METHOD FOR DETERMINING A MACHINE POSITION ERROR, METHOD FOR IMPROVING A MACHINE PRECISION, AND DEVIC

专利摘要:
method for determining a positioning error of a machine, method for improving the accuracy of a machine, and device for determining a positioning error for a machine. The present invention provides a method for determining a positioning error of a CNC machine, wherein the CNC machine is equipped with a calibration element, the calibration element being in a first position, the method comprising the reading steps of the first sensor data from at least one sensor while the calibration element is in the first position, the cnc machine operating to perform a calibration movement that ideally leaves the calibration element in the first position, wherein the sensor data corresponds to a distance between a point on the surface of the calibration element and at least one sensor, or where a contact element of at least one sensor is offset by the calibration element and the sensor data corresponds to a distance by which the calibration element contact is deflected by reading the second sensor data from at least one sensor, the calibration element is in the second position, where the second position is o indicates the current position of the calibration element after the calibration movement has been performed, causing the movement of at least one sensor, so that the difference between the first and second sensor data decreases until the difference becomes smaller or equal. at a predetermined threshold value, and determining a tool head positioning error based on the movement of at least one sensor.
公开号:BR102013007805A2
申请号:R102013007805-0
申请日:2013-04-01
公开日:2018-02-14
发明作者:Morfino Giuseppe；Mignani Augusto
申请人:Fidia S.P.A.；
IPC主号:

专利说明:

