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CN-121989100-A - Error measurement method and device for rotating shaft of five-axis machine tool and electronic equipment

CN121989100ACN 121989100 ACN121989100 ACN 121989100ACN-121989100-A

Abstract

The application provides an error measurement method, device and electronic equipment of a rotating shaft of a five-axis machine tool, and relates to the technical field of machine tools, wherein the method comprises the steps of fixing a five-axis machine tool workbench around a second rotating shaft direction and rotating the workbench around a first rotating shaft, and determining the error of the first rotating shaft according to the relative position between a connecting line of first positions of two measuring balls on the workbench and the first rotating shaft under the condition that the workbench rotates around the first rotating shaft to a first angle; the workbench is fixed around the first rotation axis direction and rotates around the second rotation axis, and under the condition that the workbench rotates around the second rotation axis to a second angle, the error of the second rotation axis is determined according to the relative position between the connecting line of the second positions of the two measuring balls and the second rotation axis and the workbench plane. According to the embodiment of the application, the error of the two rotating shafts is calculated according to the relative position between the connecting line of the two measuring balls and the two rotating shafts, so that the equipment cost is reduced, and the measuring cost is further reduced.

Inventors

  • YANG CE
  • ZHANG LANG
  • LIU WEI
  • LIU CHUANG
  • ZHONG MINGWEI

Assignees

  • 北京发那科机电有限公司

Dates

Publication Date
20260508
Application Date
20260211

Claims (15)

