forming mold to generate a compensated mold processing model. The implementation of the present invention realizes intelligent and automated contour accuracy compensation.

The invention discloses a servo parameter adjusting method, device and equipment of a numerical control machine tool, and relates to the technical field of numerical control machine tools. According to the method, the relation between the part contour error and the position loop gain and the relation between the part contour error and the speed feed-forward coefficient are established, so that interpolation control instructions of all axes for machining of a target part can be operated in advance before actual machining of the part, and interpolation control instruction position sequences of all axes and grating feedback position sequences of part machining are synchronously collected; determining a cutter machining path to predict a part contour error; when the part contour error is unqualified, the position loop gain and the speed feed-forward coefficient are adjusted, the following error of each shaft is changed, the following errors of the shafts are mutually coordinated, the part contour error is reduced on the premise that the machining efficiency is guaranteed, and therefore the machining precision is guaranteed, and the machining efficiency is improved.

The invention provides a digital twinning five-axis machine tool contour error prediction method and system and electronic equipment, and belongs to the technical field of numerical control machine tool precision control and digital twinning. According to the method, servo axis data are collected in real time at a numerical control system end, electromechanical parameters are identified on line, comprehensive disturbance is estimated, and an autoregressive exogenous (ARX) model is updated accordingly; an interpolation instruction is generated in a digital twin body end mirror image numerical control system process, an updated model is utilized to predict a shaft position with deviation, a tool path is obtained through kinematics positive solution, and finally contour errors are calculated through geometric alignment. According to the digital twinning five-axis machine tool contour error prediction method and system and the electronic equipment, dynamic and high-precision prediction of the five-axis machine tool machining track contour error is achieved through the online identification and digital twinning technology, the limitation of a traditional static compensation method is overcome, and the precision of the digital twinning five-axis machine tool contour error prediction is improved. And a key basis is provided for prospective process optimization and precision control, and the machining precision and efficiency are effectively improved.

The invention discloses a joint strengthening contour control method of a robot milling machining system. The joint strengthening contour control method comprises the steps that the robot edge milling machining system is built; a contour error solving strategy based on a switching geometric method and projection factors is established to obtain a contour error compensation target point and a contour error in the motion process of the mechanical arm; an inner ring and outer ring double-layer cascade contour error control strategy is established, a flexible joint mechanical arm system is decomposed into a fast subsystem and a slow subsystem, mechanical arm dynamic system parameters are predicted, an inner ring guarantees the tracking precision of the flexible joint mechanical arm in a joint space based on the fast subsystem and slow subsystem control laws, and an outer ring corrects contour errors. The contour motion precision of the Cartesian space of the mechanical arm is ensured; and adopting a contour error solving strategy and an inner ring and outer ring double-layer cascade contour error control strategy to carry out double-ring cascade contour control on the robot edge milling processing system. The dynamic tracking precision is improved, and the contour precision of the mechanical arm in the moving process is effectively improved.

The invention relates to the technical field of program control, in particular to a reamer machining path intelligent optimization method and system based on artificial intelligence, and the method comprises the following steps: collecting a reamer main shaft load torque and a Z-axis feed current in the process that a reamer cuts into a workpiece, and generating a reaming contact area resistance characterization quantity; and mapping the resistance characterization quantity of the reaming contact area to generate a hardness distribution characteristic value of the workpiece material. According to the method, differential operation is carried out on a generated nonlinear track, the acceleration change rate of the nonlinear track is extracted, the dynamic complexity of a motion state is quantitatively evaluated, the dynamic complexity is combined with a contour error predicted by AI, a dynamically weighted feed-forward compensation amount is formed, and when a motion instruction is complex and the system following capability faces challenges, the compensation effect is enhanced; according to the predictive compensation mechanism, active suppression can be carried out before the servo error actually occurs, and the contour tracking precision of a complex nonlinear instruction is improved.

