US 11,886,162 B2 · Method for identifying pitch error and yaw error of numerically-controlled (NC) machine tool

Abstract

A method for identifying pitch error and yaw error of a numerically-controlled (NC) machine tool, including: acquiring a Cartesian coordinate system of a target machine tool; setting each axis of the Cartesian coordinate system as movement axis, where each movement axis has three measurement trajectories, and the three measurement trajectories are mutually parallel to the corresponding axis, and not on the same plane; selecting an axis as the movement axis; and obtaining positioning error data between an actual operation measurement point and an ideal operation measurement point of the target machine tool when the target machine tool moves along the three measurement trajectories corresponding to the movement axis; and according to spatial angle geometric relationship and the positioning error data, obtaining a pitch error angle and a yaw error angle of the target machine tool.

A method for identifying pitch error and yaw error of a numerically-controlled (NC) machine tool, comprising:

(S1) acquiring a Cartesian coordinate system of a target machine tool;
(S2) setting each axis of the Cartesian coordinate system as movement axis;
wherein each of the movement axis has three measurement trajectories;
and the three measurement trajectories are mutually parallel to a corresponding axis, and are not on the same plane;
(S3) selecting one of the axis of the Cartesian coordinate system as the movement axis;
and obtaining positioning error data between an actual operation measurement point and an ideal operation measurement point of the target machine tool, when the target machine tool moves along the three measurement trajectories corresponding to the movement axis;
and
(S4) according to a spatial angle geometric relationship and the positioning error data, obtaining a pitch error angle and a yaw error angle of the target machine tool;
wherein the spatial angle geometric relationship is obtained through steps of:
selecting the actual operation measurement point from each of the three measurement trajectories in step (S3) to form a plurality of actual operation measurement points;
connecting the plurality of actual operation measurement points to form an error plane;
projecting a normal vector of the error plane respectively onto two coordinate planes of the Cartesian coordinate system where the movement axis in step (S3) is located to obtain a first projection vector and a second projection vector;
and
taking an included angle formed by a unit vector of the movement axis and the first projection vector as the pitch error angle, and an included angle formed by the unit vector of the movement axis and the second projection vector as the yaw error angle;
for the ideal operation measurement point Pvik (luvik, lvvik, lwvik) and the actual operation measurement point Pvik′ (luvik′, lvvik′, lwvik′), the pitch error angle and the yaw error angle are expressed as follows:
θ
wv
1
=
arc
⁢
cos
⁢
(
l
wv
i
k
2
′
-
l
wv
i
k
1
′
)
⁢
(
l
uv
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k
3
′
-
l
uv
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k
1
′
)
-
(
l
wv
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k
3
′
-
l
wv
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k
1
′
)
⁢
(
l
uv
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k
2
′
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uv
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k
1
′
)
[
(
l
vv
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k
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l
vv
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)
⁢
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l
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]
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+
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l
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)
⁢
(
l
uv
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k
2
′
-
l
uv
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k
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′
)
]
2
;
wherein luvik represents an ideal operation distance, and luvik′ represents an actual operation distance;
a superscript k represents a measurement trajectory of the three measurement trajectories;
u, v and w in a subscript respectively represent an error direction, and each are selected from x, y and z axes;
vi in the subscript represents a movement direction, wherein i represents an i-th measurement point on a measurement trajectory k of the three measurement trajectories;
v is selected from the x, y and z axes;
and
i is 1, 2, . . . .

224 more elements

Facts

Application

18/309,422Filed 28 Apr 2023 · continuation

Priority

CN 202210171025.223 Feb 2022

Published

US 2023/0266737 A124 Aug 2023

Granted

30 Jan 2024

Term ends

Not estimatedThe source records don’t support an estimate.

Classification5 codes

G05B 19/402
Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to…
G05B 19/401
Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to…
G05B 19/404
Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to…
G05B 2219/49193
Nc machine tool, till multiple: orthogonality of axis, deviation from 90-degree correction

Method for identifying pitch error and yaw error of numerically-controlled (NC) machine tool

Life of this patent

Method for identifying pitch error and yaw error of numerically-controlled (NC) machine tool

Life of this patent

Abstract

Claims6