CN114326586A - Geometric error compensation method, device, terminal and computer-readable storage medium - Google Patents
Geometric error compensation method, device, terminal and computer-readable storage medium Download PDFInfo
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Abstract
The invention discloses a geometric error compensation method, a geometric error compensation device, a terminal and a computer readable storage medium, wherein the geometric error compensation method comprises the following steps: establishing an XYZ error compensation model, and acquiring an XYZ error compensation value of the target point according to the XYZ error compensation model; establishing a first angle error compensation model, and acquiring a first angle error compensation value of the target point on a first rotating shaft according to the first angle error compensation model; establishing a second angle error compensation model, and acquiring a second angle error compensation value of the target point on a second rotating shaft according to the second angle error compensation model; and performing error compensation on the XYZ linear translation axis and the two rotation axes on the target point according to the XYZ axis error compensation value, the first angle error compensation value and the second angle error compensation value. The invention realizes effective geometric error compensation of the five-axis linkage laser machine tool so as to improve the machining precision of the machine tool.
Description
Technical Field
The invention relates to the field of laser machine tool error compensation, in particular to a geometric error compensation method, a geometric error compensation device, a geometric error compensation terminal and a computer readable storage medium.
Background
The five-axis linkage laser machine tool is a high-efficiency and high-precision machining numerical control machine tool, is specially used for machining complex curved surfaces, and is one of the most important machining devices in the modern manufacturing industry. But the machining and assembling precision of parts can bring inherent geometric errors to the five-axis linkage laser machine tool. In recent years, with the increasingly wide application of five-axis linkage laser machine tools in the field of complex precision machining, higher and higher requirements are put forward on machine tool machining precision and performance detection, but the problem of exposed machine tool errors becomes an obstacle to further development.
Therefore, through measurement and compensation, the influence of geometric errors is reduced, and the improvement of the machining precision of the machine tool is one of important targets pursued by modern manufacturing science and technology. Compared with a three-translation-axis machine tool, the five-axis linkage laser machine tool has more geometric errors due to the introduction of two rotation axes, and the two rotation axes present a complex coupling relation in measurement compensation, so that the measurement and compensation of the geometric errors of the five-axis linkage laser machine tool are more difficult.
Disclosure of Invention
The invention mainly aims to provide a geometric error compensation method, a geometric error compensation device, a terminal and a computer readable storage medium, and aims to realize effective geometric error compensation on a five-axis linkage laser machine tool so as to improve the machining precision of the machine tool.
In order to achieve the above object, the present invention provides a geometric error compensation method, which comprises the following steps:
establishing an XYZ error compensation model, and acquiring an XYZ error compensation value of the target point according to the XYZ error compensation model;
establishing a first angle error compensation model, and acquiring a first angle error compensation value of the target point on a first rotating shaft according to the first angle error compensation model;
establishing a second angle error compensation model, and acquiring a second angle error compensation value of the target point on a second rotating shaft according to the second angle error compensation model;
and performing error compensation on the XYZ linear translation axis and the two rotation axes on the target point according to the XYZ axis error compensation value, the first angle error compensation value and the second angle error compensation value.
Optionally, in the step of establishing an XYZ error compensation model, the following steps are included:
the method comprises the steps that a mechanical zero point of a five-axis linkage laser machine tool corresponds to a preset original point of a laser tracker, and a space rectangular coordinate system is established;
establishing a spatial geometric body in a spatial rectangular coordinate system, wherein the spatial geometric body comprises N x N cubes, and the original coordinates of each vertex of the cubes in the established spatial rectangular coordinate system are (xi, yi, zi);
acquiring the actual position coordinates of the five-axis linkage laser machine tool moving to each vertex of the cube as (xn, yn, zn) by using the laser tracker;
and (3) establishing an XYZ error compensation model (delta x, delta y and delta z) by taking the difference between the original coordinates and the actual position coordinates, wherein the delta x is xn-xi, the delta y is yn-yi, and the delta z is zn-zi.
Optionally, in the step of obtaining XYZ error compensation values of the target point according to the XYZ error compensation model, the method includes the steps of:
acquiring the cube to which the target point belongs in the space geometry;
and acquiring an XYZ error compensation value of the target point by using a volume weighted average method.
