【摘要】：隨著精密加工技術(shù)的廣泛應(yīng)用和數(shù)控機(jī)床技術(shù)的快速發(fā)展,現(xiàn)代機(jī)械制造業(yè)對(duì)機(jī)床加工精度的要求日益提高,而誤差補(bǔ)償技術(shù)是提高數(shù)控機(jī)床精度的經(jīng)濟(jì)且有效的手段之一,因此本文以五軸數(shù)控機(jī)床為研究對(duì)象,為實(shí)現(xiàn)對(duì)機(jī)床綜合幾何誤差的補(bǔ)償,從幾何誤差綜合建模、誤差元素測(cè)量和辨識(shí)、誤差補(bǔ)償方案設(shè)計(jì)及誤差補(bǔ)償驗(yàn)證四個(gè)方面展開了研究,具體工作及成果如下:1)以QLM27100-5X型五軸數(shù)控機(jī)床為對(duì)象,采用低序體陣列描述了機(jī)床拓?fù)浣Y(jié)構(gòu),再基于多剛體運(yùn)動(dòng)學(xué)與齊次坐標(biāo)變換理論,對(duì)機(jī)床各相鄰體間的初始位置變換、運(yùn)動(dòng)變換以及其誤差矩陣進(jìn)行了分析,從而定義了各相鄰體間的綜合變換矩陣,最終由刀具與工件間的相對(duì)位姿建立了五軸數(shù)控機(jī)床幾何誤差的綜合模型,為實(shí)現(xiàn)誤差補(bǔ)償提供了模型基礎(chǔ)。2)為獲取誤差模型中的各幾何誤差參數(shù)值,分別使用激光干涉儀和球桿儀對(duì)移動(dòng)軸和旋轉(zhuǎn)軸進(jìn)行了誤差測(cè)量實(shí)驗(yàn),并重點(diǎn)針對(duì)旋轉(zhuǎn)軸誤差測(cè)量過程中會(huì)耦合移動(dòng)軸誤差這一問題,提出了一種基于球桿儀兩端測(cè)量球?qū)嶋H位置的誤差解耦、辨識(shí)方法,經(jīng)比較驗(yàn)證,解耦后辨識(shí)精度得到了有效提高。3)基于軟件補(bǔ)償誤差法的思路,針對(duì)機(jī)床移動(dòng)軸的三種典型運(yùn)動(dòng)(G00、G01、G02/G03)及A、C軸的旋轉(zhuǎn)運(yùn)動(dòng),分別提出了對(duì)應(yīng)的誤差補(bǔ)償方案并建立了補(bǔ)償模型,再通過迭代修改數(shù)控指令值實(shí)現(xiàn)補(bǔ)償,并在此基礎(chǔ)上探討了移動(dòng)軸與旋轉(zhuǎn)軸共同運(yùn)動(dòng)時(shí)的誤差解耦、補(bǔ)償方案,最后基于MATLAB編程技術(shù),開發(fā)了五軸數(shù)控機(jī)床幾何誤差補(bǔ)償軟件。4)以QLM27100-5X型五軸機(jī)床為實(shí)驗(yàn)平臺(tái),分別對(duì)移動(dòng)軸的直線插補(bǔ)運(yùn)動(dòng)、圓弧插補(bǔ)運(yùn)動(dòng)、C軸旋轉(zhuǎn)運(yùn)動(dòng)及A、Y、Z多軸聯(lián)動(dòng)進(jìn)行了誤差補(bǔ)償實(shí)驗(yàn)。補(bǔ)償后,移動(dòng)軸的定位精度以及由球桿儀測(cè)得的圓軌跡的圓度誤差精度均提高了30%~50%,驗(yàn)證了補(bǔ)償方案的可行性及補(bǔ)償模型的正確性。
[Abstract]:With the wide application of precision machining technology and the rapid development of numerical control machine tool technology, the modern mechanical manufacturing industry is increasing the requirements of machine tool machining accuracy, and error compensation technology is one of the economic and effective means to improve the accuracy of numerical control machine tools. Therefore, this paper takes the five-axis NC machine tool as the research object, in order to realize the compensation of the synthetic geometric error of the machine tool, the synthetic modeling of the geometric error, the measurement and identification of the error elements are carried out. Four aspects of error compensation scheme design and error compensation verification are studied. The specific work and results are as follows: 1) taking QLM27100-5X five-axis CNC machine tool as an object, the topological structure of the machine tool is described by using low-sequence body array. Based on the theory of kinematics and homogeneous coordinate transformation of multi-rigid bodies, the initial position transformation, motion transformation and error matrix of each adjacent body of machine tool are analyzed, and the comprehensive transformation matrix of each adjacent body is defined. Finally, the synthetic model of geometric error of five-axis NC machine tool is established by the relative position and orientation of the tool and workpiece, which provides the model foundation for error compensation. 2) to obtain the geometric error parameters of the error model. The errors of moving axis and rotating axis are measured by laser interferometer and ball rod instrument respectively, and the problem of coupling moving axis error in the measuring process of rotation axis error is emphasized. An error decoupling and identification method based on measuring the actual position of the ball at both ends of the ball rod instrument is proposed. After comparison, the identification accuracy is improved effectively. 3) the idea of compensating error method based on software is proposed. According to the three kinds of typical movement of the moving axis of machine tool (G00G01G02 / G03) and the rotation motion of Agna C axis, the corresponding error compensation scheme and compensation model are put forward, and the compensation is realized by iteratively modifying the numerical control instruction value. On this basis, the error decoupling and compensation scheme of moving axis and rotating axis are discussed. Finally, based on MATLAB programming technology, the geometric error compensation software of five-axis NC machine tool is developed. 4) the QLM27100-5X five-axis machine tool is used as the experimental platform. The error compensation experiments of linear interpolation motion, arc interpolation motion, C-axis rotation motion and AHY Z multiaxial linkage are carried out respectively. After compensation, the positioning accuracy of the moving shaft and the accuracy of the roundness error of the circle track measured by the ball rod instrument are improved by 3050%, which verifies the feasibility of the compensation scheme and the correctness of the compensation model.
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TG659

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本文編號(hào)：2306902