CN118578199B - Machine tool precision detection method, system, device and medium based on laser tracker - Google Patents
Machine tool precision detection method, system, device and medium based on laser tracker Download PDFInfo
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Abstract
The invention provides a machine tool precision detection method, a system, a device and a medium based on a laser tracker, belonging to the technical field of laser measurement, comprising the following steps: the initial position of the machine tool is positioned on the standard point; the machine tool moves along the X axis and the Y axis respectively for setting a distance, and the coordinates of the laser trackers at different positions under the coordinate system of the machine tool are obtained; and obtaining the coordinates of any point in the working space according to the distance data measured by the laser tracker. The method realizes the rapid and high-precision calibration of the position of the laser tracker by means of the distance information of the laser tracker and the positioning information of the laser interferometer and the laser range finder.
Description
Technical Field
The invention belongs to the technical field of laser measurement, and particularly relates to a machine tool precision detection method and system based on a laser tracker.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The machine tool is used as a modern industrial master machine, the precision of the machine tool is particularly critical to the manufacture and processing of products, and the high-precision machine tool can improve the processing precision and consistency of workpieces, so that the error measurement of the machine tool is very important. The laser measuring instrument is widely used in the precision measurement of machine tools due to the characteristics of non-contact, high precision and the like. The laser measuring instruments commonly used at present include a laser interferometer, a laser collimator, a laser tracker and the like. The laser interferometer has very high measurement precision, the resolution can reach submicron level, and is generally used for uniaxial measurement, and measurement of verticality between shafts, rotation shaft errors and the like cannot be realized; the laser collimator realizes high-precision collimation and adjustment, and is not suitable for common measurement work of length, angle and the like; the laser tracker can realize rapid tracking and positioning of targets, can realize real-time monitoring and measurement of dynamic targets, can monitor a plurality of targets, and has wide application prospect.
Since the measurement error of the laser tracker mainly comes from the angle measurement error thereof, the high-precision measurement of the machine tool by using the laser tracker is mainly realized by using the distance measurement information thereof. After the positions of the laser trackers are calibrated, the coordinates of the moving points under the machine tool reference coordinate system can be obtained through measuring data of a plurality of laser trackers or a plurality of positions of one laser tracker. By obtaining the real-time coordinates of the moving points, the deviation from the theoretical value can be calculated, and the work which is difficult to be realized by other measuring equipment is completed.
The existing calibration method of the laser tracker mainly comprises calibration based on a known reference point, calibration of a calibration plate and the like. The calibration based on the reference points is performed by measuring data obtained at different measuring positions, and in order to ensure the calibration accuracy, the number of the selected measuring points is generally more, and the calibration process and the preparation work are more complicated. The calibration flow is simplified based on the calibration plate, but the design and processing requirements for the calibration plate are very high, and the use of the calibration plate is limited. Meanwhile, in the existing calibration method, a more accurate reference value is lacking, the reference value refers to the coordinate of an actual point, the reference value is lacking, the actual position point cannot be obtained, and therefore whether the obtained coordinate is correct cannot be judged, and the calibration precision is limited by the measurement precision of the device.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a machine tool precision detection method based on a laser tracker, which realizes quick and high-precision calibration of the position of the laser tracker by means of distance information of the laser tracker and positioning information of a laser interferometer and a laser range finder, and realizes identification of errors of a linear axis and a rotating shaft of the machine tool based on the calibration method.
To achieve the above object, one or more embodiments of the present invention provide the following technical solutions:
in a first aspect, a method for detecting machine tool precision based on a laser tracker is disclosed, comprising:
The initial position of the machine tool is positioned on the standard point;
the machine tool moves along the Y axis and the X axis respectively for setting a distance, and the coordinates of the laser trackers at different positions under the coordinate system of the machine tool are obtained;
obtaining coordinates of any point in the working space according to the distance data measured by the laser tracker;
and identifying errors of the linear shaft and the rotating shaft of the machine tool based on the obtained coordinates, and detecting the precision of the machine tool based on the identified errors.
As a further technical solution, the method further includes a step of installing a laser tracker before locating the initial position of the machine tool on the calibration point, including: the target ball of the laser tracker is arranged on the main shaft by a clamp, the coordinate position of the target ball is determined by the motion axis of the machine tool, the x and y positions are known, and the z value of the target ball is confirmed by tool setting of the tool setting gauge.