Optionally, in the step of obtaining XYZ error compensation values of the target points by using a volume weighted average method, the method includes:
defining the XYZ error compensation value of the target point as (Px, Py, Pz), then
Px＝V1x*(x2*y2*z2/x*y*z)+V2x*(x2*y1*z2/x*y*z)+V3x*(x2*y2*z1/x*y*z)+V4x*(x2*y1*z1/x*y*z)+V5x*(x1*y2*z2/x*y*z)+V6x*(x1*y1*z2/x*y*z)+V7x*(x1*y2*z1/x*y*z)+V8x*(x1*y1*z1/x*y*z)；
Py＝V1y*(x2*y2*z2/x*y*z)+V2y*(x2*y1*z2/x*y*z)+V3y*(x2*y2*z1/x*y*z)+V4y*(x2*y1*z1/x*y*z)+V5y*(x1*y2*z2/x*y*z)+V6y*(x1*y1*z2/x*y*z)+V7y*(x1*y2*z1/x*y*z)+V8y*(x1*y1*z1/x*y*z)；
Pz＝V1z*(x2*y2*z2/x*y*z)+V2z*(x2*y1*z2/x*y*z)+V3z*(x2*y2*z1/x*y*z)+V4z*(x2*y1*z1/x*y*z)+V5z*(x1*y2*z2/x*y*z)+V6z*(x1*y1*z2/x*y*z)+V7z*(x1*y2*z1/x*y*z)+V8z*(x1*y1*z1/x*y*z)；
(Note that the symbol "represents a multiplication number, meaning that the two are multiplied, the same applies hereinafter)
Wherein, (V1x, V1y, V1z), (V2x, V2y, V2z).. said. (V8x, V8y, V8z) are coordinate values corresponding to 8 vertices (V1, V2.. said. V8) of said cube;
x is the distance of the cube in the X-axis direction, Y is the distance of the cube in the Y-axis direction, and Z is the distance of the cube in the Z-axis direction;
x1 and X2 are distances of the target point in the X-axis direction in the cube, where X1+ X2 is X;
y1 and Y2 are distances of the target point in the Y-axis direction in the cube, where Y1+ Y2 is Y;
z1 and Z2 are the distance of the target point in the cube in the direction of the Z axis, where Z1+ Z2 is Z.
Optionally, in the step of establishing the first angle error compensation model, the following steps are included:
the method comprises the following steps that the center of a positioning ball of a first rotating shaft of the five-axis linkage laser machine tool corresponds to a preset zero point of an eccentric error detector;
splitting the rotation range of the first rotating shaft into N equal sectorial areas, and acquiring eccentricity errors (delta xj, delta yj, delta zj) of the first rotating shaft at the boundary of each sectorial area from the eccentricity error detector when the first rotating shaft rotates and traverses all the sectorial areas;
determining an eccentricity angle error value Δ θ aj for each of the boundaries of the sector area using an inverse trigonometric function, where Δ θ aj is atan2(Δ yj, Δ zj),
and establishing a first angle error compensation model by utilizing bilinear interpolation according to the delta theta aj.
Optionally, in the step of obtaining the first angular error compensation value of the target point according to the first angular error compensation model, the method includes the following steps:
acquiring a sector area to which the target point belongs in the first angle error compensation model in a first rotating shaft;
and acquiring a first angle error compensation value of the target point by using a sector area ratio method.
Optionally, in the step of obtaining the first angle error compensation value of the target point by using a sector area ratio method, the method includes:
defining a first angular error compensation value for said target point as Δ θ p, then,
Δθp＝Δ(θaj)*(L2/L)+Δ(θaj+1)*(L1/L)；
wherein L is the arc length in a sector area formed by theta aj to theta aj + 1;
l1 and L2 are the arc length lengths of the arc lengths of the target point in the sector area by distance θ aj and θ aj +1, respectively, where L1+ L2 is L;
Δ (θ aj) and Δ (θ aj +1) are eccentricity angle error values of front and rear boundaries in the sector region to which the target point belongs, respectively.
In order to achieve the above object, the present invention further provides a geometric error compensation apparatus for performing the geometric error compensation method, including:
the XYZ error compensation module is used for processing and establishing an XYZ error compensation model and obtaining an XYZ error compensation value of the target point according to the XYZ error compensation model;
the first angle error compensation module is used for processing and establishing a first angle error compensation model and acquiring a first angle error compensation value of the target point on a first rotating shaft according to the first angle error compensation model;
the second angle error compensation module is used for processing and establishing a second angle error compensation model and acquiring a second angle error compensation value of the target point on a second rotating shaft according to the second angle error compensation model;
a target compensation module for processing error compensation on XYZ linear translation axes and two rotation axes of the target point according to the XYZ axis error compensation values, the first angle error compensation values, and the second angle error compensation values.
In order to achieve the above object, the present invention further provides a terminal, including: a processor, a memory and a geometric error compensation program stored on the memory and executable on the processor, the geometric error compensation program when executed by the processor implementing the steps of the geometric error compensation method described above.
To achieve the above object, the present invention further provides a computer-readable storage medium, which stores a geometric error compensation program, and when the geometric error compensation program is executed by a processor, the geometric error compensation program implements the steps of the geometric error compensation method described above.
Compared with the prior art, the invention has the beneficial effects that:
the method comprises the steps of establishing an XYZ error compensation model, and obtaining an XYZ error compensation value of a target point according to the XYZ error compensation model; establishing a first angle error compensation model, and acquiring a first angle error compensation value of the target point on a first rotating shaft according to the first angle error compensation model; establishing a second angle error compensation model, and acquiring a second angle error compensation value of the target point on a second rotating shaft according to the second angle error compensation model; and finally, carrying out error compensation on the XYZ linear translation axis and the two rotating axes on the target point according to the XYZ axis error compensation value, the first angle error compensation value and the second angle error compensation value. Therefore, effective geometric error compensation of the five-axis linkage laser machine tool is realized, and the machining precision of the machine tool is improved.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic diagram of a hardware structure of an embodiment of a mobile terminal;
FIG. 2 is a diagram of a wireless communication device of the mobile terminal of FIG. 1;
FIG. 3 is a schematic flow chart illustrating a geometric error compensation method according to a first embodiment of the present invention;
FIG. 4 is a schematic flow chart illustrating a geometric error compensation method according to a second embodiment of the present invention;
FIG. 5 is a schematic auxiliary view of step S12 of the geometric error compensation method according to the second embodiment of the present invention;
FIG. 6 is a schematic auxiliary view of step S16 of the geometric error compensation method according to the second embodiment of the present invention;
FIG. 7 is a flow chart illustrating a geometric error compensation method according to a third embodiment of the present invention;
FIG. 8 is a schematic auxiliary view of step 26 of the geometric error compensation method according to the third embodiment of the present invention;
FIG. 9 is a flowchart illustrating a geometric error compensation method according to a fourth embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the description is only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in itself. Thus, "module", "component" or "unit" may be used mixedly.
