CN-116841248-B - Five-axis linkage calibration system and method

CN116841248BCN 116841248 BCN116841248 BCN 116841248BCN-116841248-B

Abstract

The invention discloses a five-axis linkage calibration system and method, wherein the system comprises a base, a Y-axis module, a V-axis module and a U-axis module, wherein the Y-axis module is arranged on the base and provided with a Y-axis output end, the V-axis module and the U-axis module are arranged on the Y-axis output end and provided with a V-axis output end, the U-axis module is arranged on the V-axis output end and provided with a U-axis output end, the U-axis output end is used for setting a calibration element, the Z-axis module and the X-axis module are arranged on the base and provided with an X-axis output end, the Z-axis module is arranged on the X-axis output end and provided with a Z-axis output end, the Z-axis output end is used for setting a measurement piece for measuring the actual coordinates of the calibration element, and the controller is used for controlling the respective output ends to act according to the theoretical coordinates of the calibration element to drive the calibration element and the measurement piece to confirm the comprehensive deviation according to the theoretical coordinates and the actual coordinates. The invention effectively solves the problem that in the prior art, the theoretical coordinates and the actual coordinates of the workpiece are inconsistent due to the accumulation of deviation of five-axis linkage.

Inventors

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Assignees

江苏立导科技有限公司

Dates

Publication Date: 20260508
Application Date: 20230608

Claims (14)

1. A five-axis linkage calibration system, comprising: A base; the Y-axis module is arranged on the base and is provided with a Y-axis output end capable of outputting motion along the Y-axis direction; The device comprises a V-axis module and a U-axis module, wherein the V-axis module is arranged at the Y-axis output end, the V-axis module is provided with a V-axis output end capable of outputting rotary motion around the V-axis direction, the U-axis module is arranged at the V-axis output end, the U-axis module is provided with a U-axis output end capable of outputting rotary motion around the U-axis direction, and the U-axis output end is used for arranging a calibration element or a workpiece; the X-axis module is arranged on the base, the X-axis module is provided with an X-axis output end capable of outputting motion along the X-axis direction, the Z-axis module is arranged on the X-axis output end, the Z-axis module is provided with a Z-axis output end capable of outputting motion along the Z-axis direction, and the Z-axis output end is used for arranging a measuring piece for measuring the actual coordinates of the calibration element or a workpiece for processing the workpiece; The controller is used for controlling the X-axis output end, the Y-axis output end, the Z-axis output end, the V-axis output end and the U-axis output end to act respectively according to the theoretical coordinates of the calibration element so as to drive the calibration element and the measuring element to act, and is also used for confirming comprehensive deviation according to the theoretical coordinates and the actual coordinates after the calibration element acts; The controller is specifically configured to control the Y-axis output end, the V-axis output end, and the U-axis output end to act according to theoretical coordinates of the calibration element so as to drive the calibration element to act, and control the X-axis output end and the Z-axis output end to act so as to drive the measurement element to act.
2. The five-axis linkage calibration system according to claim 1, wherein the V-axis module and the U-axis module together form a carrier, at least two carriers are arranged at intervals in the X-axis direction, and at least two Y-axis modules are arranged in the same number and corresponding positions as the carriers.
3. The five-axis linkage calibration system according to claim 2, wherein a plurality of Z-axis modules which are the same as the carriers in number and correspond to each other in position are arranged on the X-axis output end.
4. A five-axis linkage calibration system according to any one of claims 1 to 3 wherein the X-axis and/or Y-axis modules comprise a displacement detector for measuring the movement displacement of the X-axis and/or Y-axis outputs.
5. A five axis linkage calibration system according to any one of claims 1 to 3 wherein the X-axis and/or Y-axis modules further comprise zero confirmation means for confirming that the X-axis and/or Y-axis outputs are in a zero position.
6. A five-axis linkage calibration system according to any one of claims 1-3, wherein: The V-axis direction is a horizontal direction, and the U-axis direction is perpendicular to the V-axis direction; and/or the number of the groups of groups, The X-axis direction and the Y-axis direction are both horizontal directions and mutually perpendicular, and the Z-axis direction is a vertical direction.
7. A five-axis linkage calibration system as claimed in any one of claims 1 to 3, further comprising: The Z-axis tool setting gauge is fixed relative to the base in the Z-axis direction and used for calibrating the zero position of the workpiece in the Z-axis direction.
8. The five-axis linkage calibration system of any one of claims 1-3, wherein the X-axis output, the Y-axis output, and the Z-axis output have parallelism and perpendicularity with respect to a horizontal plane; the parallelism is in the range of 0-0.02/300 mm, and/or, The perpendicularity is in the range of 0-0.02/300 mm.
9. The five-axis linkage calibration system according to any one of claims 1 to 3, wherein the X-axis output end, the Y-axis output end and the Z-axis output end have output motion precision of output motion in respective axial directions, and the output motion precision is in a range of-0.001 to +0.001 mm.
10. The five-axis linkage calibration system according to any one of claims 1-3, wherein the V-axis output end and the U-axis output end have rotational motion precision of rotational motion about respective axial outputs, the rotational motion precision being in a range of-0.0015 ° - +0.0015°.
11. A five-axis linkage calibration method, characterized in that the five-axis linkage calibration method is performed by the controller of the five-axis linkage calibration system of any one of claims 1-10, the method comprising: obtaining theoretical coordinates of the calibration element; Controlling the X-axis output end, the Y-axis output end, the Z-axis output end, the V-axis output end and the U-axis output end to act respectively according to the theoretical coordinates so as to drive the calibration element and the measuring piece to act; Acquiring actual coordinates of the calibration element after the action; And confirming the comprehensive deviation according to the actual coordinates and the theoretical coordinates.
12. The five-axis linkage calibration method according to claim 11, wherein, The controlling the X-axis output end, the Y-axis output end, the Z-axis output end, the V-axis output end and the U-axis output end according to the theoretical coordinates to respectively act so as to drive the calibration element and the measuring piece to act comprises: the controller controls the Y-axis output end, the V-axis output end and the U-axis output end to act respectively according to the theoretical coordinates so as to drive the calibration element to move to the position of the theoretical coordinates; and the controller controls the X-axis output end and the Z-axis output end to act respectively according to the theoretical coordinates, so that the measuring piece is positioned right above the theoretical coordinate position of the calibration element.
13. The five-axis linkage calibration method according to claim 11, wherein the determining the integrated deviation according to the actual coordinates and the theoretical coordinates comprises: the controller confirms at least two deviation values according to the difference value between at least two theoretical coordinates and the corresponding actual coordinates, and confirms the average value of the at least two deviation values as the comprehensive deviation.
14. The five-axis linkage calibration method according to claim 11, wherein after the integrated deviation is confirmed according to the actual coordinates and the theoretical coordinates, further comprising: The controller respectively controls the X-axis output end, the Y-axis output end, the Z-axis output end, the V-axis output end and the U-axis output end to respectively act according to the comprehensive deviation so as to compensate the deviation of the calibration element, so that the actual coordinate is equal to the theoretical coordinate.

