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A real-time detection method for multi-axis linkage contour error

A contour error, real-time detection technology, applied in program control, instrument, computer control, etc., can solve the problems of poor estimation accuracy and long calculation time, achieve the effect of good real-time performance and avoid excessive calculation time

Active Publication Date: 2021-07-23
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the shortcomings of poor estimation accuracy and long calculation time in the existing contour error estimation method, and realize the detection of the contour error of the parameter curve trajectory in each control cycle, the invention provides a real-time detection method of multi-axis linkage contour error

Method used

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  • A real-time detection method for multi-axis linkage contour error
  • A real-time detection method for multi-axis linkage contour error
  • A real-time detection method for multi-axis linkage contour error

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0044] see figure 2 , the present embodiment carries out the test on the powerful gear honing machine tool for inner gear honing wheel. The B axis is the rotation axis, the angle unit is rad, the Z1 axis is the linear axis, and the length unit is mm. The number of teeth of the workpiece gear to be processed is 73, the modulus is 2.25mm, the helix angle is 31 degrees, the direction is right-handed, and the tooth width is 50mm. The parametric equation of the expected trajectory of each axis of the CNC machine tool is P(u)=[φ C1 ,φ Z1 ,φ C2 ,φ A ,φ B ], the parameter equations of each axis are as follows:

[0045]

[0046] The value range of parameters corresponding to the trajectory is [0,6], and the unit is time s. The values ​​of each parameter are shown in Table 1, and the corresponding trajectories of each axis are shown in image 3 and Figure 4 shown.

[0047] Table 1 Each parameter value in the parameter track

[0048]

[0049] (1) Read the actual points ...

Embodiment 2

[0059] see Figure 7 , the present embodiment is tested on a five-axis CNC machining platform. The CNC machine tool includes five motion axes of X-axis, Y-axis, Z-axis, A-axis, B-axis and C-axis, wherein X-axis, Y-axis and Z-axis are Linear feed axis, length unit is mm, A axis, C axis is rotary feed axis, angle unit is rad, B axis is tool spindle, angle unit is rad. The workpiece to be processed is the crown surface of solid zirconia material. This surface is a free-form surface, and a part of the movement path is taken. The parameter equation of the expected trajectory of each axis is P(u)=[φ X ,φ Y ,φ Z ,φ A ,φ C ], the parametric equation of each axis is φ X = φ X (u), φ Y = φ Y (u), φ Z = φ Z (u), φ A = φ A (u), φ C = φ C (u); the trajectory of each axis with respect to time is as follows Figure 8 and Figure 9 shown.

[0060] (1) Read the actual points of each axis in each position control cycle Calculate the actual point P a The distance to any point...

Embodiment 3

[0070] see Figure 12 , this embodiment is tested on a three-axis CNC machining platform. The CNC machine tool includes three linear feed axes of X, Y, and Z. The unit of length is mm, the B axis is the tool spindle, and the unit of angle is rad. The workpiece to be processed is a saddle-shaped surface, which is a hyperbolic paraboloid, and the surface equation is as follows:

[0071] φ Z = φ X 2 / 4-φ Y 2 / 9-5

[0072] The parameter equation of the desired trajectory of each axis is P(u)=[φ X ,φ Y ,φ Z ], the parametric equation φ of each axis X = φ X (u), φ Y = φ Y (u), φ Z = φ Z (u); the trajectory of each axis with respect to time is as follows Figure 13 shown.

[0073] (1) Read the actual points of each axis in each position control cycle Calculate the actual point P a The distance to any point on the desired trajectory is:

[0074]

[0075] Calculate the derivative of the distance f(u) with respect to the parameter u as f'(u);

[0076] (2) Calcula...

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Abstract

The invention discloses a real-time detection method for multi-axis linkage contour error. The method first calculates the distance function from the actual point to any point on the parameter curve and the derivative function of the distance function; The parameter value of the function value sign changes to determine the range of the zero point of the derivative function; then further search the zero point of the derivative function through the dichotomy method, that is, the minimum value of the distance function, and the shortest distance between the actual point and the parameter curve can be obtained, that is, the contour error . The invention avoids the step of directly solving the nonlinear function, greatly reduces the calculation burden, improves the calculation efficiency, increases the real-time performance of contour error estimation, and can realize higher contour error estimation accuracy at the same time.

Description

technical field [0001] The invention belongs to the field of multi-axis linkage contour error modeling, and in particular relates to a real-time detection method for contour errors based on interpolation points and actual positions of each axis. Background technique [0002] In the contour tracking task, due to the existence of factors such as servo system delay, dynamic characteristics mismatch and external interference, there will be a certain deviation between the actual trajectory and the expected trajectory. The accuracy of contour tracking tasks is usually described using contour error, which is defined as the shortest distance between the actual position and the desired trajectory. For high-precision equipment such as gear processing CNC machine tools and five-axis linkage processing machine tools, the workpieces processed usually have relatively complex contour trajectories. When there are high feed rates and large curvature trajectories, contour errors will signific...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/401G05B19/404
CPCG05B19/401G05B19/404G05B2219/37359G05B2219/37581
Inventor 韩江夏链朱永刚田晓青
Owner HEFEI UNIV OF TECH
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