The terminal may be implemented in various forms. For example, the terminal described in the present invention may include a mobile terminal such as a mobile phone, a tablet computer, a notebook computer, a palmtop computer, a Personal Digital Assistant (PDA), a Portable Media Player (PMP), a navigation device, a wearable device, a smart band, a pedometer, and the like, and a fixed terminal such as a Digital TV, a desktop computer, and the like.
The following description will be given by way of example of a mobile terminal, and it will be understood by those skilled in the art that the construction according to the embodiment of the present invention can be applied to a fixed type terminal, in addition to elements particularly used for mobile purposes.
Referring to fig. 1, which is a schematic diagram of a hardware structure of a mobile terminal for implementing various embodiments of the present invention, the mobile terminal 100 may include: RF (Radio Frequency) unit 101, WiFi module 102, audio output unit 103, a/V (audio/video) input unit 104, sensor 105, display unit 106, user input unit 107, interface unit 108, memory 109, processor 110, and power supply 111. Those skilled in the art will appreciate that the mobile terminal architecture shown in fig. 1 is not intended to be limiting of mobile terminals, which may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
The following describes each component of the mobile terminal in detail with reference to fig. 1:
the radio frequency unit 101 may be configured to receive and transmit signals during information transmission and reception or during a call, and specifically, receive downlink information of a base station and then process the downlink information to the processor 110; in addition, the uplink data is transmitted to the base station. Typically, radio frequency unit 101 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, and the like. In addition, the radio frequency unit 101 can also communicate with a network and other devices through wireless communication. The wireless communication may use any communication standard or protocol, including but not limited to GSM (Global System for Mobile communications), GPRS (General Packet Radio Service), CDMA2000(Code Division Multiple Access 2000), WCDMA (Wideband Code Division Multiple Access), TD-SCDMA (Time Division-Synchronous Code Division Multiple Access), FDD-LTE (Frequency Division duplex Long Term Evolution), and TDD-LTE (Time Division duplex Long Term Evolution).
WiFi belongs to short-distance wireless transmission technology, and the mobile terminal can help a user to receive and send e-mails, browse webpages, access streaming media and the like through the WiFi module 102, and provides wireless broadband internet access for the user. Although fig. 1 shows the WiFi module 102, it is understood that it does not belong to the essential constitution of the mobile terminal, and may be omitted entirely as needed within the scope not changing the essence of the invention.
The audio output unit 103 may convert audio data received by the radio frequency unit 101 or the WiFi module 102 or stored in the memory 109 into an audio signal and output as sound when the mobile terminal 100 is in a call signal reception mode, a call mode, a recording mode, a voice recognition mode, a broadcast reception mode, or the like. Also, the audio output unit 103 may also provide audio output related to a specific function performed by the mobile terminal 100 (e.g., a call signal reception sound, a message reception sound, etc.). The audio output unit 103 may include a speaker, a buzzer, and the like.
The a/V input unit 104 is used to receive audio or video signals. The a/V input Unit 104 may include a Graphics Processing Unit (GPU) 1041 and a microphone 1042, the Graphics processor 1041 Processing image data of still pictures or video obtained by an image capturing device (e.g., a camera) in a video capturing mode or an image capturing mode. The processed image frames may be displayed on the display unit 106. The image frames processed by the graphic processor 1041 may be stored in the memory 109 (or other storage medium) or transmitted via the radio frequency unit 101 or the WiFi module 102. The microphone 1042 may receive sounds (audio data) via the microphone 1042 in a phone call mode, a recording mode, a voice recognition mode, or the like, and may be capable of processing such sounds into audio data. The processed audio (voice) data may be converted into a format output transmittable to a mobile communication base station via the radio frequency unit 101 in case of a phone call mode. The microphone 1042 may implement various types of noise cancellation (or suppression) algorithms to cancel (or suppress) noise or interference generated in the course of receiving and transmitting audio signals.
The mobile terminal 100 also includes at least one sensor 105, such as a light sensor, a motion sensor, and other sensors. Specifically, the light sensor includes an ambient light sensor that can adjust the brightness of the display panel 1061 according to the brightness of ambient light, and a proximity sensor that can turn off the display panel 1061 and/or a backlight when the mobile terminal 100 is moved to the ear. As one of the motion sensors, the accelerometer sensor can detect the magnitude of acceleration in each direction (generally, three axes), can detect the magnitude and direction of gravity when stationary, and can be used for applications of recognizing the posture of a mobile phone (such as horizontal and vertical screen switching, related games, magnetometer posture calibration), vibration recognition related functions (such as pedometer and tapping), and the like; as for other sensors such as a fingerprint sensor, a pressure sensor, an iris sensor, a molecular sensor, a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor, which can be configured on the mobile phone, further description is omitted here.