As a further technical scheme, the calculating the coordinates of the laser tracker in the machine tool coordinate system specifically includes: setting the measurement coordinate origin of the laser tracker as P, and obtaining the distance from the P point to the A point as l 1 when the target ball is at the position A;
moving the main shaft of the machine tool to a point B along the positive direction of the X axis by a given distance;
Measuring by a laser interferometer to obtain an actual movement distance m, wherein the distance from the point P to the point B measured by the laser tracker is l 2;
The point P, the point A and the point B can form a plane, the projection of the point P on the straight line AB in the plane is a point N, the delta PNA and the delta PNB are right triangles respectively, and the distance g of AN and the distance N of PN are obtained by solving.
As a further technical scheme, the calculating the coordinates of the laser tracker in the machine tool coordinate system specifically further includes: setting a laser interferometer along the Y-axis direction of the machine tool at the point B, and moving the main shaft to the positive direction of the Y-axis for a certain distance to the point B', wherein the movement distance is d by the measurement of the laser interferometer;
The distance of the point B 'measured by the laser tracker is l 2';
And setting a laser interferometer at the point B ' along the X-axis direction to obtain the movement length m ' of the machine tool along the X-axis direction to reach the point A ', wherein the measurement distance of the laser interferometer is l 1 ', and obtaining the distance N ' of PN ' and the distance g ' of A ' N '.
As a further technical scheme, the calculating the coordinates of the laser tracker in the machine tool coordinate system specifically further includes: the projection of PN on the horizontal plane passing through the P point is PM, and delta PMN is a right triangle; the projection of PN 'on the horizontal plane passing through the P point is PM', delta PM 'N' is a right triangle, MN=M 'N' is easily known, and the result is obtained by solving: the length h of MN, M 'N', the length c of projection PM.
As a further technical solution, the position of the point P relative to the point a in the machine coordinate system is set as the coordinates of the point a: (x, y, z), the coordinates of point P are (x-g, y-c, z-h).
As a further technical scheme, the method further comprises:
If the X axis of the machine tool is inclined, and the machine tool spindle does not move a given distance to the point B along the X horizontal direction, the point P is relative to the point A in the position of the machine tool coordinate system. Let the coordinates of point A be (x, y, z), the projection of point A on the straight line PN be D, the angle between PMN plane PD and horizontal plane Is thatThe projection size of PD on the horizontal plane passing through the P point isThe projection size on the MNQ plane parallel to YOZ isThe vertical distance P from the P point to the plane PMN is that the coordinate of the P point is。
In a second aspect, a laser tracker position calibration system for machine tool error detection is disclosed, comprising: a laser tracker, a laser interferometer;
The laser tracker target ball is arranged on the axis of the main shaft of the machine tool, and the reflecting end of the laser interferometer is arranged on the main shaft table;
when calibrated, the initial position of the machine tool is configured to be located on a calibrated point;
The machine tool moves along the Y axis and the X axis respectively for setting a distance, and the coordinates of the laser tracker at different positions under the coordinate system of the machine tool are obtained;
and the machine tool obtains the coordinates of any point in the working space according to the distance data measured by the laser tracker.
The one or more of the above technical solutions have the following beneficial effects:
According to the technical scheme of the embodiment, a higher-precision measurement reference value is used, so that the position of the laser tracker relative to a machine tool is rapidly and accurately obtained; the coordinates of the moving points on the machine tool can be obtained in real time through the measurement data of the laser trackers at different positions after calibration, and errors of the linear axis and the rotating axis of the machine tool are rapidly verified, so that the method is more convenient and efficient compared with other methods; the method is simple and convenient, and is not limited by the specific machine tool type, the laser measuring instrument position and the measuring precision of the laser tracker.
Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
FIG. 1 is a schematic diagram showing calculation of a given distance of movement of a machine tool spindle in the positive X-axis direction according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the calculation of the point B and the point A after the movement which are possibly not on the same horizontal line due to the error of the machine tool according to the embodiment of the invention;
FIG. 3 is a schematic view of the offset angle according to the embodiment of the present invention;
FIG. 4 is a schematic illustration of an embodiment of the present invention schematic diagram of machine tool position.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention.
Embodiments of the invention and features of the embodiments may be combined with each other without conflict.