  1. 1. An error measurement method of a rotating shaft of a five-axis machine tool, characterized in that the five-axis machine tool comprises a first rotating shaft and a second rotating shaft, the method comprising: Fixing a workbench of a five-axis machine tool around the direction of the second rotation axis and rotating around the first rotation axis, and determining an error of the first rotation axis according to a first connecting line of first positions of two measuring balls mounted on the workbench and the first rotation axis under the condition that the workbench rotates around the first rotation axis to a first angle, wherein the two measuring balls are fixed on the workbench through a fixing rod; Fixing the workbench around the direction of the first rotation shaft and rotating around the second rotation shaft, and determining the error of the second rotation shaft according to the relative position between a second connecting line of the second positions of the two measuring balls and the second rotation shaft and the plane of the workbench when the workbench rotates around the second rotation shaft to a second angle; The second rotating shaft is a geometric center line of the workbench, and the first rotating shaft is a shaft perpendicular to the geometric center line.
  2. 2. The method of claim 1, wherein the fixing the table of the five-axis machine about the second axis of rotation and the rotating about the first axis of rotation comprises at least one of: fixing a workbench of the five-axis machine tool around the direction of the second rotation axis and rotating the workbench clockwise around the first rotation axis; fixing a workbench of the five-axis machine tool around the direction of the second rotation axis and rotating around the first rotation axis in the anticlockwise direction; The fixing the workbench around the direction of the first rotation shaft and rotating around the second rotation shaft comprises at least one of the following steps: Fixing the workbench around the direction of the first rotation shaft and rotating around the second rotation shaft clockwise; the table is fixed in a direction around the first rotation axis and rotated counterclockwise around the second rotation axis.
  3. 3. The method of claim 1, wherein the fixing the table of the five-axis machine about the second axis of rotation and the rotating about the first axis of rotation comprises: Controlling the workbench to rotate around the first rotation shaft under the condition that the workbench of the five-axis machine tool is sequentially fixed at any one of a plurality of angles around the second rotation shaft; the fixing the workbench around the direction of the first rotation shaft and the rotation around the second rotation shaft comprises: and controlling the workbench to rotate around the second rotation shaft under the condition that the workbench is sequentially fixed at any one of the angles around the first rotation shaft.
  4. 4. The method of claim 1, further comprising at least one of: Calculating a first height difference of the two measuring balls under the condition that the angle of the workbench around the second rotating shaft is a first preset angle and the angle of the workbench around the first rotating shaft is a second preset angle, and correcting coordinate data of any one of the two measuring balls based on the first height difference to obtain the first positions of the two measuring balls; And calculating a second height difference of the two measuring balls under the condition that the angle of the workbench around the second rotating shaft is a third preset angle and the angle of the workbench around the first rotating shaft is a fourth preset angle, and correcting coordinate data of any one of the two measuring balls based on the second height difference to obtain the second positions of the two measuring balls.
  5. 5. The method according to any one of claims 1 to 4, wherein determining the error of the first rotation axis from the relative position between the first line of the first positions of the two measuring balls mounted on the table and the first rotation axis comprises: Acquiring a first connecting vector of two measuring balls according to first positions of the two measuring balls mounted on the workbench; Acquiring a projection vector of the first connecting vector under a coordinate system corresponding to the first rotation axis, and determining an actual angle of the first rotation axis based on the projection vector; And determining an angle error of the first rotating shaft at the current position based on the actual angle and a reference angle between a second connecting line vector of the two measuring balls and the first rotating shaft, wherein the reference angle is an angle between the second connecting line vector of the two measuring balls and the first rotating shaft when the angle of the workbench around the first rotating shaft is a second preset angle.
  6. 6. The method of claim 5, wherein the method further comprises: Acquiring a first track of a first measuring ball in the two measuring balls rotating around the first rotating shaft and a second track of the first connecting vector rotating around the first rotating shaft, and acquiring a first circle center of the first track and a second circle center of the second track; an average axis error of the first rotation axis is determined based on the first center of circle and the second center of circle.
  7. 7. The method of claim 6, wherein after the determining the average axis error of the first rotation axis, the method further comprises: determining a theoretical position of the two measuring balls based on an average axis error of the first rotating shaft; acquiring actual positions of the two measuring balls; And determining an error of the first rotation axis at a current position based on the theoretical position and the actual position.
  8. 8. The method according to any one of claims 1 to 4, wherein determining the error of the second rotation axis from the second line of the second positions of the two measuring balls, the plane in which the table lies, and the relative position between the second rotation axes comprises: acquiring a third connecting line vector of the two measuring balls according to the second positions of the two measuring balls; Obtaining a projection vector of the third connecting line vector under a coordinate system corresponding to the second rotation axis, and determining an actual angle of the second rotation axis based on the projection vector; and determining an angle error of the second rotating shaft at the current position based on the actual angle and a reference angle between a fourth connecting line vector of the two measuring balls and the second rotating shaft, wherein the reference angle is an angle between the fourth connecting line vector of the two measuring balls and the second rotating shaft when the angle of the workbench around the second rotating shaft is a third preset angle.
  9. 9. The method of claim 8, wherein the method further comprises: Acquiring the track of a first measuring ball of the two measuring balls under the condition that the workbench rotates to the first angle around the first rotating shaft and rotates to the second angle around the second rotating shaft respectively, and determining the axis position and the vector of the second rotating shaft based on the track; An average axis error of the second rotating shaft is determined using the axis position and the vector.
  10. 10. The method according to claim 9, wherein the method further comprises: and determining the average axis superposition error of the second rotating shaft according to the average axis error of the second rotating shaft.
  11. 11. The method of claim 8, wherein the method further comprises: Determining N measuring points on the workbench, and correcting coordinate data of at least one measuring point in the N measuring points based on the height difference among the N measuring points, wherein N is an integer greater than 1; determining the connecting line vectors of the N measuring points based on the corrected coordinate data; Determining the theoretical position of the coordinate system corresponding to the workbench by using the connecting line vectors of the N measuring points and the third connecting line vector; and determining the error of the second rotating shaft at the current position based on the difference value between the theoretical position and the actual position of the coordinate system.
  12. 12. An error measurement device for a rotating shaft of a five-axis machine tool, wherein the five-axis machine tool comprises a first rotating shaft and a second rotating shaft, and the device comprises: the first determining module is used for fixing a workbench of the five-axis machine tool around the direction of the second rotating shaft and rotating the workbench around the first rotating shaft, and determining an error of the first rotating shaft according to a first connecting line of first positions of two measuring balls mounted on the workbench and the first rotating shaft when the workbench rotates to a first angle around the first rotating shaft, wherein the two measuring balls are fixed on the workbench through fixing rods; The second determining module is used for fixing the direction of the workbench around the first rotating shaft and rotating the workbench around the second rotating shaft, and determining an error of the second rotating shaft according to the relative position between a second connecting line of the second positions of the two measuring balls and the second rotating shaft and the plane of the workbench when the workbench rotates to a second angle around the second rotating shaft; The second rotating shaft is a geometric center line of the workbench, and the first rotating shaft is a shaft perpendicular to the geometric center line.
  13. 13. An electronic device comprising a processor and a memory storing a program or instructions executable on the processor, which when executed by the processor, implement the steps of the error measurement method of the rotating shaft of a five-axis machine tool according to any one of claims 1 to 11.
  14. 14. A readable storage medium, characterized in that the readable storage medium has stored thereon a program or instructions which, when executed by a processor, implement the steps of the error measurement method of the rotation axis of a five-axis machine tool according to any one of claims 1 to 11.
  15. 15. A computer program product comprising computer instructions which, when executed by a processor, implement the steps of the error measurement method of the rotating shaft of a five-axis machine tool according to any one of claims 1 to 11.