The display unit 106 is used to display information input by a user or information provided to the user. The Display unit 106 may include a Display panel 1061, and the Display panel 1061 may be configured in the form of a Liquid Crystal Display (LCD), an Organic Light-Emitting Diode (OLED), or the like.
The user input unit 107 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the mobile terminal. Specifically, the user input unit 107 may include a touch panel 1071 and other input devices 1072. The touch panel 1071, also referred to as a touch screen, may collect a touch operation performed by a user on or near the touch panel 1071 (e.g., an operation performed by the user on or near the touch panel 1071 using a finger, a stylus, or any other suitable object or accessory), and drive a corresponding connection device according to a predetermined program. The touch panel 1071 may include two parts of a touch detection device and a touch controller. The touch detection device detects the touch direction of a user, detects a signal brought by touch operation and transmits the signal to the touch controller; the touch controller receives touch information from the touch sensing device, converts the touch information into touch point coordinates, sends the touch point coordinates to the processor 110, and can receive and execute commands sent by the processor 110. In addition, the touch panel 1071 may be implemented in various types, such as a resistive type, a capacitive type, an infrared ray, and a surface acoustic wave. In addition to the touch panel 1071, the user input unit 107 may include other input devices 1072. In particular, other input devices 1072 may include, but are not limited to, one or more of a physical keyboard, function keys (e.g., volume control keys, switch keys, etc.), a trackball, a mouse, a joystick, and the like, and are not limited to these specific examples.
Further, the touch panel 1071 may cover the display panel 1061, and when the touch panel 1071 detects a touch operation thereon or nearby, the touch panel 1071 transmits the touch operation to the processor 110 to determine the type of the touch event, and then the processor 110 provides a corresponding visual output on the display panel 1061 according to the type of the touch event. Although the touch panel 1071 and the display panel 1061 are shown in fig. 1 as two separate components to implement the input and output functions of the mobile terminal, in some embodiments, the touch panel 1071 and the display panel 1061 may be integrated to implement the input and output functions of the mobile terminal, and is not limited herein.
The interface unit 108 serves as an interface through which at least one external device is connected to the mobile terminal 100. For example, the external device may include a wired or wireless headset port, an external power supply (or battery charger) port, a wired or wireless data port, a memory card port, a port for connecting a device having an identification module, an audio input/output (I/O) port, a video I/O port, an earphone port, and the like. The interface unit 108 may be used to receive input (e.g., data information, power, etc.) from external devices and transmit the received input to one or more elements within the mobile terminal 100 or may be used to transmit data between the mobile terminal 100 and external devices.
The memory 109 may be used to store software programs and various data, and the memory 109 may be a computer storage medium, and the memory 109 stores the message alert program of the present invention. The memory 109 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. Further, the memory 109 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
The processor 110 is a control center of the mobile terminal, connects various parts of the entire mobile terminal using various interfaces and lines, and performs various functions of the mobile terminal and processes data by operating or executing software programs and/or modules stored in the memory 109 and calling data stored in the memory 109, thereby performing overall monitoring of the mobile terminal. Such as processor 110, executes a message alert program stored in memory 109 to implement the steps of various embodiments of the message alert method of the present invention.
The mobile terminal 100 may further include a power supply 111 (e.g., a battery) for supplying power to various components, and optionally, the power supply 111 may be logically connected to the processor 110 through a power management system, so as to implement functions of managing charging, discharging, and power consumption through the power management system.
Although not shown in fig. 1, the mobile terminal 100 may further include a bluetooth module or the like, which is not described in detail herein.
In order to facilitate understanding of the embodiments of the present invention, a communication network system on which the mobile terminal of the present invention is based is described below.
Referring to fig. 2, fig. 2 is an architecture diagram of a communication Network system according to an embodiment of the present invention, where the communication Network system is an LTE system of a universal mobile telecommunications technology, and the LTE system includes a UE (User Equipment) 201, an E-UTRAN (Evolved UMTS Terrestrial Radio Access Network) 202, an EPC (Evolved Packet Core) 203, and an IP service 204 of an operator, which are in communication connection in sequence.
Specifically, the UE201 may be the terminal 100 described above, and is not described herein again.
The E-UTRAN202 includes eNodeB2021 and other eNodeBs 2022, among others. Among them, the eNodeB2021 may be connected with other eNodeB2022 through backhaul (e.g., X2 interface), the eNodeB2021 is connected to the EPC203, and the eNodeB2021 may provide the UE201 access to the EPC 203.
The EPC203 may include an MME (Mobility management entity) 2031, an HSS (Home Subscriber Server) 2032, other MMEs 2033, an SGW (Serving gateway) 2034, a PGW (PDN gateway) 2035, and a PCRF (Policy and Charging Rules Function) 2036, and the like. The MME2031 is a control node that handles signaling between the UE201 and the EPC203, and provides bearer and connection management. HSS2032 is used to provide registers to manage functions such as home location register (not shown) and holds subscriber specific information about service characteristics, data rates, etc. All user data may be sent through SGW2034, PGW2035 may provide IP address assignment for UE201 and other functions, and PCRF2036 is a policy and charging control policy decision point for traffic data flow and IP bearer resources, which selects and provides available policy and charging control decisions for a policy and charging enforcement function (not shown).