(54) Title: METHOD FOR DETERMINING A MACHINE POSITIONING ERROR, METHOD FOR IMPROVING A MACHINE'S PRECISION, AND DEVICE FOR DETERMINING A MACHINE POSITIONING ERROR (51) Int. Cl .: B23Q 17/22 (30 ) Unionist Priority: 05/04/2012 EP 12163426.5 (73) Holder (s): FIDIA SPA
(72) Inventor (s): GIUSEPPE MORFINO; AUGUSTO MIGNANI (74) Attorney (s): DAVID DO NASCIMENTO ADVOGADOS ASSOCIADOS (57) Abstract: METHOD FOR DETERMINING A MACHINE POSITIONING ERROR, METHOD FOR IMPROVING THE PRECISION OF A MACHINE, AND DEVICE FOR DETERMINING A MACHINE MACHINE. The present invention provides a method for determining a positioning error on a CNC machine, in which the CNC machine is equipped with a calibration element, the calibration element being in a first position, the method comprising the steps of reading the data from the first sensor of at least one sensor, while the calibration element is in the first position, operating the CNC machine to perform a calibration movement that ideally leaves the calibration element in the first position, where the sensor data correspond to a distance between a point on the surface of the calibration element and the at least one sensor, or where a contact element of the at least one sensor is deflected by the calibration element and the sensor data correspond to a distance by which the contact is bypassed, reading data from the second sensor of at least one sensor, the calibration element (...)
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METHOD FOR DETERMINING A MACHINE POSITIONING ERROR, METHOD FOR IMPROVING A MACHINE ACCURACY, AND DEVICE FOR DETERMINING A MACHINE POSITIONING ERROR [001] The present invention relates to a method and a device for determining an error positioning of a computerized numerical control machine (CNC Computerized Numerical Control), in particular, to a method and device for determining a positioning error of a CNC machine tool head and / or CNC machine table.
[002] EP 1 549 459 teaches a method and device for determining a positioning error of a CNC machine head or machine table, in which a support base is equipped with a plurality of distance sensors to determine the Cartesian coordinates of a gauge tool equipped with a ball. In order to determine the positioning error of the tool head, the plurality of distance sensors measure the respective distances to the ball. Then, the tool head or table performs an angular movement, while at the same time the machine performs a circular or helical counting movement so that the ball of the gauge tool remains in position. Then, the plurality of distance sensors measures the respective distances to the ball again. Due to a positioning error in the tool head, these distances may differ. Then, the machine is made to perform a linear movement with respect to the Cartesian coordinate axes so that the plurality of distance sensors measure the distances
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2/45 originals again, while, at the same time, the angular position of the head or table remains fixed. From this compensation movement, the positioning error of the head or table can be determined as the linear movements that were necessary to compensate for the positioning error of the head or table.
[003] The device of EP 1 549 459 has the disadvantage that the control of the CNC machine is able to read and process data from the plurality of sensors. This can be disadvantageous when there is no common interface between the plurality of sensors and the CNC machine available, for example, because both devices were manufactured by different manufacturers.
[004] In view of the prior art, there is a need for a method and device to determine a positioning error of a CNC machine, in particular, a CNC machine tool head and / or a CNC machine table , which works independently from the control of the CNC machine and, in particular, does not require a common interface with the control of the CNC machine.
[005] It is, therefore, an objective of the present invention to overcome the failures mentioned above of the prior art.
[006] The present invention provides a method for determining a positioning error of a CNC machine, in which the CNC machine is equipped with a calibration element, the calibration element being in a first position, a method comprising the steps of reading the first sensor data from at least one sensor while the calibration element is in the first
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3/45 position, where the sensor data corresponds to a distance between a point on the surface of the calibration element and the at least one sensor, or where a contact element of the at least one sensor is deflected by the calibration element and the sensor data corresponds to a distance by which the contact element is deflected, operation of the CNC machine to perform a calibration movement that ideally leaves the calibration element in the first position, reading data from the second sensor of at least one sensor the calibration element is in the second position, where the second position defines the current position of the calibration element after the calibration movement has been carried out, carrying out the movement of at least one sensor so that the difference between the first and second data of the sensor decreases until the difference becomes less than or equal to a predetermined threshold value, and determination of a positioning error of the CNC machine based on the movement of the p link minus a sensor.
[007] The computerized number control (CNC) machine can be any CNC machine known in the art, in particular, a machine tool and / or a robot. The CNC machine can be operated in Rotations along with the Tool Center Point (RTCP Rotations along Tool Center Point) mode. The CNC machine may comprise a tool head, in particular, a rotating head, such as a milling head. THE
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The CNC machine may comprise a machine table, in particular, a mobile machine table, such as a turntable and / or a turntable swivel table. The tool head and / or the machine table can be equipped with the calibration element.
[008] The tool head can indicate an interface between the CNC machine and a tool, in particular, a tool for shaping, such as milling, drilling or cutting. Other tools, such as measuring or testing tools, are also possible. To perform the method described above, it is preferable to replace a removable tool with the calibration element. However, it is also possible to use the tool itself as the calibration element, which is advantageous if the tool is not removable or difficult to remove.
[009] The machine table can hold and / or move, in particular, rotate a workpiece. To perform the method described above, it is preferable to replace the workpiece with the calibration element. The calibration element can be replaced on and / or fixed on the machine table.
[010] The calibration element may comprise a solid or hollow ball, in particular, a ball made of a hard material such as metal. The ball may be in the shape of a sphere, in which the shape may be of high geometric precision, but need not be geometrically perfect. The ball can be connected to the tool head by a cylinder. Other shapes of the calibration element are possible. In particular, the calibration element can comprise ellipsoid and / or cylinder.
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5/45 [011] The at least one sensor can be one sensor, two sensors, three sensors, or more than three sensors, which can be mounted on a common support base.
[012] One or more of the sensors can be distance sensors that generate the sensor data corresponding to the distance between a point on the surface of the calibration element and the sensor. The distance sensor can, in particular, be a sensor that is not in physical contact with the calibration element. For example, one or more of the sensors may be optical sensors, in particular, a laser sensor, an acoustic sensor, in particular, an ultrasonic sensor, a capacitive sensor, and / or an inductive sensor.
[013] One or more of the sensors may be a contact point sensor and / or a dial indicator comprising a deviable portion and a non-deviable portion. The divertable portion may comprise a contact element that is in contact with the calibration element, more specifically, with a point on its surface. The one or more contact point sensors generate the sensor data corresponding to the distance by which the deflectable portion, in particular, its contact element is deflected by the calibration element, in particular, by a point on its surface. A contact point sensor may, in particular, comprise a geometric sensor axis from which the contact element can be deflected. Then, the contact element is offset by the point on the surface of the calibration element that is on the geometric sensor axis.
[014] In one step of the method, at least one sensor generates the first sensor data while the element
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6/45 calibration is in the first position. That is, the first data from the sensor represent the first position of the calibration element, in particular, the center of a ball of it. This first position can be known by the CNC control, but unknown to at least one sensor. However, it is not necessary to calculate the first position of the calibration element from the first sensor data. In particular, it is not important that the point on the surface of the calibration element is taken to represent the first position. This has the advantage of greater freedom in positioning at least one sensor. In particular, the sensors do not need to be orthogonally positioned. In fact, they do not need to be positioned very precisely.
[015] In another step of the method, the CNC machine is operated to perform a simple movement or a sequence of movements that, according to the CNC control, would not move the calibration element, in particular, the center of a ball of this , from your first position. The CNC machine can be operated to make the tool head and / or the machine table perform a simple movement or a sequence of movements that, according to the CNC control, would not move the calibration element, in particular, the center of a ball of this, from its first position. The CNC machine can be operated in RTCP mode while making said movement or sequence of movements. Such movements may include rotations on the various axes. In particular, when the calibration element comprises a ball, the first position can be represented by the center of the ball by the CNC control. Then, a movement that does not move the calibration element from its first position
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7/45 means that the center of the ball does not move. The ball can, however, be rotated on any axis through its center. If the ball is connected to the CNC machine, in particular to a tool head or machine table, by an element, such as a cylinder, said element can be moved during movement.
[016] Although ideally, that is, according to the CNC control, the calibration element, in particular, the center of a ball of it, did not move during the movement, in fact, it may have moved due to a positioning error caused by a geometric mechanical error of the CNC machine, in particular, of a tool head or machine table. That is, the current position of the calibration element, in particular, the center of a ball of the same, at that point is not known by the CNC control, nor at least one sensor. In fact, CNC control assumes that the first and second positions of the calibration element are the same.
[017] In another step of the method, at least one sensor generates the second data of the sensor while the calibration element, in particular, the center of a ball of the same, is in a position after the movement. The point on the surface of the calibration element can be a different point or the same point as the point corresponding to the first sensor data. The second sensor data represents the second position of the calibration element, in particular, the center of a ball of the same.
[018] In another step of the method, the at least one sensor is moved to move so that the difference, in particular, the absolute difference between the first and second