Description

Error measurement method and device for rotating shaft of five-axis machine tool and electronic equipment Technical Field The present application relates to the field of machine tools, and in particular, to a method and an apparatus for measuring errors of a rotating shaft of a five-axis machine tool, and an electronic device. Background Error detection of a five-axis machine tool rotating table is an important link for guaranteeing machining precision. At present, error detection of a rotary table of a five-axis machine tool is generally carried out by a laser tracker or a ball rod tracker, three-dimensional position data is obtained by utilizing angle information of an angle positioning device and distance information obtained by laser beam measurement, and a rotary shaft error is further solved by multi-position measurement. However, the measuring equipment corresponding to the measuring mode has high cost, which results in the problem of high measuring cost. Disclosure of Invention The embodiment of the application provides an error measurement method and device for a rotating shaft of a five-axis machine tool and electronic equipment, and aims to solve the problem of high measurement cost of rotating shaft error measurement. In order to solve the technical problems, the application is realized as follows: in a first aspect, an embodiment of the present application provides an error measurement method for a rotation axis of a five-axis machine tool, the method including: Fixing a workbench of a five-axis machine tool around the direction of the second rotation axis and rotating around the first rotation axis, and determining an error of the first rotation axis according to a first connecting line of first positions of two measuring balls mounted on the workbench and the first rotation axis under the condition that the workbench rotates around the first rotation axis to a first angle, wherein the two measuring balls are fixed on the workbench through a fixing rod; Fixing the workbench around the direction of the first rotation shaft and rotating around the second rotation shaft, and determining the error of the second rotation shaft according to the relative position between a second connecting line of the second positions of the two measuring balls and the second rotation shaft and the plane of the workbench when the workbench rotates around the second rotation shaft to a second angle; The second rotating shaft is a geometric center line of the workbench, and the first rotating shaft is a shaft perpendicular to the geometric center line. In a second aspect, an embodiment of the present application provides an error measurement apparatus for a rotating shaft of a five-axis machine tool, the apparatus including: The first determining module is used for fixing the workbench of the five-axis machine tool around the direction of the second rotating shaft and rotating around the first rotating shaft, and determining the error of the first rotating shaft according to the relative position between a first connecting line of the first positions of two measuring balls arranged on the workbench and the first rotating shaft when the workbench rotates around the first rotating shaft to a first angle, wherein the two measuring balls are fixed on the workbench through a fixing rod; The second determining module is used for fixing the direction of the workbench around the first rotating shaft and rotating the workbench around the second rotating shaft, and determining an error of the second rotating shaft according to the relative position between a second connecting line of the second positions of the two measuring balls and the second rotating shaft and the plane of the workbench when the workbench rotates to a second angle around the second rotating shaft; The second rotating shaft is a geometric center line of the workbench, and the first rotating shaft is a shaft perpendicular to the geometric center line. In a third aspect, an embodiment of the present application provides an electronic device, including a processor, a memory, and a program stored in the memory and executable on the processor, where the program when executed by the processor implements the steps of the error measurement method for the rotation axis of the five-axis machine tool according to the first aspect. In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, on which a computer program is stored, the computer program implementing the steps of the error measurement method for a rotating shaft of a five-axis machine tool according to the first aspect when executed by a processor. In a fifth aspect, there is provided a computer program product comprising computer instructions which, when executed by a processor, implement the steps of the error measurement method of the rotating shaft of a five-axis machine tool as described in the first aspect. According to the embodiment of the application, th