The IP services 204 may include the internet, intranets, IMS (IP Multimedia Subsystem), or other IP services, among others.
Although the LTE system is described as an example, it should be understood by those skilled in the art that the present invention is not limited to the LTE system, but may also be applied to other wireless communication systems, such as GSM, CDMA2000, WCDMA, TD-SCDMA, and future new network systems.
Based on the above mobile terminal hardware structure and communication network system, the present invention provides various embodiments of the method.
The invention provides a geometric error compensation method applied to a five-axis linkage laser machine tool, and in a first embodiment of the geometric error compensation method, referring to fig. 3, the geometric error compensation method comprises the following steps:
step S10: establishing an XYZ error compensation model, and acquiring an XYZ error compensation value of the target point according to the XYZ error compensation model;
step S20: establishing a first angle error compensation model, and acquiring a first angle error compensation value of the target point on a first rotating shaft according to the first angle error compensation model;
step S30: establishing a second angle error compensation model, and acquiring a second angle error compensation value of the target point on a second rotating shaft according to the second angle error compensation model;
step S40: and performing error compensation on the XYZ linear translation axis and the two rotation axes on the target point according to the XYZ axis error compensation value, the first angle error compensation value and the second angle error compensation value.
Aiming at the technical problems that in the prior art, compared with a three-translation-axis machine tool, a five-axis linkage laser machine tool introduces two rotation axes, the number of geometric errors is more, the two rotation axes present a complex coupling relation in measurement compensation, and the measurement and compensation of the geometric errors of the five-axis linkage laser machine tool are more difficult.
Based on the above, in the present embodiment, an XYZ error compensation model is established in an application, and an XYZ error compensation value of the target point is obtained according to the XYZ error compensation model; establishing a first angle error compensation model, and acquiring a first angle error compensation value of the target point on a first rotating shaft according to the first angle error compensation model; establishing a second angle error compensation model, and acquiring a second angle error compensation value of the target point on a second rotating shaft according to the second angle error compensation model; and finally, carrying out error compensation on the XYZ linear translation axis and the two rotating axes on the target point according to the XYZ axis error compensation value, the first angle error compensation value and the second angle error compensation value. Therefore, effective geometric error compensation of the five-axis linkage laser machine tool is realized, and the machining precision of the machine tool is improved.
In addition, the machining system of the five-axis linkage laser machine tool applied in the embodiment includes a laser, a water cooling machine, a cutting head or a welding head, a motion module, a software control system, an electric control system and the like. Wherein the laser is used for generating laser used in cutting/welding; and each shaft in the motion module is connected with a servo motor and used for controlling the attitude of the workpiece during cutting/welding so that the cutting/welding path of the surface of the workpiece is on the laser focus. The software is mainly used for controlling the output of the laser power and the generation of NC codes. The electric control system provides necessary hardware interfaces and electric control for the laser board card and the motion control card.
Further, a second embodiment of the geometric error compensation method is proposed based on the first embodiment, and referring to fig. 4, in step S10, the method includes the following steps:
step S11: the method comprises the steps that a mechanical zero point of a five-axis linkage laser machine tool corresponds to a preset original point of a laser tracker, and a space rectangular coordinate system is established;
step S12: establishing a spatial geometric body in a spatial rectangular coordinate system, wherein the spatial geometric body comprises N × N cubes (shown in FIG. 5), and the original coordinates of each vertex of the cubes in the established spatial rectangular coordinate system are (xi, yi, zi);
step S13: acquiring the actual position coordinates of the five-axis linkage laser machine tool moving to each vertex of the cube as (xn, yn, zn) by using the laser tracker;
step S14: the original coordinates and the actual position coordinates are subjected to difference value, and an XYZ error compensation model (delta x, delta y, delta z) is established, wherein the delta x is xn-xi, the delta y is yn-yi, and the delta z is zn-zi;
step S15: acquiring the cube to which the target point belongs in the space geometry;
step S16: and acquiring an XYZ error compensation value of the target point by using a volume weighted average method.
When the method is applied, a mechanical zero point of the five-axis linkage laser machine tool corresponds to an original point preset by a laser tracker, and a space rectangular coordinate system is established; establishing a spatial geometric body in a spatial rectangular coordinate system, wherein the spatial geometric body comprises N x N cubes, and the original coordinates of each vertex of the cubes in the established spatial rectangular coordinate system are (xi, yi, zi); acquiring the actual position coordinates of the five-axis linkage laser machine tool moving to each vertex of the cube as (xn, yn, zn) by using the laser tracker; the original coordinates and the actual position coordinates are subjected to difference value, and an XYZ error compensation model (delta x, delta y, delta z) is established, wherein the delta x is xn-xi, the delta y is yn-yi, and the delta z is zn-zi; then obtaining the cube to which the target point belongs in the space geometry; and acquiring an XYZ error compensation value of the target point by using a volume weighted average method. The XYZ error compensation value of the target point can be accurately and effectively obtained through the technical means.