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8/45 sensor data decreases, thus partially or completely compensating the positioning error by the movement of the sensor. This movement can be monitored in takt time or in real time, and adjusted in the feedback. Alternatively, this movement can be calculated partially or completely in advance from the first and second sensor data indicating that the sensor movement can be stored for further processing.
[019] The at least one sensor may comprise a movement element to move the at least one sensor, or be mounted on the movement element. The at least one sensor can also be mounted on a support base which comprises a movement element for moving the support base, or be mounted on the movement element. In particular, at least two sensors, preferably at least three sensors, can be mounted on a common support base which is equipped with a movement element to move the support base and thus move the sensors simultaneously.
[020] When the difference, in particular the absolute difference, between the first and second sensor data becomes less than or equal to a threshold value, the current sensor data equals the first sensor data within an acceptable range. The threshold value can be the graduation and / or precision of at least one sensor and / or the CNC control machine. The threshold value can be a percentage of the first data of the sensor, in particular 1% or 0.1% of the same, or correspond to a fixed value, in particular, 10 pm, preferably 5 pm, or more preferably 3 pm. The lower the value, the more accurate the result.
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9/45 [021] In another stage of the method, the positioning error of the tool head, in particular, the center of a ball of the same, in relation to the movement of the tool head, in particular, the center of a ball of the even, it is determined based on the movement of at least one sensor. The movement of at least one sensor can be an overlap of all movements that have been performed, so that the current sensor data equals the first sensor data within the range described above. More specifically, the error can be determined from data that indicates the movement of at least one sensor. This has the advantage that no common interface between the at least one sensor and the control of the CNC machine is necessary to determine the position error.
[022] The method can additionally comprise the steps of determining, from the first and second sensor data, in particular, the difference of the same, a first compensation direction, such that a movement of at least one sensor in the first direction of compensation will decrease the difference between the first and second sensor values, and cause at least one sensor to move in the first compensation direction.
[023] By comparing the first and second sensor data, in particular from the difference between the first and second sensor data, a direction, in which the first and second positions of the calibration element differ, can be determined. In other words, from the difference between the first and second sensor data, a direction in which the calibration element has moved during the movement, can be determined. This direction need not be the exact direction
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10/45 of the actual displacement vector of the calibration element with respect to movement. This has the advantage that the measurement does not have to be accurate. The first compensation direction can then be the direction opposite to said direction, so that a movement of at least one sensor in the first compensation direction will partially or completely compensate for the displacement vector and thus reduce the difference, in particular, the absolute difference between the first and second sensor data.
[024] The step of determining a first compensation direction may comprise determining a velocity vector so that a corresponding movement will move at least one sensor in the first compensation direction.
[025] The step of determining a first compensation direction can additionally comprise determining a first compensation value that can indicate a distance in the first compensation direction, where the distance can correspond to a distance necessary to partially or completely compensate the vector when moving the at least one sensor in the first compensation direction.
[026] The at least one sensor can be moved to move in the first compensation direction to partially or completely compensate for the difference between the first and second sensor data, where the at least one sensor can be moved to move in said direction by a pre-established time. This pre-set time can be a takt time. That is, the movement in the first compensation direction will be started and maintained until a different compensation direction is determined based on the sensor data.
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11/45 subsequently read.
[027] Alternatively, at least one sensor can be moved to move in said direction to a pre-established or calculated distance. A pre-established distance can be a constant increase which can be the same for all sensor movements and, in particular, can be independent of the first compensation direction. A calculated distance can be the first compensation value or be calculated based on the first compensation value.
[028] The method, in particular, the realization step, can additionally comprise the realization of a closed circuit comprising the steps of reading the current sensor data of at least one sensor, determining, from the first and current sensor data, in in particular, from a difference of the same, a current compensation direction, in such a way that a movement of at least one sensor in the current compensation direction will decrease the difference between the first and current sensor data, and taking at least one sensor The
move in the direction of compensation current. [029] The stage of reading the data current of sensor can be implemented as a first stage at the circuit, or how one step the circuit. In particular in a first run of the circuit, the data
Current sensor values can be the second sensor data.
[030] The sensor data from at least one sensor can be continuously monitored so that the current sensor data is read continuously. The current sensor data can also be read at certain time intervals. This time interval can be a takt time, or a fraction of it, or a multiple of it. From the
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12/45 difference between the first and current sensor data, a current compensation direction can be determined. The current compensation direction can be an opposite direction from a direction defined by the difference between the first and current sensor data. That is, the current compensation direction is a direction that, when moving at least one sensor in said direction, will result in a decrease in the difference, in particular, the absolute difference, between the current and first sensor data.
[031] The step of determining a current compensation direction can additionally comprise determining a current compensation value which can indicate a distance required to partially or completely compensate the displacement vector when moving at least one sensor in the current compensation direction.
[032] At least one sensor can be moved to move in the current compensation direction for a pre-set time. This pre-set time can be a takt time. That is, the movement in the current compensation direction will be started and maintained until a different compensation direction is determined in a subsequent circuit.
[033] Alternatively, the at least one sensor can be moved by a pre-established or calculated distance. A pre-set distance can be a constant increase which can be the same for all sensor movements and, in particular, can be independent of the current compensation direction. A calculated distance can be the current compensation value or calculated based on the current compensation value.
[034] During and / or after the movement, the data
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Current 13/45 of the sensor can be read again, and the circuit can start over with the new current sensor data. At the end of the circuit, it can be determined whether the difference, in particular, the absolute difference, between the current and the first sensor data falls below a threshold value. If so, the circuit may end.
[035] The method, determination of the first and / or may comprise transforming components with respect to predetermined, in particular, orthogonal.
in particular, the
current direction in compensation the data of sensor on a system in coordinates a system in coordinates
[036] The at least one sensor can comprise a geometric sensor axis and the sensor data can correspond to a distance on the geometric sensor axis. In particular, the sensor axis can be fixed. A displacement vector corresponding to the distance on the geometric sensor axis can then be expressed in terms of a predetermined coordinate system. This coordinate system can be an orthogonal coordinate system, preferably an orthonormal, such as a Cartesian coordinate system. The displacement vector can also be decomposed into components with respect to the coordinate system.
[037] In particular, when using a Cartesian coordinate system with x, y and z coordinates, the sensor data can be expressed by three components Sx, Sy, Sz, so that the distance S on the geometric sensor axis satisfies S ² = Sx ² + Sy ² + Sz ² . Similarly, when at least two sensors are used, the respective distances Si, S2 etc. on the respective geometrical axes of the sensor can be
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14/45 expressed in the respective coordinates Si, x, Si, y, Si, z, S2, x, S2, y, S2, z etc.
[038] Reading the first, second and / or current sensor data can comprise reading the first, second and / or current sensor data from at least two sensors and where determining the first and / or current compensation direction can understand determining the components of a velocity vector with respect to the predetermined coordinate system, in particular, an orthogonal coordinate system, so that the corresponding movement of at least one sensor will decrease the absolute difference between the first and current sensor data.
[039] In particular, determining the velocity vector may comprise weighing the components of the velocity vector on the relative difference between the components of the first and current sensor data.
[040] Alternatively, determining the first and / or current compensation direction can comprise an average of the respective components of the at least two sensors, or adopt the respective component having the highest absolute value, or adopt the respective component having the lowest absolute value.
[041] In particular, reading the first, second and / or current sensor data can comprise reading the first, second and / or current sensor data from at least three sensors, and in which the determination of the first and / or current compensation direction can comprise determining the components of a velocity vector with respect to the predetermined coordinate system, in particular, an orthogonal coordinate system, so that a movement
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Corresponding 15/45 of the at least one sensor will decrease the absolute difference between the first and current sensor data, in which the determination of the velocity vector can comprise the weight of the velocity vector components over the relative difference between the components of the first and current sensor data from the sensors.
[042] The threshold value can be expressed in terms of the coordinate system, in particular, the threshold value can be expressed in terms of components with respect to the coordinate system, or be expressed in terms of the sensor data. In other words, the threshold value can be expressed directly in terms of the sensor data, or in terms of the predetermined coordinate system.