The invention discloses a micro-structure ultra-precision cutting method, and relates to the technical field of ultra-precision machining. Comprising the following steps that a contour error pre-compensation model is constructed based on an overall transfer function of a tool servo system, and the tool servo system comprises a fast tool servo system and a slow tool servo system; based on a frequency decomposition method, decomposing a processing track obtained by the contour error pre-compensation model to obtain a high-frequency small-amplitude track and a low-frequency large-amplitude track; and the high-frequency small-amplitude track is sent to a fast tool servo system, and the low-frequency large-amplitude track is sent to a slow tool servo system for cutting machining. According to the method, the requirement for machining precision can be met while the machining efficiency of the complex curved surface microstructure is guaranteed.

The invention provides a contour error compensation method, system and device for a laser galvanometer flight processing system and a medium, and belongs to the technical field of laser galvanometer flight processing. Analyzing the contour error, and judging whether the contour error is within the maximum compensation range of the micro-platform; if the contour error is not within the range, performing iterative compensation by adjusting the control input of the macro platform, and adjusting the contour error until the contour error is reduced to be within the maximum compensation range of the micro platform; when the contour error meets the maximum compensation range condition of the micro-platform, introducing the error amount generated by the macro-platform into a motion instruction of the micro-platform, and completing off-line compensation by the micro-platform; and verifying whether the compensated actual position meets the preset position requirement or not, if not, repeatedly executing the compensation process until the compensation precision meets the requirement, and meeting the requirement of machining on the precision.

The present invention discloses a PLCopen-based cross-coupling multi-axis synchronous interpolation control method, encapsulated in a PLCopen motion control function block. The method comprises: determining the coordinates of the starting position of the multi-axis robot's end effector in the Cartesian coordinate system OXY using a forward kinematic transformation based on the acquired initial positions of the joints of each axis of the multi-axis robot; calculating the total interpolation time and real-time theoretical position of the multi-axis robot's end effector using an S-type acceleration and deceleration algorithm based on the coordinates of the starting position and the coordinates of the end point of the target trajectory, where the real-time theoretical position is the coordinate of the current interpolation position; and performing real-time compensation for the interpolation process using a cross-coupling control algorithm until the total interpolation time is completed and the process is terminated. The method can compensate for contour errors generated during the synchronous motion of each axis of the multi-axis robot, improving interpolation accuracy. The method also complies with PLCopen specifications, has strong versatility, and is widely applicable.

The invention belongs to the technical field of robots, and discloses a robot contour error fairing compensation method based on a polynomial spline, and the method comprises the steps: building a robot tail end contour error estimation model, and achieving the position and direction contour error estimation of a robot; calculating through the position and direction contour error of the robot to obtain a robot direct compensation track under a direct contour compensation method; a kinematics non-fairing interval in a direct compensation track of the robot is detected by setting a tail end track acceleration threshold value; and the trajectory in the kinematics non-fairing interval in the direct compensation trajectory of the robot is fairing by designing a polynomial spline. According to the method, the kinematics fluctuation interval in the track can be accurately positioned through an acceleration abrupt change recognition mechanism, and the high-order polynomial is adopted to perform fitting processing in the interval, so that the speed and acceleration abrupt change caused by non-smooth compensation is effectively inhibited, and the continuity and smoothness of the compensation track are improved.

The invention belongs to the technical field of machine tool control, and particularly discloses a machine tool hydrostatic guideway feeding system motion error compensation method and a storage medium. The method comprises the following steps: measuring and acquiring Z-direction error data of the guide rail; processing the data by Fourier series and fitting a guide rail contour error; inputting load, oil pad geometric parameters and guide rail working parameters; a workbench-guide rail balance equation based on consideration of guide rail contour errors is established, and a Z-direction motion error model perpendicular to the feeding direction of a workbench is calculated to serve as a low-fidelity model; the Z-direction deviation ez'and the coordinate Y of the workbench are measured and obtained to serve as a high-fidelity model; constructing a multi-fidelity model by combining the low-fidelity model and the high-fidelity model based on a CO-Kriging method; and inputting the multi-fidelity model into a numerical control system, reading the position of the workbench in real time, substituting the position into the multi-fidelity model, and calculating and compensating the Z-direction motion error of the workbench. The method has the advantages of being easy to operate, high in compensation precision and good in reliability and flexibility.