The specific operation step of step S16 is: as shown in fig. 6, XYZ error compensation values defining the target point P are (Px, Py, Pz), then
Px＝V1x*(x2*y2*z2/x*y*z)+V2x*(x2*y1*z2/x*y*z)+V3x*(x2*y2*z1/x*y*z)+V4x*(x2*y1*z1/x*y*z)+V5x*(x1*y2*z2/x*y*z)+V6x*(x1*y1*z2/x*y*z)+V7x*(x1*y2*z1/x*y*z)+V8x*(x1*y1*z1/x*y*z)；
Py＝V1y*(x2*y2*z2/x*y*z)+V2y*(x2*y1*z2/x*y*z)+V3y*(x2*y2*z1/x*y*z)+V4y*(x2*y1*z1/x*y*z)+V5y*(x1*y2*z2/x*y*z)+V6y*(x1*y1*z2/x*y*z)+V7y*(x1*y2*z1/x*y*z)+V8y*(x1*y1*z1/x*y*z)；
Pz＝V1z*(x2*y2*z2/x*y*z)+V2z*(x2*y1*z2/x*y*z)+V3z*(x2*y2*z1/x*y*z)+V4z*(x2*y1*z1/x*y*z)+V5z*(x1*y2*z2/x*y*z)+V6z*(x1*y1*z2/x*y*z)+V7z*(x1*y2*z1/x*y*z)+V8z*(x1*y1*z1/x*y*z)；
Wherein, (V1x, V1y, V1z), (V2x, V2y, V2z).. said. (V8x, V8y, V8z) are coordinate values corresponding to 8 vertices (V1, V2.. said. V8) of said cube;
x is the distance of the cube in the X-axis direction, Y is the distance of the cube in the Y-axis direction, and Z is the distance of the cube in the Z-axis direction;
x1 and X2 are distances of the target point P in the X-axis direction in the cube, where X1+ X2 is X;
y1 and Y2 are distances of the target point P in the Y-axis direction in the cube, where Y1+ Y2 is Y;
z1 and Z2 are the distance of the target point P in the cube in the Z-axis direction, where Z1+ Z2 is Z.
Further, a third embodiment of the geometric error compensation method is proposed based on the first embodiment, and referring to fig. 5, in step S20, the method includes the following steps:
step S21: the method comprises the following steps that the center of a positioning ball of a first rotating shaft of the five-axis linkage laser machine tool corresponds to a preset zero point of an eccentric error detector;
step S22: splitting the rotation range of the first rotating shaft into N equal sectorial areas, and acquiring eccentricity errors (delta xj, delta yj, delta zj) of the first rotating shaft at the boundary of each sectorial area from the eccentricity error detector when the first rotating shaft rotates and traverses all the sectorial areas;
step S23: determining an eccentricity angle error value Δ θ aj for each of the boundaries of the sector area using an inverse trigonometric function, where Δ θ aj is atan2(Δ yj, Δ zj),
step S24: establishing a first angle error compensation model by utilizing bilinear interpolation according to the delta theta aj;
step S25: acquiring a sector area to which the target point belongs in the first angle error compensation model in a first rotating shaft;
step S26: and acquiring a first angle error compensation value of the target point by using a sector area ratio method.
The eccentricity error detector is a non-contact R-test measuring instrument of Netherlands IBS company, can accurately measure eccentricity errors and is generally applied to five-axis linkage laser machine tools.
When the positioning ball center detection method is applied, the center of the positioning ball of the first rotating shaft of the five-axis linkage laser machine tool corresponds to a preset zero point of the eccentric error detector; splitting the rotation range of the first rotating shaft into N equal sectorial areas, and acquiring eccentricity errors (delta xj, delta yj, delta zj) of the first rotating shaft at the boundary of each sectorial area from the eccentricity error detector when the first rotating shaft rotates and traverses all the sectorial areas; obtaining an eccentricity angle error value delta theta aj of the boundary of each sector area by using an inverse trigonometric function, wherein the delta theta aj is atan2 (delta yj, delta zj), and establishing a first angle error compensation model by using bilinear interpolation according to the delta theta aj; then acquiring a sector area which the target point belongs to in the first angle error compensation model in a first rotating shaft; and acquiring a first angle error compensation value of the target point by using a sector area ratio method. The first angle error compensation value of the target point can be accurately and effectively obtained through the technical means.
The specific operation step of step S26 is: as shown in fig. 8, the first angular error compensation value defining the target point P is Δ θ P, then,
Δθp＝Δ(θaj)*(L2/L)+Δ(θaj+1)*(L1/L)；
wherein L is the arc length in a sector area formed by theta aj to theta aj + 1;
l1 and L2 are the arc length lengths of the arc lengths of the target point P in the sector area by the distance θ aj and θ aj +1, respectively, where L1+ L2 is L;
Δ (θ aj) and Δ (θ aj +1) are eccentricity angle error values of front and rear boundaries in the sector region to which the target point P belongs;
the rotating radius R of the first rotating shaft is known, and can be specifically known by measuring the first rotating shaft of the five-shaft linkage laser machine tool.
The specific step of obtaining the second angle error compensation value in step S30 is substantially the same as the technical means of the present embodiment, and therefore, the present application will not be described in detail. Those skilled in the art can understand that after the specific step of obtaining the first angle error compensation value of the present embodiment, the specific step of obtaining the second angle error compensation value of step S30 is deduced without any inventive step. This also falls within the scope of the present invention.