[043] In particular, when using a Cartesian coordinate system, the threshold value T can be expressed in components Tx, Ty, Tz with respect to the Cartesian coordinates x, y and z. Then, the threshold condition can be expressed as Sx <Tx, Sy <Ty and Sz <Tz. The threshold value T can be the same or different for each sensor. That is, for example, for two sensors, one can have the conditions Si <Ti and S2 <T2, where Ti and T2 can be the same or different.
[044] The at least one sensor can be moved by translation with at least one coordinate axis of the coordinate system. In particular, when using a Cartesian coordinate system, at least one sensor can be
taken moving together From x axes, y and z. The at least one sensor can understand one element in movement, or be fixed to an element of movement, in what the element of
movement comprises at least one engine, for example, a
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16/45 electromotor, in which at least one motor is configured to move the at least one sensor along the x axis, y axis or z axis. The movement element can comprise at least three motors, for example, electromotors, in which at least one of the at least three motors is configured to move the at least one sensor along the x axis, y axis and z axis, respectively.
[045] The at least one sensor can be moved to move with each coordinate axis of the coordinate system separately. In other words, at least three engines can be controlled separately.
[046] At least two sensors can be moved to move together, in particular, in which the at least two sensors can be fixed on a common support base. The at least two sensors can be mounted on the support base, where the at least two sensors can be fixed on the support base directly or through one or more elements, for example, pedestals or sockets. Pedestals and / or sockets may comprise one or more cylinders. The support base can comprise a movement element for moving the support base and thus also the at least two sensors.
[047] The at least two sensors can be arranged so that some of the sensor axes are non-parallel. In particular, the at least two sensors, in particular, at least three sensors, can be arranged so that the at least two sensors of the same, in particular, at least three sensors, have mutually non-parallel sensor axes. The at least two sensors can also be arranged so that all axes of the sensor are mutually non-parallel.
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17/45 [048] Three sensors can be attached to the edges of an imaginary triangle formed parallel to a surface of the support base, where each sensor is directed towards the center of the triangle and is inclined against the surface of the support base. Imaginary here means that there is no need to be a real triangle indicated on or over the surface. In particular, the three sensors can be attached to the edges of an imaginary equilateral triangle, in which the calibration element in its first position can be located over the center of the triangle. The three sensors can be tilted against the surface by an angle of inclination, where the angle can be in a range of 40 ° to 80 °, preferably 50 ° to 70 ° or 55 ° to 65 °, or essentially 60 °, where essentially it means that the angle of inclination can differ from 60 ° by an acceptable value in the field. The tilt angles of the three sensors can be the same or different. In particular, at least one of the three sensors, preferably at least two of the three sensors or all three sensors, can point at the center of a ball of the calibration element. The three sensors can be aimed so that at least two of the three axes of the sensor form an angle of at least 90 °. The three sensors can be aimed so that the sensor axes of the three sensor axes form a mutual angle of at least 90 °. When a Cartesian coordinate system is used, two coordinate axes can be parallel to the surface of the support base and one coordinate axis can be perpendicular to the surface of the support base. In particular, the coordinate axis perpendicular to the surface, for example, the z axis, can represent a height, while the axes of
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18/45 coordinates parallel to the surface, for example, x-axis and y-axis, can represent lateral dimensions.
[049] The method can additionally comprise the generation of data indicating the positioning error of the tool head, in particular, in which the generation comprises any one of displaying, printing, transmitting and / or saving data. In particular, the determined positioning error can be transformed into readable data by a computer system, in particular, the CNC control operating system.
[050] The invention also provides a method to improve the accuracy of a CNC machine, the method comprising determining a positioning error of the CNC machine, in particular a tool head and / or a machine table, performing any of the methods as previously described, and compensate for the positioning error of the CNC machine, in particular of a tool head and / or table of the machine. Compensating the positioning error of the CNC machine, in particular of a tool head and / or machine table, can comprise adjusting the programming of the CNC machine based on the positioning error, and / or can additionally include entering data indicating the positioning error of the tool head inside the CNC control machine.
[051] The invention further provides a device for determining a positioning error of a CNC machine, in which the CNC machine is equipped with a calibration element, the device comprising [052] at least one sensor, in which at least
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19/45 a sensor is configured to generate sensor data, where the sensor data corresponds to a distance between a point on the surface of the calibration element and the at least one sensor, or where a contact element of the at least one sensor is deflected by the calibration element and the sensor data corresponds to a distance by which the contact element is deflected, a movement element to move the at least one sensor, and a control unit to process the sensor data received from the at least one sensor, and to control the motion element, where the control unit is configured to receive the first and second data from the sensor, generate drive data for the motion element that causes the motion element to move the hair one sensor so that the difference between the first and second sensor data decreases until the difference becomes less than or equal to a threshold value, and determines a positioning error of the tool head based on the movement of at least one sensor.
[053] The CNC machine machine as a particular name, a machine tool and / or a robot. The CNC machine can be operated at speeds together with the Tool Center Point (RTCP) mode. The CNC machine may comprise a tool head, in particular, a rotating head such as a rotary milling head. The CNC machine can comprise a machine table, in particular, a mobile machine table, such as a turntable and / or a turntable swivel table. A head of
CNC can be any and used in the field, in
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20/45 tool and / or a machine table can be equipped with a calibration element.
[054] A tool head can indicate an interface between the CNC machine and a tool, in particular, a tool for shaping, such as milling, drilling or cutting. Other tools, such as measuring and / or testing tools, are also possible. A machine table can hold and / or move and / or rotate a workpiece.
[055] The CNC machine, in particular, a tool head and / or machine table, is equipped with a calibration element, where the calibration element can be an element used only for the purpose of calibrating the CNC machine and / or determination of a CNC machine positioning error, in particular, a tool head and / or a machine table. The calibration element can also be a tool itself.
[056] The at least one sensor can be one sensor, two sensors, three sensors, or more than three sensors, which can be mounted on a common support base.
[057] One or more of the sensors can be a distance sensor that generates data from the sensor corresponding to the distance between a point on the surface of the calibration element and the sensor, where the distance sensor can, in particular, be a sensor that is not in physical contact with the calibration element. For example, one or more of the sensors can be an optical sensor, an acoustic sensor, a capacitive sensor and / or an inductive sensor.
[058] One or more of the sensors can be a
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21/45 contact point sensor and / or a dial indicator comprising a deviable portion and a non-deviable portion. The divertable portion may comprise a contact element which is in contact with the calibration element, more specifically, a point on the surface thereof. The one or more contact point sensors generate data from the sensor that corresponds to a distance by which the deviable portion, in particular, the contact element thereof, is deflected by the calibration element, in particular, by a point on the surface of the same. A contact point sensor may, in particular, comprise a geometric sensor axis from which the contact element can be deflected. Then, the contact element is deflected by the point on the surface of the calibration element that is on the axis of the geometric sensor.
[059] The movement element can be fixed on at least one sensor, or fixed on a support base, where the at least one sensor can be mounted on said support base.
[060] The control unit can comprise means of processing to process the sensor data and / or other data. The control unit may additionally comprise storage means for storing data in cache and / or storing data permanently. The control unit can additionally comprise an input interface for receiving sensor data from at least one sensor, where at least one sensor can communicate with the control unit via a wired connection and / or a wireless connection. wire and / or receive other data and / or instructions. The control unit can additionally comprise an output interface for generating data of the motion element,
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22/45 where the motion element can communicate with the control unit via wired and / or wireless connection, and / or the output unit and / or other units.
[061] The control unit can receive the first and second data from the sensor while the calibration element is in the first and second position of the calibration element, respectively, where the first position can refer to an initial position, that is, a position before a movement of the calibration element. The second position of the calibration element can refer to a subsequent position after a movement of the calibration element, in particular, a movement that ideally, that is, according to CNC control, leaves the calibration element in a fixed position. The first and second sensor data can be received via the input interface.
[062] The control unit can compute, from the first and second data of the sensor, in particular, from a difference of the same, a direction in which the at least one sensor can be moved so that the difference, in particular, the difference absolute, between the first and second sensor data decreases, and generate motion data according to the motion element. This generation of movement data can be performed through the output interface.
[063] The control unit can be configured to perform any of the methods as described previously.
[064] In particular, the control unit can be configured to carry out a step of determining the first and second sensor data, in particular, the difference of the same, a first compensation direction, in
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23/45 that the movement of at least one sensor in the first compensation direction will decrease the difference, in particular, the absolute difference, between the first and second values of the sensor, and causing at least one sensor to move in the first direction of compensation. compensation.