Example 1
The embodiment discloses a machine tool precision detection method based on a laser tracker, comprising the following steps:
Firstly, a target ball of a laser tracker is arranged on the axis of a main shaft of a machine tool, wherein the main shaft of the machine tool transmits rotary motion to a cutter, the axis of the main shaft is a central axis of the rotary motion and is parallel to a Z axis, and a laser interferometer is arranged on a main shaft table to provide accurate measurement values for the moving distance of the machine tool; the initial position of the machine tool is positioned on a calibration point, then the machine tool moves along an X axis and a Y axis for three distances respectively, and the position of the origin of the laser tracker relative to a machine tool coordinate system is obtained according to the distance value measured by the laser tracker and displacement/offset data measured by the laser interferometer. The present embodiment is based on the calibration point of the machine tool itself, while introducing the measurement accuracy of the laser interferometer, the overall accuracy exceeding that of the existing method.
In one or more embodiments, the final result is the origin position of the laser tracker. The laser tracker includes a transmitter and a target sphere, and the measured data is the coordinates of the target sphere in the tracker coordinate system. The present embodiment is to determine the coordinates of the tracker target ball under the machine tool, thereby associating the tracker coordinate system with the machine tool coordinate system.
In one or more embodiments, case one: as shown in fig. 1, the point a is a point where the machine tool has completed calibration, and is used to establish a relationship between the machine tool coordinate system and the tracker position. The target ball of the laser tracker is arranged on the main shaft by a clamp, the coordinate position of the target ball is determined by the motion axis of the machine tool, the x and y positions of the target ball are known, and the z value of the target ball can be confirmed by tool setting of the tool setting gauge. The reflecting end of the laser interferometer is arranged on a main shaft disc of the machine tool.
And a laser interferometer is arranged at the point A along the X-axis direction of the machine tool and is used for accurately measuring the relative movement of the machine tool. And (3) setting the measurement coordinate origin of the laser tracker as P, obtaining the distance from the P point to the A point when the target ball is at the position A as l 1, moving the main shaft of the machine tool to the B point along the positive direction of the X axis by a given distance, measuring by using the laser interferometer to obtain the actual movement distance as m, and measuring the distance of the B point by the laser tracker as l 2. The point P, the point A and the point B can form a plane, the projection of the point P on the straight line AB in the plane is a point N, and the delta PNA and the delta PNB are right triangles respectively, so that the method is obtained:
。
in the above formula, g is the distance of AN, and n is the distance of PN.
Solving to obtain
。
And a laser interferometer is arranged at the point B along the Y-axis direction of the machine tool, the main shaft moves to the point B' along the Y-axis positive direction for a certain distance, and the accurate moving distance is d by the measurement of the laser interferometer. At this time, the distance between the laser tracker and the point B 'is l 2'. And (3) arranging a laser interferometer at the point B 'along the X-axis direction, and obtaining the movement length m' of the machine tool along the X-axis negative direction to reach the point A 'in the same operation as the above, wherein the measurement distance of the laser interferometer is l 1'. In this embodiment, the laser interferometers at different positions may be the same laser interferometer or may be different laser interferometers. Can be obtained by the same way
。
The projection of PN on the horizontal plane passing through the P point is PM, and delta PMN is a right triangle; the projection of PN 'on the horizontal plane passing through the P point is PM', delta PM 'N' is a right triangle, and MN=M 'N' is easily known, and an equation set is established:
。
where h is the length of MN, M 'N', and c is the length of projection PM.
Solving to obtain:
。
From this, it can be seen that the position of the P point relative to the A point in the machine coordinate system is (x, y, z) given the coordinates of the A point, the coordinates of the P point are 。
The coordinates of the laser tracker at different positions under the coordinate system of the machine tool can be obtained by the same method, and the coordinates of any point in the working space can be obtained according to the distance data measured by the laser tracker. The position setting of the tracker is more than or equal to 4, and the tracking instrument is obtained by solving the following formula
。
Where the desired spatial point has a coordinate of (x i,yi,zi), and the distance of the measurement point (x i,yi,zi) when the laser tracker position is (x a,ya,za) is l ai.