The application discloses a multi-axis linkage contour error control method based on time delay synchronization, position data of initial reference trajectories and actual trajectories is acquired in the axis coordinate system, the synchronization delay time is calculated according to the position data of the reference trajectories and the actual trajectories, the coupling error is calculated based on the synchronization delay time, the initial trajectory is compensated according to the coupling error, the ideal reference trajectory is obtained to make the delay time synchronization, the new reference trajectory is run, the operation of steps S1-S3 is repeated until the accuracy requirement is met. The application does not need to perform the contour error estimation, avoids the accuracy decline caused by the estimation error, does not need to perform the coordinate transformation of the axis coordinate system and the workpiece coordinate system, and directly performs the compensation in the machine tool coordinate system, so that the application has wide applicability.

The invention provides a numerical control turning adaptive compensation control method based on a contour error prediction model, and belongs to the technical field of numerical control turning compensation control. In order to solve the technical problem that contour errors occur in the numerical control turning machining process, actual contour coordinate values of at least three positions of a workpiece to be detected are collected in an automatic or manual detection mode; on the basis of the collected coordinate values, one of a least square method, an NX curve fitting method and trigonometric function calculation is adopted, arc fitting processing is conducted on the collected data, an arc contour with the minimum error is solved, and the actual contour value of the workpiece is obtained; according to the calculated actual contour value of the workpiece, running a preset program, automatically adjusting a cutter compensation value, and controlling compensation operation; the method is applied to adaptive compensation control of numerical control turning.

The invention relates to the technical field of numerical control machining error compensation, and discloses a ball-end milling cutter contour error compensation method and device, a medium and equipment, and the method comprises the steps: obtaining contour error values between actual cutter contours and theoretical cutter contours of a ball-end milling cutter in a plurality of spatial orientations; an original cutter location file generated based on the theoretical cutter contour is obtained, and the original cutter location file comprises cutter location points and cutting contact points; based on the contour error value, a tool contour error compensation model with the normal direction of the cutting contact point as the compensation direction is established; and correcting the cutter location point coordinates of the cutter location points by using the cutter contour error compensation model to generate a compensated cutter location data file. According to the method, point-by-point compensation is carried out in the normal direction of the cutting contact point based on the multi-azimuth actual measurement contour error, and high-precision and space self-adaptive 3D cutter radius compensation is achieved.

The invention discloses a closed-loop control method of a lathe numerical control system fused with cam wear compensation, and relates to the field of industrial control systems.The method comprises the steps that under the no-load running state of a lathe, multi-source time sequence data are collected; calculating a no-load contour error based on the multi-source time sequence data, inputting the no-load contour error and the temperature signal into the geometric feature extraction model, and outputting a comprehensive contour distortion coefficient; the comprehensive contour distortion coefficient and the current machining process parameters are jointly input into a control parameter compensation model, and the contour height correction amount used for correcting the electronic cam is generated; inputting the contour height correction into a lathe digital twinning performance boundary model for feasibility verification and safety amplitude limiting, and generating a safety compensation instruction; and executing a safety compensation instruction, and optimizing the geometric feature extraction model and the control parameter compensation model according to a processing result. The problems that in the prior art, due to abrasion of an electronic cam pair, instruction execution is distorted, precision is degraded, and accurate recognition of abrasion errors is disturbed are solved.

The invention belongs to the field of five-axis numerical control milling, and discloses a five-axis side milling test piece contour error prediction method considering a tool pose. Comprising the following four steps: establishing a spatial position transformation relation calculation model, calculating the length of a focusing tool and acquiring a track point set, fitting an intelligent algorithm optimized track, calculating a cutting contact track and solving a contour error, and substituting a tool path code of a five-axis side milling machining inspection test piece into a spatial error model considering the tool length. The method comprises the following steps: calculating cutter center point pose data corresponding to the contour of a cutting test piece, carrying out trajectory fitting on the pose data by introducing a spline curve fitting method, improving the precision of the fitting trajectory in combination with a particle swarm optimization algorithm, and finally shifting the cutter along the radius through a homogeneous coordinate transformation method to obtain an actual cutting contact trajectory of the test piece. And high-precision rapid prediction of the contour error of the five-axis machining test piece is realized.