[065] The control unit can also be configured to perform a closed circuit comprising the steps of determining the first and current sensor data, in particular, the difference of the same, a current compensation direction, in which the hair movement at least one sensor in the current compensation direction will decrease the difference, in particular, the absolute difference, between the first and current sensor values, causing at least one sensor to move in the current compensation direction, and reading the current sensor data at least one sensor.
[066] The unit of transforming the components with respect to a predetermined system, in particular, an orthogonal coordinate system.
control data from can be sensor in coordinates set to [067] The control unit can be configured to read the first, second and / or current sensor data from at least two sensors, in particular from at least three sensors, and wherein determining the first and / or current compensation direction may comprise determining the components of a velocity vector with respect to the predetermined coordinate system, in particular, an orthogonal coordinate system, so that a corresponding movement of at least one sensor will decrease the absolute difference between the first and current sensor data.
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24/45 [068] The control unit can be further configured to express the threshold value in terms of the coordinate system, in particular, the threshold value can be expressed in terms of components with respect to the coordinate system, or express the value threshold in terms of sensor data.
[069] In addition, the control unit can be configured to generate motion data by having the motion element move the at least one sensor through translation with at least one coordinate axis of the coordinate system.
[070] The device can additionally comprise an output unit configured to generate error data corresponding to the positioning error of the tool head, in which the generation comprises any one of displaying, printing, transmitting and / or saving the error data.
[071] The output unit can be a display device, a printing device, a transmission device and / or a storage device, and / or it can be connected to a display device, a printing device, a device transmission and / or a storage device. The output device can also be connected to the CNC machine.
[072] At least one sensor can be a contact point sensor, a dial indicator, a light sensor, a laser sensor, an ultrasonic sensor, a capacitive sensor and / or an inductive sensor.
[073] The movement element can comprise
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25/45 at least one engine, in particular, at least one electromotor. The motion element, in particular, a motor of the motion element, can move the at least one sensor per translation with at least one coordinate axis of a coordinate system, in particular, an orthogonal coordinate system. In particular, the at least one sensor can be mounted on a support base and the at least one motor can move the support base and thus the at least one sensor per translation with at least one coordinate axis from a coordinate system, in particular, an orthogonal coordinate system.
[074] The movement element can comprise at least two motors, in which the at least two motors can be controlled separately, in particular, in which the movement element can move at least one sensor and / or the support base by translation with at least two coordinate axes separately. The motors can be configured to move at least one sensor and / or the support base directly or through gears. The motors can be located at a distance from at least one sensor and / or support base and comprise gear shafts that are connected to at least one sensor and / or support base.
[075] The movement element can be configured to move at least two sensors together, in particular, in which the at least two sensors are fixed on a common support base. The movement element can also be configured to move the support base and thus the at least two sensors.
[076] The at least two sensors can be arranged so that the sensor axes are not parallel.
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In particular, at least two sensors, in particular, at least three sensors, can be arranged so that at least two sensors of the same, in particular, at least three sensors, have mutually non-parallel sensor axes. The at least two sensors can also be arranged so that all axes of the sensor are mutually non-parallel.
[077] Three sensors can be attached to the edges of an imaginary triangle formed parallel to a surface of the support base, where each sensor is directed towards the center of the triangle and inclined against the surface of the support base. Imaginary here means that it doesn't have to be a real triangle indicated on or above the surface. In particular, the three sensors can be attached to the edges of an imaginary equilateral triangle, in which the calibration element in its first position can be located over the center of the triangle. The three sensors can be tilted against the surface by an angle of inclination, where the angle can be in the range of 40 ° to 80 °, preferably 50 ° to 70 ° or 55 ° to 65 °, or essentially 60 °, where essentially means that the angle of inclination can differ from 60 ° by an acceptable value in the field. The tilt angles of the three sensors can be the same or different. In particular, at least one of the three sensors, preferably at least two of the three sensors or all three sensors, can point at the center of a ball of the calibration element. The three sensors can be aimed so that at least two of the three axes of the sensor form an angle of at least 90 °. The three sensors can be aimed so that the sensor axes of the three sensor axes form a mutual angle of at least 90 °.
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When a Cartesian coordinate system is used, two coordinate axes can be parallel to the surface of the support base and one coordinate axis can be perpendicular to the surface of the support base. In particular, the coordinate axis perpendicular to the surface, for example, the z axis, can represent a height, while the coordinate axes parallel to the surface, for example, x-axis and y-axis, can represent lateral dimensions.
[078] The calibration element can comprise a ball. The ball can be connected to the tool head via an element, in particular a cylinder. The ball can be formed of a hard material, for example, a metal.
[079] The present invention will be described by some preferred embodiments, provided as non-limiting examples, with reference to the accompanying drawings, in which:
• Figure 1 shows a schematic view of a device to determine a positioning error for a CNC machine tool head;
• Figure 2A shows a flow chart of a method to determine a positioning error of a CNC machine tool head;
• Figure 2B shows the positioning error of the calibration element and the sensor deflections according to a two-dimensional Cartesian example;
• Figure 2C shows the components of the differences between the first and current sensor data in a two-dimensional Cartesian example; and • Figure 2D shows an example for an algorithm in a two-dimensional Cartesian example.
[080] With reference to figure 1, a device
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28/45 to determine a positioning error of a CNC machine, more specifically of a tool head 101 thereof, equipped with a calibration element 102 comprises at least one sensor 103, a control unit 105, and an movement 106. The device may additionally comprise a support base 104 and / or an output unit 107. Alternatively, the CNC machine may comprise a machine table equipped with a calibration element 102.
[081] The machine's tool head 101 represents an interface between the CNC machine and a tool, where the tool can be replaceable. The tool can be a tool for molding, for example, cutting, milling, drilling, or for measuring and / or testing.
[082] Calibration element 102 can be an element explicitly used to determine a positioning error and / or otherwise calibrate the CNC tool head, or calibration element 102 can be the tool itself. The former is preferable because the shape of a tool can make it difficult to determine a reliable positioning error of the tool head 101. The latter can be advantageous if the tool is not removable or difficult to remove from the tool head 101. In the present example , the calibration element 102 is shaped like a ball that is connected to the tool head through a cylindrical element. This ball 102 is preferably formed of a hard material, such as metal. Ball 102 can be solid or hollow.
[083] The number of sensors 103 can be one, two, three, or more than three. In the present example, the three
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29/45 sensors 103-1, 103-2 and 103-3 are used. The sensors 103 can be mounted on a support base 104, where they can be fixed to the corners of an imaginary triangle, in particular, an equilateral triangle on the surface of the support base 104, or parallel to the surface. The sensors 103 can also be located in sockets, pedestals or the like, which can be attached to the surface of the support base 104. The sensors 103 can have a cylindrical portion with a geometric sensor axis. In particular, they may comprise a stationary, in particular non-deflecting portion, the position of which is fixed to the axis of the geometric sensor. The sensors may additionally comprise a portion which is movable, in particular, deviable, close to the sensor axis, such as a sensor head. The sensors 103 can, in particular, be contact point sensors, where the sensor head comprises a contact element that is in contact with a point on the surface of the ball 102. More specifically, the contact element is in contact with the point on the surface of the ball 102 and on the sensor axis that is closest to the stationary portion of sensor 103. The sensors
103 can be tilted against the surface of the support base
104 by an angle of inclination. The angle can be the same for each sensor 103, or different. The angle can be in the range of 40 ° to 80 °, preferably 50 ° to 70 °, more preferably 55 ° to 65 °. At a greater tilt angle, ball 102 may be better accessible by sensors 103. In particular, this allows and facilitates the positioning of ball 102 and a collision-free movement of the tool head 101. The tilt angles of sensors 103 can be chosen so that the mutual angles between the
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30/45 axes of sensors 103 are at least 90 °. The sensors 103 can be arranged to mutually point at the center of a ball 102. The three sensor axes of the sensors 103 can form a mutual angle of at least 90 °. The support base 104 may comprise a cylindrical portion. In addition, the support base 104 can comprise socket, pedestals or the like, for mounting the sensors 103. The support base 104 can also comprise means for adjusting the height and / or lateral position of the sensors 103, and / or fixing means to fix the height and / or lateral position of the sensors.
[084] The control unit 105 may comprise processing means for processing data received from sensors 103 and / or data received otherwise. The control unit 105 may further comprise storage means for caching or storing data. The storage media can include volatile memory and / or persistent memory. Information representing the geometric scheme of sensors 103, for example, the spatial orientation of its sensor axes, can be saved in memory. The control unit 105 can comprise an input interface for receiving data, in particular, sensor data from sensors 103. The input interface can include a plurality of inputs. In particular, sensors 103 can be connected to the input interface separately. The sensors 103 can be connected to the input interface via the wired and / or wireless connection. The input interface can also be used to insert instructions in the control unit 105 and / or update the control unit 105. The control unit 105 can additionally comprise an output interface
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31/45 for data generation. The output interface can be connected to the movement element 106. This connection can be a wired connection and / or a wireless connection. The output interface can also be connected to an output unit 107. This connection can also be a wired connection and / or a wireless connection.