Because only the distance information of the tracker is used, no angle information with larger error is used, the precision is larger than the measurement precision of single laser, the coordinates of the moving points can be measured in real time through the movement of the target ball, and meanwhile, the method is more accurate and efficient for determining the positions of the tracker and the tracker compared with the method for performing laser tracker position fitting by using a large number of points in space.
In one or more embodiments, in fact, due to errors in the machine tool, the moved point B may not be in a horizontal line with the point a with respect to the X-axis, as shown in fig. 2 and 3, and AB is a diagonal line with respect to the X-axis in the XOZ plane. Therefore, when the perpendicular PQ drawn from the point P to the straight line AB is not in the vertical plane of the point P, and the relative position of the point P to the point a is calculated, it is necessary to re-project the PQ in the plane parallel to YOZ passing through the point P, and then repeat the calculation of the case one.
Setting a laser interferometer along the vertical direction at the point A and the point B, and measuring to obtain the vertical offset t of the point B, wherein the offset angle isFrom the measured horizontal movement distance mIs of the size of。
The angle between PQ and its passing P point, projected PN on the vertical plane parallel to XOZ, obtained from plane geometry isThen
。
The projection of the point A on the straight line PN is D, and the distance P between the point P and the plane PMN is
。
The distance e between P, D points is
。
Then, n'd is obtained by the same theory with the situation, and the sizes of c and h are calculated, so that the included angle between PD and the horizontal plane is formedIs thatThe projection size of PD on the horizontal plane passing through the P point isProjection on MNQ plane is of the size of。
From this, the position of the P point relative to the A point in the machine coordinate system can be known, and if the coordinates of the A point are (x, y, z), the coordinates of the P point are. The verification method of the present embodiment uses a standard rod for accuracy calibration.
In this embodiment, the value l 1,l1',l2,l2 'in the formula is measured by a laser tracker, and m, m', d, m, t are measured by a laser interferometer.
In the embodiment, the identification of errors of a linear axis and a rotating shaft of the machine tool is realized based on the obtained coordinates, and the precision of the machine tool is detected based on the identified errors, and the specific process is as follows:
the translation and rotation motion homogeneous coordinate conversion of the five-axis double-swing machine tool is as follows:
；
。
wherein X, Y and Z are the movement amounts of the X axis, the Y axis and the Z axis respectively, 、The rotation amounts of the A axis and the C axis are respectively, T x、Ty、Tz is the coordinate transformation matrix of the X axis, the Y axis and the Z axis respectively,、The coordinate transformation matrices of the A axis and the C axis are respectively.
Based on the theory of multi-body motion, the motion transformation matrix of the five-axis machine tool is as follows under the condition of no error
。
U is the position vector of the action point in the tool coordinate system,The first three terms of U are coordinate vectors after movement, V is a position vector under a tool coordinate system, the tool is [0 0-1 0] T when vertically downward, and the first three terms of V are direction vectors after movement.
When the X axis of the forward motion and the other axes remain stationary, the coordinates in the ideal case are (u x+xuyuz), and the coordinates in the actual case are (X ' y ' z ')
。
Wherein, Is the positioning error of the X-axis,、Is the straightness error of the X axis along the Y axis and the Z axis,、、The roll angle error about the X axis, the yaw angle error about the Y axis, and the pitch angle error about the Z axis, respectively.
Referring to fig. 4, the initial position a 1(x1y1z1) of the machine tool is shown, the movement distance x of the point a 1 in the positive direction of the x axis is shown as a coordinate B 1 in actual condition, an ideal coordinate (x 1+xxy1xz1) and the deviation between the actual condition and the ideal condition is shown as：
。
Since there is an initial error at point A 1, it is also necessary to subtract the initial error. The same applies from the point A 2 to the point B 2、A3 to the point B 3、A4 to the point B 4. Points A 1 and A 3 are located on a vertical line, the values of x and y are the same, and the values of z are different; points A 2 and A 4 are located on a vertical line, the values of x and y are the same, and the values of z are different; points a 1 and a 2, and points a 3 and a 4 are each the same height. The theoretical x values of B 1、B2、B3 and B 4 are the same, and the following steps are obtained:
。
and obtaining the geometric error of the X axis through decoupling. And the geometrical errors of the Y axis and the Z axis can be obtained by the same method. The error between the linear axes is obtained by fitting two adjacent linear axes.