The application discloses a numerical control machine tool control method and system for complex curved surface machining, and relates to the field of numerical control machine tool control. The method comprises the following steps: extracting an original G code instruction stream, reconstructing ideal position instruction sequences and ideal speed instruction sequences of each motion shaft according to a machine tool kinematic chain model; estimating instruction phase lag amounts of each motion shaft through an inter-shaft phase lag predictor; combining geometric curvatures and tangent directions of a machining path, calculating estimated profile error vectors through a profile error coupling mapping model; combining profile accuracy requirement constraints of a surface to be machined and a shaft contribution weight matrix, and constructing a compensation optimization model; and fusing inter-shaft phase compensation instructions and the original G code instruction stream in a numerical control machining program according to a solution of the compensation optimization model, generating a synchronized instruction stream, and driving each shaft of the machine tool to move. The method solves the problems of poor synchronization of multi-shaft cooperative movement, low estimation accuracy, and low adaptability of instructions to mechanical structure characteristics of the machine tool.

The invention provides a five-axis contour error control method based on variable gain iterative learning. The method comprises the following steps: 1, establishing coordinate systems of a five-axis machine tool; 2, constructing a kinematic model of the machine tool by adopting a D-H parameter method; 3, estimating a contour error by using an arc fitting method, and ensuring the synchronism of a tool nose position contour error and a tool attitude contour error through a pose proportion; step 4, correcting the position and attitude of the cutter based on a variable gain iterative learning control algorithm, and adaptively adjusting control input by optimizing learning gain to reduce contour errors; according to the method, the variable gain iterative learning algorithm is introduced, so that the control precision is optimized, the convergence speed is also improved, and the contour error is more effectively inhibited in a complex and high-precision processing scene.

This invention provides a device and method for improving the contour accuracy of a direct-drive XY motion platform servo system, relating to the field of CNC motion control technology. The device includes a rectifier filter circuit, an IPM inverter circuit, a detection circuit, a DSP processor, an IPM isolation protection drive circuit, a host computer, and a direct-drive XY motion platform. The method first calculates the contour error using a reference-adjusted contour error estimation method, which serves as the input to an adaptive nonlinear sliding mode contour controller. Then, the adaptive nonlinear sliding mode contour controller is used to control the contour error, and a nonlinear sliding surface is designed to improve the system's dynamic response speed and contour tracking accuracy. To further reduce the error between the reference model and the actual object, an uncertainty compensator is designed to compensate for uncertainties such as parameter changes, external disturbances, and friction, thereby improving the system's robustness.

The invention discloses a rotor contour error separation method based on seven-error coupling, and relates to a rotor contour error separation method. The problems that in the prior art, error separation is insufficient, and multiple errors cannot be separated at a time are solved. According to the method, firstly, a seven-error model is established, and then error separation is performed based on deep reinforcement learning. According to the method, high-precision and high-efficiency separation of the rotor contour error can be realized. The invention belongs to the technical field of ultra-precision geometric measurement, and is particularly suitable for geometric precision detection and error traceability of a high-precision rotating machinery rotor.

According to the CNC self-adaptive interpolator, on the basis of curve node parameters of the NURBS, through the relation between the curvature change of a curved surface or a curve needing to be machined and the feeding speed of the tool, the feeding speed of the tool is adjusted in real time through a speed look-ahead processing module. The method comprises the following steps: comparing a contour error with a shortest distance error between an actual position point and a point set on a corresponding programming curve, when the feeding speed is too high, the error is too large, the feeding speed needs to be reduced, the feeding speed is obtained by conducting self-adaptive adjustment on the speed and introducing a Gaussian function, and adaptive adjustment of the real-time feeding speed is achieved.