[085] The moving element 106 may comprise one, two, three, or more than three motors, preferably electromotors. In particular, the movement element 106 can comprise three motors that are configured to move the support base 104 with each of the three x, y, and z coordinate axes of a Cartesian coordinate system. The three different translations can be controlled by approaching the three engines separately. The three motors can be connected to the control unit 105, in particular, to an output interface of the same, separately or collectively. The moving element 106 can be attached to the sensors 103 directly and / or to the support base 104.
[086] Output unit 107 may comprise a screen, a printer, a transmitter and / or a storage device and / or be connected to a screen, a
printer, a transmitter and / or one device in storage. The unit of output 107 can also to be connectable on machine control CNC. The device in
output 107 can be connected to control unit 105, in particular, to its output interface.
[087] In the operation of the device, at least one of the sensors 103, preferable each of the sensors 103, generates data from the sensor while the ball 102 is in a given position.
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That is, the sensor data represents the actual position of the ball 102, without necessarily determining the current position of the ball 102. The sensor data is then transferred to the control unit 105, in particular, to an input interface thereof.
[088] Control unit 105 receives sensor data from sensors 103, in particular, via the input interface. The control unit 105, in particular, means of processing the same, determines whether the sensor data meets certain conditions. In particular, the control unit 105 can examine whether the difference, in particular, the absolute difference, between sensor data taken at two different times falls below a threshold value. The control unit 105, in particular means for processing the same, can determine the motion data of the sensor data. The motion data and / or the sensor data can be cached and / or saved within the control unit 105, in particular, within the storage means thereof. The movement data can comprise three separate commands for the three motors of the movement element 106. The control unit 105 can transmit the movement data to the movement element 106, in particular, through an output interface.
[089] The movement element 106 receives the movement data from the control unit 105, in particular, through its output interface. The movement data can comprise commands for at least one of the motors. In particular, the motion data may comprise commands for the three motors that are configured to move sensors 103 and / or the base
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33/45 support 104 along the Cartesian axes. The controls for a motor may comprise instructions for moving sensors 103 and / or the support base 104 along the respective axis in a forward direction, in a backward direction, to reverse the translation, and / or to interrupt the translation. The controls for a motor may additionally comprise instructions for moving the sensor 103 and / or the support base 104 with a certain speed and / or a certain distance.
[090] After the movement element 106 has moved the sensors 103 and / or the support base 104 according to the movement data generated by the control unit 105, the sensors 103 generates new sensor data. The control unit 105, in particular, the input interface thereof, receives the new sensor data from the sensors 103 and compares the difference, in particular, the absolute difference, between the new sensor data and the previous sensor data, in particular, sensor data representing a starting position of the ball 102, with a threshold value. If the threshold value is not reached, new movement data is determined and generates the movement element 106. If the threshold value is reached, the control unit 105, in particular the means of processing it, determines a positioning error of the tool head of the cached and / or stored motion data. In a Cartesian coordinate system, the positioning error (Dx, Dy, Dz) can be the sum of the movement data corresponding to the movements that were necessary to move the sensors 103 and / or the support base 104 in order to find the threshold value.
[091] Control unit 105 can generate positioning error on output unit 107. The control unit
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34/45 output 107 can display, print, transmit and / or save the positioning error. Output unit 107 can also insert the positioning error in the control of the CNC machine.
[092] The sensors 103, the support base 104, the control unit 105, the movement element 106, and / or the output unit 107 can be separate units and / or elements, or they can be part of the same unit and / or device element.
[093] With reference to figure 2A, a method for determining a positioning error of a CNC machine tool head comprises the steps of reading the first data from sensor 210, moving the tool head 220, reading the current data of sensor 230, determining the difference between the first and current data of sensor 240, checking whether a threshold value reaches 250, and in response to verification 250, determining a compensation direction 260 and moving the sensor in compensation direction 270, or determining a positioning error 280.
[094] In step 210, the first data from the S (to) sensor, that is, the sensor data at a time to, are read. The first sensor data represents the first position of the calibration element 102 that is connected to the tool head 101. The first position corresponds to an initial position of the calibration element 102, that is, before the tool head 101 is moved in order to determine a positioning error. The first position is known for the control of the CNC machine, but unknown for the control unit 105. The CNC control can operate in Cartesian coordinates and adjust the first
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35/45 position for (0, 0, 0), where the first position can correspond to a predetermined reference point at or in the calibration element 102, in particular, the center of a ball. Therefore, it is not necessary for the control unit 105 to determine the first position. In the case of the three sensors 103-1 to 103-3, the first data from sensor S (to) comprises the first data from sensor Si (to), S2 (to), and S3 (to) from sensors 103-1, 103 -2, and 103-2, respectively.
Each of the sensor data Si (to), S2 (to), and S3 (to) can have components with respect to a predetermined coordinate system. If Cartesian coordinates are used, the first sensor data Si (to) of sensor 103-1 can have components Si, x (to), Siy (to), and Si, z (to) with respect to the Cartesian coordinate axes x, y, and z. Similarly, S2 (to) and S3 (to) can have components S2, x (to), S2, y (to), S2, z (to), S3, x (to), S3, y (to), and S3, z (to). The Cartesian components of the first sensor data can be determined from the known direction of the sensors, that is, the direction of the geometric sensor axis, by trigonometric computations, as known in the art. However, in the embodiments of the present invention it may be unnecessary to determine the Cartesian components of the first sensor data.
[095] In step 220, the CNC is operated to move the tool head 101 so that a calibration element 102 remains in a theoretically fixed position. That is, according to the CNC control, this calibration movement does not change the position of the reference point of the calibration element 102. The calibration element 102 itself can therefore move. In particular, if the calibration element 102 comprises a ball whose center is the
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36/45 reference, the calibration movement leaves the center of the ball in the fixed position, while the ball can still rotate on any axis through its center. In other words, the CNC assumes that after the calibration movement, the reference point is still in the first position, for example, (0, 0, 0). Due to a positioning error of the CNC machine, in particular, of the tool head, the calibration element may, however, be in a second position that differs from the first position. If Cartesian coordinates x, y and z are used, said second position can be expressed as (Dx, Dy, Dz). This second position is not known either by the control of the CNC machine, which still assumes the position (0, 0, 0) instead of (Dx, Dy, Dz), nor by the control unit 105. It is an objective of the present method determine Dx, Dy and Dz.
[096] In step 230, the current data of the S (ti) sensor, that is, the sensor data in a ti> to time, are read. If the time ti corresponds to a time ti> to before the sensors have been moved, the current sensor data S (ti) is the second sensor data representing the second position of the calibration element 102, that is, the position of the element 102 after the calibration movement. The second position of the calibration element 102 corresponds to the positioning error (Dx, Dy, Dz) of the tool head and is unknown. In the case of the three sensors 103-1 to 103-3, the current data from sensor S (ti) comprises current data from sensor Si (ti), S2 (ti), and S3 (ti) from sensors 103-1, 103- 2, and 103-2, respectively. Each of the sensor data Si (ti), S2 (ti), and S3 (ti) can have components with respect to a predetermined coordinate system. If Cartesian coordinates are used, the first data from the Si (ti) sensor
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37/45 of the 103-1 sensor may have components and
51, z (ti) with respect to the Cartesian axes of x, y, and z coordinates. Similarly, S2 (ti) and S3 (ti) can have components
52, x (ti), S2, y (ti), S2, z (ti), S3, x (ti), S3, y (ti), and S3, z (ti). The Cartesian components of the current sensor data can be determined from the known direction of the sensors, ie, the direction of the geometric sensor axis, by trigonometric computations, as known in the art. However, in embodiments of the present invention, it may be unnecessary to determine the Cartesian components of the current sensor data.
[097] In step 240, the current difference D (ti) =
S (to) - S (ti) between the first and current sensor data is determined. In the case of the three sensors 103-1 to 103-3, the current difference D (ti) can comprise the three differences Di (ti) = Si (to) - Si (ti), D2 (ti) = S2 (to) - S2 (ti), and D3 (ti) =
S3 (to) - S3 (ti). In particular, the difference D (ti) can have Cartesian components Di, x (ti), Di, y (ti), Di, z (ti), D2, x (ti), D2, y (ti), D2, z (ti), D3, x (ti), D3, y (ti), and D3, z (ti), where Di, x (ti) =
Si, x (to) - Si, x (ti) and so on. The Cartesian components of D (ti) can be determined directly from the Cartesian components of S (ti), or alternatively, by transforming differences Di (ti), D2 (ti), and D3 (ti) in the displacement vectors along the axes geometries of sensors 103-1, 103-2, and 103-3, respectively, and then the Cartesian components of the respective displacement vectors of the known direction of the sensors, that is, the direction of the geometric sensor axis, by trigonometric computations, as known in the art. However, in embodiments of the present invention, it can be
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38/45 unnecessary to determine the Cartesian components of the current difference. The signals of Di (ti), D2 (ti), and D3 (ti) determine whether, at time ti, the respective sensor is still deviated or less deviated than at time to.