Further, a fourth embodiment of the geometric error compensation method is proposed based on the first embodiment, and referring to fig. 6, in step S40, the method includes the following steps:
step S41: acquiring XYZ original values of the target point on an XYZ linear translation axis, and adding the XYZ original values and the XYZ error compensation values to obtain an actual value of the target point on the XYZ;
step S42: acquiring a first angle original value of the target point on a first rotating shaft, and adding the first angle original value and the first angle error compensation value to obtain a first angle actual value of the target point;
step S43: and acquiring a second angle original value of the target point on a second rotating shaft, and adding the second angle original value and the second angle error compensation value to obtain a second angle actual value of the target point.
When the method is applied, an XYZ original value of a target point on an XYZ linear translation axis is acquired, and the XYZ original value is added with an XYZ error compensation value to obtain an actual value of the target point on XYZ; acquiring a first angle original value of the target point on a first rotating shaft, and adding the first angle original value and the first angle error compensation value to obtain a first angle actual value of the target point; and acquiring a second angle original value of the target point on a second rotating shaft, and adding the second angle original value and the second angle error compensation value to obtain a second angle actual value of the target point. After geometric error compensation is carried out on the XYZ original value, the first angle original value and the second angle original value, the machining precision of the machine tool can be effectively improved.
In addition, an embodiment of the present invention further provides a geometric error compensation apparatus, configured to perform the geometric error compensation method, where the geometric error compensation apparatus includes:
the XYZ error compensation module is used for processing and establishing an XYZ error compensation model and obtaining an XYZ error compensation value of the target point according to the XYZ error compensation model;
the first angle error compensation module is used for processing and establishing a first angle error compensation model and acquiring a first angle error compensation value of the target point on a first rotating shaft according to the first angle error compensation model;
the second angle error compensation module is used for processing and establishing a second angle error compensation model and acquiring a second angle error compensation value of the target point on a second rotating shaft according to the second angle error compensation model;
a target compensation module for processing error compensation on XYZ linear translation axes and two rotation axes of the target point according to the XYZ axis error compensation values, the first angle error compensation values, and the second angle error compensation values.
The geometric error compensation method provided in the above embodiment of the present invention provides a geometric error compensation apparatus based on the method, and obtains XYZ error compensation values of the target point according to an XYZ error compensation model by establishing the XYZ error compensation model; establishing a first angle error compensation model, and acquiring a first angle error compensation value of the target point on a first rotating shaft according to the first angle error compensation model; establishing a second angle error compensation model, and acquiring a second angle error compensation value of the target point on a second rotating shaft according to the second angle error compensation model; and performing error compensation on the XYZ linear translation axis and the two rotation axes on the target point according to the XYZ axis error compensation value, the first angle error compensation value and the second angle error compensation value. Therefore, effective geometric error compensation of the five-axis linkage laser machine tool is realized, and the machining precision of the machine tool is improved.
In addition, an embodiment of the present invention further provides a terminal, where the terminal includes: a processor, a memory and a geometric error compensation program stored on the memory and executable on the processor, the geometric error compensation program when executed by the processor implementing the steps of the geometric error compensation method as described in the above embodiments.
Furthermore, an embodiment of the present invention further provides a computer-readable storage medium, on which a geometric error compensation program is stored, and the geometric error compensation program, when executed by a processor, implements the steps of the geometric error compensation method according to the above embodiment.
It should be noted that other contents of the geometric error compensation method, apparatus, terminal and computer-readable storage medium disclosed in the present invention are prior art and are not described herein again.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the motion situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
Furthermore, it should be noted that the descriptions relating to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The above are only alternative embodiments of the present invention, and not intended to limit the scope of the present invention, and all the applications of the present invention in other related fields are included in the scope of the present invention.
Claims (10)
1. A geometric error compensation method, characterized by: the method comprises the following steps:
establishing an XYZ error compensation model, and acquiring an XYZ error compensation value of the target point according to the XYZ error compensation model;
establishing a first angle error compensation model, and acquiring a first angle error compensation value of the target point on a first rotating shaft according to the first angle error compensation model;
establishing a second angle error compensation model, and acquiring a second angle error compensation value of the target point on a second rotating shaft according to the second angle error compensation model;
and performing error compensation on the XYZ linear translation axis and the two rotation axes on the target point according to the XYZ axis error compensation value, the first angle error compensation value and the second angle error compensation value.
2. A geometric error compensation method according to claim 1, characterized in that: in the step of establishing the XYZ error compensation model, the following steps are included:
the method comprises the steps that a mechanical zero point of a five-axis linkage laser machine tool corresponds to a preset original point of a laser tracker, and a space rectangular coordinate system is established;
establishing a spatial geometric body in a spatial rectangular coordinate system, wherein the spatial geometric body comprises N x N cubes, and the original coordinates of each vertex of the cubes in the established spatial rectangular coordinate system are (xi, yi, zi);
acquiring the actual position coordinates of the five-axis linkage laser machine tool moving to each vertex of the cube as (xn, yn, zn) by using the laser tracker;
and (3) establishing an XYZ error compensation model (delta x, delta y and delta z) by taking the difference between the original coordinates and the actual position coordinates, wherein the delta x is xn-xi, the delta y is yn-yi, and the delta z is zn-zi.
3. A geometric error compensation method according to claim 2, characterized in that: in the step of obtaining XYZ error compensation values of the target point according to the XYZ error compensation model, the steps of:
acquiring the cube to which the target point belongs in the space geometry;
and acquiring an XYZ error compensation value of the target point by using a volume weighted average method.