The invention discloses a contour error compensation method and device for a robot, a robot system, a storage medium and a computer program product, and the method comprises the steps: determining a contour error estimation value of a tail end according to the joint angle information of each joint of a multi-joint robot, and inputting the contour error estimation value into a preset PI controller, the contour error estimation value is controlled through a PI controller, a PI control output value is obtained, the PI controller output value is multiplied by the compensation distribution coefficient corresponding to each joint, a joint speed compensation value corresponding to each joint is obtained, the joint speed compensation value corresponding to each joint is applied to the corresponding joint, and the joint speed compensation value corresponding to each joint is obtained. Therefore, the motion of each joint of the multi-joint robot is corrected and compensated. According to the scheme, the contour error of the multi-joint robot is effectively reduced, and the tail end track precision and the motion stability are improved.

The present invention discloses a networked contour tracking controller based on finite-time disturbance estimation for multi-axis contour tracking control of multi-axis automation equipment, including: an input signal internal model, a state feedback controller, an equivalent input disturbance estimator, and a terminal sliding mode observer corresponding to each servo axis, as well as a cross-coupling controller between the axes. The input signal internal model is used to process the input signal to improve the single-axis trajectory tracking accuracy; the state feedback controller calculates the state feedback gain by using the pole placement method; the equivalent input disturbance estimator is used to estimate the total disturbance composed of the system network disturbance and the external disturbance; the terminal sliding mode observer is used to achieve fast estimation of the system state; the cross-coupling controller is used to improve the accuracy of multi-axis contour control; finally, the control input of the contour tracking controller with contour error compensation and total disturbance compensation is obtained. The present invention realizes high-precision contour tracking control of the networked motion system.

The invention discloses a contour error calculation method for numerical control machining equipment, and relates to the technical field of numerical control machining, and the method comprises the steps: taking a time point corresponding to an expected position point as an initial value of a Newton iteration method, determining a potential time interval where a time point corresponding to a minimum value of a contour error evaluation function is located through a gradient descent method, and calculating the contour error of the numerical control machining equipment; the Newton iteration method and the dichotomy are dynamically switched in the potential time interval to accurately solve the target time point, so that the local optimal point closest to the expected position point is quickly and reliably converged, the method has both the speed of the Newton iteration method and the stability of the dichotomy, the reliability and robustness of the contour error calculation result are improved, and the method is suitable for large-scale popularization and application. And a high-efficiency and stable calculation basis is provided for subsequent precision control and real-time compensation of the contour.

This invention discloses a method and system for dynamic task allocation in edge-cloud collaborative computing for the entire CNC machining process. The system includes a process analysis module for real-time identification of process boundaries and technological features; a machining task perception module for automatically generating a list of various computing tasks required for the current process based on process features (including tool wear monitoring, spindle vibration monitoring, thermal error compensation, machining parameter optimization, workpiece quality prediction, contour error compensation, etc.); a process-driven dynamic decision engine for independently deciding whether to allocate each computing task to the edge or the cloud; and a CNC instruction collaboration module for converting the decision results into compensation instructions and writing them into the CNC system. This invention combines process flow features with various computing task types throughout the CNC machining process, achieving refined dynamic allocation at the process and task levels. It also ensures task continuity through the migration of intermediate computing results during process switching, making it suitable for various intelligent application scenarios throughout the entire CNC machining process.

The invention provides a multi-axis numerical control machine tool precision error distribution method and device and belongs to the technical field of medium precision manufacturing and machine tool design. The method comprises the steps that a machine tool comprehensive error transmission model is established; the machine tool comprehensive error transfer model maps the geometric error of each motion axis of the machine tool into a space contour error of a tool nose point relative to a workpiece based on a multi-body system theory and a homogeneous coordinate transformation principle; performing global sensitivity analysis on the comprehensive error transfer model by adopting a Sobol global sensitivity analysis method, and calculating a total global sensitivity coefficient of each geometric error term to the contour error; by taking the total global sensitivity coefficient as a weight, constructing an optimization objective function, setting a constraint condition, and establishing an error allocation optimization model; solving the error allocation optimization model by adopting a heuristic optimization algorithm to obtain a tolerance allocation value of each geometric error term; according to the method, collaborative optimization of precision and cost is achieved, and scientificity and economical efficiency of machine tool design are remarkably improved.