[098] In step 250, the current sensor data is read and the difference D (ti), in particular, the absolute difference | D (ti) |, between the current sensor data and the first sensor data are compared to a threshold value T. If the threshold is reached, that is, if the difference D (ti), in particular, the absolute difference | D (ti) |, is less than or equal to the threshold value T, the positioning error is determined in step 280. If the threshold T is not reached, that is, if the difference D (ti), in particular, the absolute difference | D (ti) |, is greater than the threshold value T, the method proceeds to step 260 In particular, the threshold value T can have Cartesian components Tx, Ty and Tz. The threshold condition can then comprise conditions such as Di, x (ti) | d Tx, and similarly for the other components. It is also possible to require different threshold values Ti, T2 and T3 for the three sensors 103-1, 103-2 and 103-3. In this case, the threshold condition can comprise conditions like Di, x (ti) | d Ti, x, and similarly for the other components. Alternatively, the threshold condition can be evaluated for the sum of certain components of the difference D (ti). For example, the threshold condition can be evaluated as the sum of the difference Di (ti), D2 (ti), D3 (ti) of the sensors 103-1, 103-2, 103-3 with respect to each Cartesian component separately. In this case, the threshold condition can comprise conditions such as | Di, x (ti) | + D2, x (ti) | + D3, x (ti) | d Tx, and similarly for the other components. In another example, the threshold condition can be assessed as the sum of
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39/45 Cartesian components Dx (ti), Dy (ti), Dz (ti) of the difference with respect to each sensor 103-1, 103-2, 103-3 separately.
In this case, the threshold condition can include conditions such as Di, x (ti) | + Di, y (ti) | + Di, z (ti) | d Ti, and similarly for the other sensors. Combinations of the examples described above are also possible. In particular, the threshold condition can comprise the condition | Di, x (ti) | + | Di, y (ti) | + Di, z (ti) | + D2, x (ti) | + D2, y (ti) | + D2, z (ti) | + D3, x (ti) | + D3, y (ti) | + D3, z (ti) | <T.
[099] In step 260, the compensation direction is determined. This determination can be based on the differences Di (ti), D2 (ti), D3 (ti), or on its Cartesian components Di, x (ti), Di, y (ti), Di, z (ti), D2, x (ti), D2, y (ti), D2, z (ti), D3, x (ti), D3, y (ti), and D3, z (ti). The compensation direction can be represented by a velocity vector V (ti) = (Vx (ti), Vy (ti), Vz (ti)), where the components Vx (ti), Vy (ti), and Vz (ti) represent the velocities along the x-axis, y-axis, and z-axis, respectively, with which the sensors will be moved in step 270. Here, the signals of Vx (ti), Vy (ti) and Vz (ti) they determine the direction of movement along the respective axis, that is, a forward or backward translation, while its absolute value determines the translation speed with the “respective axis. The speed components Vx (ti), Vy (ti), Vz (ti) can be determined from the differences Di (ti), D2 (ti), D3 (ti) as follows:
Vx ( you) = Ki, x · Di (ti) + K2, x · D2 (ti ) + K3, x · D3 (ti), Vy ( you) = Ki, y · Di (ti) + K2, y · D2 (ti ) + K3, y · D3 (ti), Vz ( you) = Ki, z · Di (ti) + K, · D2 (ti ) + K3, z · D3 (ti), in what kinematic factors K are the relationship between
compensation direction and sensor movement. The factors
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K can be constant. In particular, a sensor's K factor is constant when the spatial orientation of its sensor axis is fixed. In addition, K factors can be known, or can be determined as follows:
Ki, x = THE ·  Di, x (ti) / Di (ti); Ki, y = THE · Di, y (ti) / Di (ti); Ki, z = A · Di, z t (you) / Di (ti) ; K2, x = B · • D2, x (ti) / D2 (ti); K2, y = B · D2, y (ti) / D2 (ti); K2, z = B · D2, z t (you) / D2 (ti) ; K3, x = Ç · • D3, x (ti) / D3 (ti); K3, y = Ç · D3, y (ti) / Ds (ti); K3, z = C · D3, z t (you) / D3 (ti) ; on what THE, B e C are factors of scale related
to the constructive solution of the kinematic system that moves the sensors 103. In particular, A, B and C can represent scale factors in which the control unit 105 applies when computing the motion data. This can be advantageous if sensors 103-1, 103-2, 103-3 have different gains. The scale factors A, B and C can be the same or different. Kinematic factors, for example Ki, can comprise weight factors Di, x (ti) / Di (ti), Di, y (ti) / Di (ti) and Di, z (ti) / Di (ti), representing the relative contribution of a component difference Di, x (ti), Di, y (ti) and Di, z (ti) to the total difference Di (ti) of sensor 103-1, and also to the other sensors. This ensures that the compensation direction V (ti), as determined, points in one direction corresponding to the relative difference of the highest total sensor and is thus closer to the actual displacement of the ball 102 due to a positioning error of the tool head 101 If the K factors are known, a determination of the Cartesian components of the S (to), S (ti) and / or D (ti) sensor data can be omitted. Alternatively, K factors can
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41/45 can be obtained using a reference measure, for example, the K factors can be obtained from the first sensor data, that is, Ki, x = A Si, x (to) / Si (to) etc. A determination of the Cartesian components of S (t1) and / or D (to) can then be omitted.
[0100] In step 270, sensors 103-1, 103-2,
103-3 and / or the base of sensor 104 are moved according to the velocity vector V (tí) = (V _x (tí), V- _y (tí), V _z (tí)). That is, sensors 103-1, 103-2, 103-3 and / or the sensor base (104) are moved along the x axis with a speed Vx (ti), along the y axis with a speed V _y ( ti), and next to the z axis with a velocity V _z (ti). This results in a movement in the compensation direction that was determined in step 260 and thus partially or completely compensates for the difference D (ti). In the case when the movement element 106 comprises three motors that are configured to move the sensors 1031, 103-2, 103-3 and / or the sensor base 104 next to the three Cartesian axes, respectively, the speed components V _x ( tí), V- _y (tí) and V _z (tí) can be transformed into the respective control data indicating a forward / backward translation with a respective speed, and directly enter the respective motors.
[0101] The method then returns to step 230 where the new current data from the S (tí + i) sensor is read at a time tí + i> tí, and a new difference D (tí + i) = S (to) - S (tí + i) is determined in step 240. Due to the fact that the kinematic K factors in the compensation direction V (ti) comprise weight factors, as described in step 260, the new difference D (ti + i) will be less than the previous difference D (ti), that is, D (tí + i) | < D (tí) | . Therefore, the process converges
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42/45 the entire circuit. In step 250, it is checked whether the difference D (t i + i) reaches the threshold value T. If the threshold value is reached, the method continues in step 280. If the threshold value is not reached, a compensation direction V ( ti + i) is determined from the difference D (ti + i) in step 260, and sensors 103 and / or base 104 are moved accordingly. The difference At = ti + i - ti is called takt time and can, for example, be 1 ms. The takt At time is preferably a constant, in particular, a pre-adjustable constant. However, it is also possible that the takt At time is variable.
[0102] In step 280, the positioning error is determined based on the movements of the sensors 103 that were required to reach the threshold in step 250. The positioning error can be determined by overlapping all the movement data, starting with the sensor movement after reading the second sensor data. The Cartesian components (Dx, Dy, Dz) of the positioning error can be obtained by adding all the components of the data of the
movement. As a example, if n steps were needed to reach the threshold value, this is, | D (tn) | <Té satisfied, the mistake positioning Can be determined as follows: Dx = (Vx (ti ) + ... + Vx (tn-i)) At, Dy = (Vy (ti ) + ... + Vy (tn-i)) At, Dz = (Vz (ti ) + ... + Vz (tn-i)) At. [0103] Alternatively, a value C (ti) = (Cx (ti), Cy (ti), Cz (ti )) = (Vx (ti) · At, . Vy (ti) · At, Vz (ti) ·
At) indicating the compensation movement can be computed and stored in every circuit, for example, in step 260. Then, for the example mentioned above, the error of
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43/45 positioning can be determined as follows:
Dx = Cx (tl) + ... + Cx (tn-l), Dy = Cy (tl) + ... + Cy (tn-l), Dz = Cz (tl) + ... + Cz (tn -l).
[0104] Alternatively, the value C (ti) indicating the compensation movement can be determined recursively, that is, C (ti) = C (ti-i) + V (ti) · At, in every circuit, for example, in step 260. Then, for the example mentioned above, the positioning error can be determined as
Dx = Cx (tn-l), Dy = Cy (tn-l), Dz = Cz (tn-l).
[0105] Since the positioning error is determined from the data corresponding to all sensor movements 103-1, 103-2, 103-3 which were necessary to reach the threshold condition, the sensor values Si, S2 and S3 they don't have to be accurate. In fact, the method will work as long as, at least at the same point t, the differences converge, that is D (ti + i) <| D (ti) | they are valid for all ti> t until the threshold condition is reached. In this way, even harmful influences, such as bumps or vibrations that can temporarily break the convergence, will not affect the result of the method.
[0106] Figure 2B illustrates the position of the calibration element 102 and the deviation of sensors 103 in the case of two sensors 103-1 and 103-2 in two dimensions. A generalization of the case of three or more sensors is obvious. A generalization of the case of two sensors in three dimensions is also obvious.
[0107] In step 210, calibration element 102 is in its first position, such as (0, 0), and sensors 103-1 and 103-2 provide the first sensor data corresponding to the first position of the calibration element
Petition 870180002263, of 10/01/2018, p. 47/51
44/45
102.
[0108] In step 220, the calibration element 102 is moved as discussed previously. In particular, according to the CNC control, the calibration element 102 is in the same position as in step 210, that is, a (0, 0).
Due to a CNC machine positioning error, however, the calibration element is now at one point (Dx, Dy).
[0109] In step 230, the second sensor data is read from sensors 103-1 and 103-2 and, in step 240, the differences Di and D2 between the first and second sensor data from sensors 103-1 and 103-2, respectively, are determined. The differences Di and D2 represent the displacement vectors of the contact elements of the sensors 103-1, 103-2, respectively. The Cartesian components Di, x, Di, y, D2, x and D2, y of Di and D2 are described in figure 2C. However, a determination of Di, x, Di, y, D2, x and D2, y can be omitted if the spatial orientations of the sensor axes are fixed, that is, if the directions to which the sensors point are not loaded during the procedure .
[0110] THE figure 2D illustrates one example in one algorithm to example with two sensors 103- -1 and 103- 2. From first values of sensor stored Si (t0 ), S2 (t0) and the
current sensor values Si (ti), S2 (ti) the differences Di (ti) and D2 (ti) are computed for sensors 103-1 and 103-2, respectively, as previously described. Then, from the difference Di (ti), D2 (ti) and the known factors Ki, x, K2, x the component x Vx (ti) of the velocity vector V (ti) is determined as Vx (ti) = Ki, x · Di (ti) + K2, x · D2 (ti), and, similarly, the difference Di (ti), D2 (ti) and the factors Ki, y,
Petition 870180002263, of 10/01/2018, p. 48/51
45/45
K2, y The y component Vy (ti) of the velocity vector V (ti) is determined as Vy (ti) = Ki, y · Di (ti) + K2, y · D2 (ti). Then, in this circuit, that is, for the duration of the takt At time, a first motor configured to move the base 104 along the x axis will be operated to move the base 104 along the x axis with the speed Vx (ti), and a second motor configured to move the base 104 along the y axis will be operated to move the base 104 along the y axis with the speed Vy (ti), in which the signals of Vx (ti) and Vy (ti) determine a forward translation or backwards along the respective axis, and the absolute values of Vx (ti) and Vy (ti) determine the speed of the respective forward / backward translation.
Petition 870180002263, of 10/01/2018, p. 49/51
1/6