Errors of the axis a and the axis C of the rotation shaft are classified into a position-related error and a position-independent error. When only the C-axis is rotated, only the error of the C-axis is considered, the measured points should be located on the same plane, and the space plane equation is that
。
Wherein, 、、Is a planar coefficient.
The equation set formed by n measuring points on the same plane is
。
Wherein, ,,。
The coefficient K of the normal vector of the fitting plane is:
。
From the correlation of the equation of the midplane of the sphere in which the space circle is located, n points can obtain n (n-1)/2 equations of the midplane which are linearly independent, and the coordinates of the sphere center O p are as follows Finishing to obtain
。
Wherein, ，，，，，，。
Above is an overdetermined equation, the known center of a circle O p must be on the above plane, i.e
。
Solving the system of intermediate vertical equations by means of an optimization equation under the constraints of the above, i.e
。
Wherein, Is a lagrange multiplier.
Solving to obtain center coordinates and Op sumIs that
。
The normal vector of the measured point is found to be K (K 1,k2,k3), namely the direction vector of the C axis is K, and the direction vectors of the X, Y axes are respectively、The errors AOC and BOC of the C axis independent of the position are respectively
。
AOC and BOC are the verticality of the C axis to the Y axis and the X axis respectively.
Knowing the direction vector of the C-axis and the center of the circle, the C-axis line is known as
。
K 1、k2、k3 is the component of the direction vector K on the coordinate axis, and the vector K is obtained.
From which z=0 can be calculated
；
；
Wherein XOC and YOC are X-direction and Y-direction of the C-axis.
And thus, four errors of the C axis which are irrelevant to the position are obtained, translation and rotation are carried out, the C axis is rotated to the z axis direction, and the circle center is positioned at the nominal position. At this time, the C-axis has only a position-dependent error, (x 1' y1'z1') is a point on the circumference, the rotation angleThe coordinate deviation to the angle c is
。
By rotating at different anglesBy the angle C, a position-dependent error at the axis C of the rotation axis C can be obtained by solving.
Similarly, the errors associated with the position and the errors not associated with the position of the A axis can be obtained.
Example two
It is an object of the present embodiment to provide a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, which processor implements the steps of the above method when executing the program.
Example III
An object of the present embodiment is to provide a computer-readable storage medium.
A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the above method.
Example IV
It is an object of this embodiment to provide a laser tracker position calibration system for machine tool error detection comprising: a laser tracker, a laser interferometer;
The laser tracker target ball is arranged on the axis of the main shaft of the machine tool, and the laser interferometer is arranged on the main shaft table;
At calibration, an initial position of the machine tool is configured to be located at a calibration point;
The machine tool moves along the X axis and the Y axis respectively for setting a distance, and the coordinates of the laser trackers at different positions under the coordinate system of the machine tool are obtained;
And the machine tool obtains the coordinates of any point in the working space according to the distance data measured by the laser tracker. And identifying errors of the linear shaft and the rotating shaft of the machine tool based on the obtained coordinates, and detecting the precision of the machine tool based on the identified errors.
The steps involved in the devices of the second, third and fourth embodiments correspond to those of the first embodiment of the method, and the detailed description of the embodiments can be found in the related description section of the first embodiment. The term "computer-readable storage medium" should be taken to include a single medium or multiple media including one or more sets of instructions; it should also be understood to include any medium capable of storing, encoding or carrying a set of instructions for execution by a processor and that cause the processor to perform any one of the methods of the present invention.
It will be appreciated by those skilled in the art that the modules or steps of the invention described above may be implemented by general-purpose computer means, alternatively they may be implemented by program code executable by computing means, whereby they may be stored in storage means for execution by computing means, or they may be made into individual integrated circuit modules separately, or a plurality of modules or steps in them may be made into a single integrated circuit module. The present invention is not limited to any specific combination of hardware and software.
While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it is intended to cover all modifications or variations within the scope of the invention as defined by the claims of the present invention.