This invention discloses a method and product for contour error compensation in five-axis machining of impeller disk-type parts, relating to the field of precision CNC machining technology. The invention first acquires point cloud data of a preliminary machining sample based on theoretical toolpaths. After preprocessing including denoising and coordinate registration, the actual machining surface is reconstructed. The actual machining surface is then accurately calculated by registering and comparing the data with the theoretical surface. Next, based on the contour deviation value, the toolpath is compensated for using the kinematic characteristics of the five-axis CNC machine tool, and the tool attitude is adjusted. Combined with balancing, adaptive correction of the toolpath is achieved, thus enabling effective control of contour errors in subsequent machining.

This application relates to the field of CNC machine tool servo control technology, and particularly to a method, apparatus, device, medium, and program product for generating machine tool servo parameters. The method includes: acquiring parameter data of the machine tool servo system to be optimized; calculating the actual distortion error value between the input trajectory data and the actual output trajectory data of the machine tool servo system to be optimized based on the parameter data; determining the speed loop proportional gain value and / or speed loop integral gain value of the machine tool servo system to be optimized based on the actual distortion error value, and controlling the machine tool servo system to be optimized to operate according to the speed loop proportional gain value and / or speed loop integral gain value. This solves the problems in related technologies, such as long trial cycles and high costs leading to low equipment utilization; reliance on experience leading to local optima; lack of trajectory spectrum adaptation analysis, requiring readjustment of new trajectories and difficulty in data reuse; and the lack of a quantitative relationship between parameters and contour errors, making it difficult to guide optimization and cross-device adaptation.

The application discloses a super-precision turning profile error prediction method and system of a series attention mechanism, and the method comprises the following steps: acquiring a multi-physical field feature; organizing the feature into a one-dimensional time sequence and inputting the one-dimensional time sequence into a first deep learning prediction model to output a three-direction dynamic cutting force prediction value in a future preset time period; sampling the feature into a multi-channel two-dimensional spatial feature map according to a mapping relationship with a machining surface position, adding the predicted three-direction dynamic cutting force prediction value as an additional feature channel to the two-dimensional spatial feature map, inputting the fused two-dimensional feature map into a second deep learning prediction model, and outputting a two-dimensional machining surface profile error distribution map. The application has the advantages that a long-distance time sequence dependence relationship of a cutting force signal can be effectively captured, a global context correlation is established on a two-dimensional plane, super-precision turning profile error high-precision prediction is realized, and the model generalization capability and physical interpretability are improved.

The invention provides an actuating mechanism speed planning method based on a contour error and duration control, and the method comprises the steps: representing the moving speed of an actuating mechanism, the position of the actuating mechanism, and the curvature of a corresponding reference position point on a set moving track through a contour error mechanism model; and the corresponding relation of the contour error between the position of the execution mechanism and the corresponding reference position point is obtained. And based on the multi-objective optimization function, optimizing a movement sequence when the execution mechanism moves to each reference position point by using an optimization algorithm to obtain an optimal movement sequence. The optimal moving sequence is used for enabling the weighted sum of the total machining time and the total contour error to be minimum when the executing mechanism moves with the set moving track as the reference. The movement control of the execution mechanism is completed according to the optimal movement sequence, and when the curvature of the track is large, the movement speed can be reduced to reduce errors; and when the track is smooth, the moving speed is increased, so that the machining time is shortened. Therefore, the machining precision and the machining efficiency are both considered.

This invention discloses a method, system, and grinding robot for compensating contour errors in robotic grinding, belonging to the field of robotic grinding technology. The method includes: controlling the tool to grind according to a plan to obtain the actual contour of the workpiece after grinding; acquiring the discrete point set of the actual contour; and determining the current tool position P. j The desired profile position N achieved by grinding j Find the line P from the set of discrete points. j N j The nearest point D j Calculate line segment N j D j On line P j N j The projected length on the tool position P is used as the tool position point. j The corresponding contour depth error is calculated; based on each contour depth error, the compensation contact force at the corresponding tool position is calculated, and the sum of the current contact force and the compensation contact force is used as the planned contact force for the next workpiece grinding at the corresponding tool position. The robot grinding contour error compensation method provided by this invention focuses on contact force compensation, and can achieve grinding contour error compensation by replanning the contact force without changing the robot's motion trajectory.