Description

Five-axis linkage calibration system and method Technical Field The application relates to the technical field of five-axis linkage processing equipment, in particular to a five-axis linkage calibration system and method. Background At present, five-axis linkage processing equipment is applied to a dispensing system, for example, a five-axis linkage multipurpose dispensing platform is disclosed in Chinese patent application with the application publication number of CN 112705416A. However, when the existing five-axis linkage processing equipment is used for calibrating space coordinates, as the five-axis linkage has deviation accumulation and the five-axis deviation accumulation forms comprehensive deviation, the theoretical coordinates and the actual coordinates of the workpiece are inconsistent during processing under the action of the comprehensive deviation, the workpiece cannot be calibrated effectively, and the processing precision of the workpiece can be affected. Disclosure of Invention Aiming at the defects in the prior art, the invention provides a five-axis linkage calibration system and a method, which are used for solving the problem that in the prior art, the theoretical coordinates and the actual coordinates of a workpiece are inconsistent due to deviation accumulation of five-axis linkage. In order to solve the technical problem, in a first aspect, the present invention provides a five-axis linkage calibration system, which includes: A base; the Y-axis module is arranged on the base and is provided with a Y-axis output end capable of outputting motion along the Y-axis direction; The device comprises a V-axis module and a U-axis module, wherein the V-axis module is arranged at the Y-axis output end, the V-axis module is provided with a V-axis output end capable of outputting rotary motion around the V-axis direction, the U-axis module is arranged at the V-axis output end, the U-axis module is provided with a U-axis output end capable of outputting rotary motion around the U-axis direction, and the U-axis output end is used for arranging a calibration element or a workpiece; the X-axis module is arranged on the base, the X-axis module is provided with an X-axis output end capable of outputting motion along the X-axis direction, the Z-axis module is arranged on the X-axis output end, the Z-axis module is provided with a Z-axis output end capable of outputting motion along the Z-axis direction, and the Z-axis output end is used for arranging a measuring piece for measuring the actual coordinates of the calibration element or a workpiece for processing the workpiece; The controller is used for controlling the X-axis output end, the Y-axis output end, the Z-axis output end, the V-axis output end and the U-axis output end to act respectively according to the theoretical coordinates of the calibration element so as to drive the calibration element and the measuring element to act, and the controller is also used for confirming the comprehensive deviation according to the theoretical coordinates and the actual coordinates after the calibration element acts. In a possible implementation manner of the first aspect, the V-axis module and the U-axis module together form a carrier, at least two carriers are arranged at intervals in the X-axis direction, and at least two Y-axis modules are arranged in the same number and in positions corresponding to the carriers. In a possible implementation manner of the first aspect, the X-axis output end is provided with a plurality of Z-axis modules that are the same as the carriers and correspond to each other in position. In a possible implementation manner of the first aspect, the X-axis module and/or the Y-axis module include a displacement detecting member, where the displacement detecting member is configured to measure an action displacement of the X-axis output end and/or the Y-axis output end. In a possible implementation manner of the first aspect, the X-axis module and/or the Y-axis module further include a zero confirmation element, where the zero confirmation element is configured to confirm that the X-axis output end and/or the Y-axis output end are in a zero position. In a possible implementation manner of the first aspect, the V-axis direction is a horizontal direction, and the U-axis direction is perpendicular to the V-axis direction; and/or the number of the groups of groups, The X-axis direction and the Y-axis direction are both horizontal directions and mutually perpendicular, and the Z-axis direction is a vertical direction. In a possible implementation manner of the first aspect, the five-axis linkage calibration system further includes: The Z-axis tool setting gauge is fixed relative to the base in the Z-axis direction and used for calibrating the zero position of the workpiece in the Z-axis direction. In a possible implementation manner of the first aspect, the X-axis output end, the Y-axis output end, and the Z-axis output end have parallelism