Claims (5)
1. The machine tool precision detection method based on the laser tracker is characterized by comprising the following steps of:
The initial position of the machine tool is positioned on the standard point;
The machine tool moves along the X axis and the Y axis respectively for setting a distance, and the coordinates of the laser trackers at different positions under the coordinate system of the machine tool are obtained;
obtaining coordinates of any point in the working space according to the distance data measured by the laser tracker;
Based on the obtained coordinates, the errors of the linear axis and the rotating axis of the machine tool are identified, and the precision of the machine tool is detected based on the identified errors;
The method for obtaining the coordinates of the laser tracker in the machine tool coordinate system specifically comprises the following steps: setting the measurement coordinate origin of the laser tracker as P, and obtaining the distance from the P point to the A point as l 1 when the target ball is at the position A;
moving the main shaft of the machine tool to a point B along the positive direction of the X axis by a given distance;
Measuring by a laser interferometer to obtain an actual movement distance m, wherein the distance from the point P to the point B measured by the laser tracker is l 2;
the point P, the point A and the point B can form a plane, the projection of the point P on the straight line AB in the plane is a point N, the delta PNA and the delta PNB are right triangles respectively, and the distance g of AN and the distance N of PN are obtained by solving;
Setting a laser interferometer along the Y-axis direction of the machine tool at the point B, and moving the main shaft to the positive direction of the Y-axis for a certain distance to the point B', wherein the accurate moving distance is d by the measurement of the laser interferometer;
The distance of the point B 'measured by the laser tracker is l 2';
Setting a laser interferometer on the B ' along the X axis direction to obtain the movement length m ' of the machine tool along the X axis direction reaching the A ' point, wherein the measurement distance of the laser interferometer is l 1 ', and obtaining the distance N ' of PN ' and the distance g ' of A ' N ';
the projection of PN on the horizontal plane passing through the P point is PM, and delta PMN is a right triangle; the projection of PN 'on the horizontal plane passing through the P point is PM', delta PM 'N' is a right triangle, MN=M 'N' is easily known, and the result is obtained by solving: length h of MN, M 'N', length c of projection PM;
The position of the point P relative to the point A in the machine coordinate system is set as the coordinates of the point A: (x, y, z), then the coordinates of point P are (x-g, y-c, z-h);
if the X axis of the machine tool is inclined, when the main shaft of the machine tool does not move a given distance to the point B along the X horizontal direction, the point P is relative to the point A in the position of the machine tool coordinate system;
let the coordinates of point A be (x, y, z), the projection of point A on the straight line PN be D, the angle between PMN plane PD and horizontal plane Is thatThe projection size of PD on the horizontal plane passing through the P point isProjection on MNQ plane is of the size ofThe vertical distance P from the P point to the plane PMN is that the coordinate of the P point is。
2. The method for detecting precision of a machine tool based on a laser tracker according to claim 1, wherein the step of installing the laser tracker is further included before the initial position of the machine tool is located on the calibration point, comprising: and installing the target ball of the laser tracker on the main shaft by a clamp.
3. A laser tracker position calibration system for machine tool error detection, utilizing the laser tracker-based machine tool accuracy detection method of claim 1, comprising: a laser tracker, a laser interferometer;
The laser tracker target ball is arranged on the axis of the main shaft of the machine tool, and the reflecting end of the laser interferometer is arranged on the main shaft table;
when calibrated, the initial position of the machine tool is configured to be located on a calibrated point;
The machine tool moves along the X axis and the Y axis respectively for setting a distance, and the coordinates of the laser tracker at different positions under the coordinate system of the machine tool are obtained;
The machine tool obtains coordinates of any point in the working space according to the distance data measured by the laser tracker; and identifying errors of the linear shaft and the rotating shaft of the machine tool based on the obtained coordinates, and detecting the precision of the machine tool based on the identified errors.
4. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method of any of the preceding claims 1-2 when the program is executed.
5. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, performs the steps of the method of any of the preceding claims 1-2.
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| US20130282328A1 (en) * | 2011-01-24 | 2013-10-24 | Mitsubishi Electric Corporation | Error measurment device and error measurement method |
| CN108921901B (en) * | 2018-05-04 | 2022-03-22 | 北京航空航天大学 | Large-view-field camera calibration method based on precise two-axis turntable and laser tracker |
| JP6960893B2 (en) * | 2018-09-19 | 2021-11-05 | 株式会社キャプテン インダストリーズ | Machine tool measurement error evaluation method and program |
| CN116021341A (en) * | 2023-01-13 | 2023-04-28 | 上海拓璞数控科技股份有限公司 | Self-calibration method and system of laser tracking interferometer measurement field in machine tool coordinate system |
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