权利要求:
Claims (18)
[1]
1. METHOD FOR DETERMINING A POSITIONING ERROR OF A CNC MACHINE, characterized in that the CNC machine is equipped with a calibration element (102), the calibration element (102) being in a first position, the method comprises the steps of:
reading (210) of the first sensor data from at least one sensor (103) while the calibration element (102) is in the first position, where the sensor data corresponds to a distance between a point on the surface of the calibration element ( 102) and the at least one sensor (103), or where a contact element of the at least one sensor (103) is deflected by the calibration element (102) and the sensor data correspond to a distance by which the contact is diverted;
operation (220) of the CNC machine to perform a calibration movement that ideally leaves the calibration element (102) in the first position;
reading (230) of the data from the second sensor of the at least one sensor (103) while the calibration element (102) is in the second position, where the second position indicates the current position of the calibration element (102) after the movement of calibration has been performed;
carrying out the movement of at least one sensor (103) so that the difference between the first and second data of the sensor decreases until the difference becomes less than or equal to a predetermined threshold value; and determination (280) of a CNC machine positioning error based on the movement of at least one sensor
Petition 870170093593, of 12/01/2017, p. 50/58
[2]
2/6 (103).
2. METHOD, according to claim 1, characterized by additionally comprising the steps of:
determining (260), the first and second sensor data, in particular, their difference, a first compensation direction, in such a way that a movement of at least one sensor (103) in the first compensation direction will decrease the difference between the first and second sensor data; and carrying out (270) the movement of at least one sensor (103) in the first compensation direction.
[3]
METHOD, according to claim 2, characterized in that it additionally comprises the realization of a closed circuit comprising the steps of:
reading (230) of the current sensor data from at least one sensor (103);
determination (260) of the first and current data of the sensor, in particular, its difference, a current compensation direction, such that a movement of at least one sensor (103) in the current compensation direction will decrease the absolute difference between the first and current sensor data; and carrying out (270) the movement of at least one sensor (103) in the current compensation direction.
[4]
4. METHOD according to any one of claims 2 to 3, characterized in that the determination of the first and / or current compensation direction (260) comprises the transformation of the sensor data in the components with respect to a predetermined coordinate system, in particular, an orthogonal coordinate system.
[5]
5. METHOD, according to claim 4,
Petition 870170093593, of 12/01/2017, p. 51/58
3/6 characterized in that the reading of the first (210), seconds and / or current (260) sensor data comprises the reading of the first, second and / or current sensor data of at least two sensors (103-1; 103 -2), in particular, of at least three sensors (103-1; 103-2; 103-3), and where the determination of the first and / or second compensation direction (260) comprises the components of determining a velocity vector with respect to the predetermined coordinate system, in particular an orthogonal coordinate system, so that a corresponding movement of the at least one sensor (103) will decrease the absolute difference between the first and current sensor data.
[6]
6. METHOD according to any one of claims 1 to 5, characterized in that the threshold value is expressed in terms of the coordinate system, in particular, in which the threshold value is expressed in terms of the components with respect to the coordinate system , or where the threshold value is expressed in terms of the sensor data.
[7]
7. METHOD, according to any of the
1 to 6, characterized by comprising output data indicating the positioning error of the tool head, in particular, in which the output comprises any of the display, printing, transmission and / or saving of the data.
[8]
8. METHOD FOR IMPROVING THE PRECISION OF A MACHINE claims additionally
DE CNC, the method characterized by comprising:
determining a positioning error of the CNC machine by carrying out the method as defined in any of claims 1 to 7; and compensation of the positioning error of the
Petition 870170093593, of 12/01/2017, p. 52/58
4/6 tool.
[9]
9. DEVICE FOR DETERMINING A POSITIONING ERROR OF A CNC MACHINE, characterized in that the CNC machine is equipped with a calibration element (102), the device comprises:
at least one sensor (103), where the at least one sensor (103) is configured to the sensor output data, where the sensor data corresponds to a distance between a point on the surface of the calibration element (102) and the at least one sensor (103), or where a contact element of the at least one sensor
103) is deflected by the calibration element (102) and the sensor data correspond to a distance by which the contact element is deflected;
a moving element (106) for moving the at least one sensor (103); and a control unit (105) for processing sensor data received from at least one sensor (103), and for controlling the motion element
106) where the control unit (105) is configured to:
receiving the first and second sensor data; generating the movement data for the movement element (106) which generates the movement of the movement element (106) of the at least one sensor (103) so that the difference between the first and second sensor data decreases until the difference becomes less than or equal to a threshold value; and determining a positioning error of the tool head (101) based on the movement of at least one sensor (103).
[10]
10. DEVICE, according to claim 9, characterized in that the control unit (105) is
Petition 870170093593, of 12/01/2017, p. 53/58
5/6 configured to perform the method as defined in any one of claims 1 to 7.
[11]
11. DEVICE, according to claims 9 or 10, characterized in that it additionally comprises an output unit (107) configured to generate the error data corresponding to the positioning error of the CNC machine, in which the output comprises any display , printing, transmission and / or saving of error data.
[12]
12. DEVICE according to any one of claims 9 to 11, characterized in that at least one sensor (103) is a contact point sensor, a dial indicator, a light sensor, a laser sensor, a sensor ultrasonic, a capacitive sensor and / or an inductive sensor.
[13]
13. DEVICE according to any one of claims 9 to 12, characterized in that the movement element (106) comprises at least one motor, in particular at least one electromotor.
[14]
DEVICE according to any one of claims 9 to 13, characterized in that the movement element (106), in particular a motor of the movement element (106), moves the at least one sensor (103) through the translation with “at least one coordinate axis of a coordinate system, in particular, an orthogonal coordinate system.
[15]
DEVICE according to any one of claims 9 to 14, characterized in that the movement element (106) comprises at least two motors, in which the at least two motors can be controlled separately, in particular, in which the element movement (106) moves the
Petition 870170093593, of 12/01/2017, p. 54/58
6/6 at least one sensor (103) through translation with at least two coordinate axes of the coordinate system separately.
[16]
16. DEVICE according to any one of claims 9 to 15, characterized in that the movement element (106) moves at least two sensors (103-1; 103-2; 103-3) together, in particular, in which the at least two sensors are attached to a common support base (104).
[17]
17. DEVICE, according to claim 16, characterized in that three sensors (103-1; 103-2; 103-3) are fixed at the edges of an imaginary triangle formed parallel to a surface of the support base (104), where each of the sensors (103-1; 103-2; 103-3) is directed towards the center of the triangle and inclined against the surface of the base of the support (104).
[18]
18. DEVICE according to any one of claims 9 to 17, characterized in that the calibration element (102) comprises a ball.
Petition 870170093593, of 12/01/2017, p. 55/58
1/5

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同族专利:

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公开号 | 公开日

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CN103365246A|2013-10-23|

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EP2647477A1|2013-10-09|

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ES2769304T3|2020-06-25|

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RU2013107928A|2014-08-27|

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CA2807204A1|2013-10-05|

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JP2013218684A|2013-10-24|

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CA2807204C|2016-11-22|

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CN103365246B|2016-06-22|

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US9645217B2|2017-05-09|

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RU2559611C2|2015-08-10|

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EP2647477B1|2019-10-30|

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JP5632036B2|2014-11-26|

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US20130268226A1|2013-10-10|

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法律状态:
2018-02-14| B03A| Publication of a patent application or of a certificate of addition of invention [chapter 3.1 patent gazette]|

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2018-12-04| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|

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2020-06-23| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|

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2021-04-06| B06A| Patent application procedure suspended [chapter 6.1 patent gazette]|

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2021-08-24| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|

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2021-12-07| B11D| Dismissal acc. art. 38, par 2 of ipl - failure to pay fee after grant in time|

优先权:

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申请号 | 申请日 | 专利标题

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EP12163426.5A|EP2647477B1|2012-04-05|2012-04-05|Device for error correction for CNC machines|

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EP12163426.5|2012-04-05|

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