4. A geometric error compensation method according to claim 3, characterized in that: in the step of obtaining XYZ error compensation values of the target points using a volume weighted average method, the method includes:
defining the XYZ error compensation value of the target point as (Px, Py, Pz), then
Px＝V1x*(x2*y2*z2/x*y*z)+V2x*(x2*y1*z2/x*y*z)+V3x*(x2*y2*z1/x*y*z)+V4x*(x2*y1*z1/x*y*z)+V5x*(x1*y2*z2/x*y*z)+V6x*(x1*y1*z2/x*y*z)+V7x*(x1*y2*z1/x*y*z)+V8x*(x1*y1*z1/x*y*z)；
Py＝V1y*(x2*y2*z2/x*y*z)+V2y*(x2*y1*z2/x*y*z)+V3y*(x2*y2*z1/x*y*z)+V4y*(x2*y1*z1/x*y*z)+V5y*(x1*y2*z2/x*y*z)+V6y*(x1*y1*z2/x*y*z)+V7y*(x1*y2*z1/x*y*z)+V8y*(x1*y1*z1/x*y*z)；
Pz＝V1z*(x2*y2*z2/x*y*z)+V2z*(x2*y1*z2/x*y*z)+V3z*(x2*y2*z1/x*y*z)+V4z*(x2*y1*z1/x*y*z)+V5z*(x1*y2*z2/x*y*z)+V6z*(x1*y1*z2/x*y*z)+V7z*(x1*y2*z1/x*y*z)+V8z*(x1*y1*z1/x*y*z)；
Wherein, (V1x, V1y, V1z), (V2x, V2y, V2z).. said. (V8x, V8y, V8z) are coordinate values corresponding to 8 vertices (V1, V2.. said. V8) of said cube;
x is the distance of the cube in the X-axis direction, Y is the distance of the cube in the Y-axis direction, and Z is the distance of the cube in the Z-axis direction;
x1 and X2 are distances of the target point in the X-axis direction in the cube, where X1+ X2 is X;
y1 and Y2 are distances of the target point in the Y-axis direction in the cube, where Y1+ Y2 is Y;
z1 and Z2 are the distance of the target point in the cube in the direction of the Z axis, where Z1+ Z2 is Z.
5. A geometric error compensation method according to claim 1, characterized in that: in the step of establishing the first angle error compensation model, the following steps are included:
the method comprises the following steps that the center of a positioning ball of a first rotating shaft of the five-axis linkage laser machine tool corresponds to a preset zero point of an eccentric error detector;
splitting the rotation range of the first rotating shaft into N equal sectorial areas, and acquiring eccentricity errors (delta xj, delta yj, delta zj) of the first rotating shaft at the boundary of each sectorial area from the eccentricity error detector when the first rotating shaft rotates and traverses all the sectorial areas;
determining an eccentricity angle error value Δ θ aj for each of the boundaries of the sector area using an inverse trigonometric function, where Δ θ aj is atan2(Δ yj, Δ zj),
and establishing a first angle error compensation model by utilizing bilinear interpolation according to the delta theta aj.
6. A geometric error compensation method according to claim 5, characterized in that: in the step of obtaining the first angular error compensation value of the target point according to the first angular error compensation model, the method includes the following steps:
acquiring a sector area to which the target point belongs in the first angle error compensation model in a first rotating shaft;
and acquiring a first angle error compensation value of the target point by using a sector area ratio method.
7. The geometric error compensation method according to claim 6, wherein: in the step of obtaining the first angle error compensation value of the target point by using the sector area ratio method, the method includes:
defining a first angular error compensation value for said target point as Δ θ p, then,
Δθp＝Δ(θaj)*(L2/L)+Δ(θaj+1)*(L1/L)；
wherein L is the arc length in a sector area formed by theta aj to theta aj + 1;
l1 and L2 are the arc length lengths of the arc lengths of the target point in the sector area by distance θ aj and θ aj +1, respectively, where L1+ L2 is L;
Δ (θ aj) and Δ (θ aj +1) are eccentricity angle error values of front and rear boundaries in the sector region to which the target point belongs, respectively.
8. A geometric error compensation apparatus, characterized by: method for performing the geometric error compensation of any of claims 1-7, comprising:
the XYZ error compensation module is used for processing and establishing an XYZ error compensation model and obtaining an XYZ error compensation value of the target point according to the XYZ error compensation model;
the first angle error compensation module is used for processing and establishing a first angle error compensation model and acquiring a first angle error compensation value of the target point on a first rotating shaft according to the first angle error compensation model;
the second angle error compensation module is used for processing and establishing a second angle error compensation model and acquiring a second angle error compensation value of the target point on a second rotating shaft according to the second angle error compensation model;
a target compensation module for processing error compensation on XYZ linear translation axes and two rotation axes of the target point according to the XYZ axis error compensation values, the first angle error compensation values, and the second angle error compensation values.
9. A terminal, characterized by: the terminal includes: a processor, a memory and a geometric error compensation program stored on the memory and executable on the processor, the geometric error compensation program when executed by the processor implementing the steps of the geometric error compensation method according to any one of claims 1 to 7.
10. A computer-readable storage medium characterized by: the computer readable storage medium has stored thereon a geometric error compensation program which, when executed by a processor, implements the steps of the geometric error compensation method according to any one of claims 1 to 7.
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