CN105269404A - Detection device for knife point dynamic characteristics of numerical control machine tool and method of detection device - Google Patents
- ️Wed Jan 27 2016
Info
-
Publication number
- CN105269404A CN105269404A CN201410663448.1A CN201410663448A CN105269404A CN 105269404 A CN105269404 A CN 105269404A CN 201410663448 A CN201410663448 A CN 201410663448A CN 105269404 A CN105269404 A CN 105269404A Authority
- CN
- China Prior art keywords
- machine tool
- control machine
- point
- digit control
- dynamic characteristic Prior art date
- 2014-11-20 Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000001514 detection method Methods 0.000 title abstract description 29
- 238000012360 testing method Methods 0.000 claims abstract description 42
- 238000006073 displacement reaction Methods 0.000 claims abstract description 28
- 238000003754 machining Methods 0.000 claims abstract description 14
- 238000004458 analytical method Methods 0.000 claims abstract description 10
- 238000009434 installation Methods 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 8
- 238000012937 correction Methods 0.000 claims description 7
- 238000010438 heat treatment Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 7
- 230000004927 fusion Effects 0.000 claims description 2
- 230000006872 improvement Effects 0.000 claims description 2
- 230000035515 penetration Effects 0.000 claims 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 2
- 230000002159 abnormal effect Effects 0.000 claims 1
- 238000010205 computational analysis Methods 0.000 claims 1
- 238000007405 data analysis Methods 0.000 claims 1
- 238000013508 migration Methods 0.000 claims 1
- 230000005012 migration Effects 0.000 claims 1
- 238000004364 calculation method Methods 0.000 abstract description 4
- 238000013461 design Methods 0.000 abstract description 3
- 230000000149 penetrating effect Effects 0.000 abstract description 2
- 201000005947 Carney Complex Diseases 0.000 description 36
- 238000010586 diagram Methods 0.000 description 15
- 238000012545 processing Methods 0.000 description 6
- 238000007689 inspection Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000011897 real-time detection Methods 0.000 description 2
- 230000001052 transient effect Effects 0.000 description 2
- 239000002390 adhesive tape Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000009916 joint effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Landscapes
- Automatic Control Of Machine Tools (AREA)
- Numerical Control (AREA)
Abstract
本发明公开了一种数控机床刀尖动态特性精度检测装置及其方法，主要解决了现有数控机床刀尖动态特性检测性能指标不全面、不精准以及仪器及切削试件检测成本较高等问题。该数控机床刀尖动态特性精度检测装置包括支座、连接板与L形支持壁板，通过孔以贯穿方式在支座顶部安装有呈两两垂直布置的位移传感器，同时通过集成机床各主要热源处的温度数据采集，实现主轴摆动或旋转运动过程中对刀尖点位姿实时信息获取，通过数据采集器自动获取融合的数据信息高速传输进入计算机实施记录及分析，完成精度相关计算和补偿数据生成。本发明结构设计巧妙，刀尖特性测试功能全面，通用性强，大大降低了数控加工精度测试成本，具有较好的实用和推广价值。
The invention discloses a CNC machine tool tip dynamic characteristic accuracy detection device and a method thereof, which mainly solve the problems of incomplete and inaccurate detection performance indicators of the existing CNC machine tool tip dynamic characteristic, high detection cost of instruments and cutting specimens, and the like. The CNC machine tool tool tip dynamic characteristic accuracy detection device includes a support, a connecting plate and an L-shaped support wall plate. Displacement sensors arranged vertically in pairs are installed on the top of the support through holes in a penetrating manner. At the same time, the main heat sources of the integrated machine tool Acquisition of temperature data at the center, realizing real-time information acquisition of the position and orientation of the tool tip point during the spindle swing or rotation movement, automatically obtaining the fused data information through the data collector at high speed and transmitting it to the computer for recording and analysis, and completing accuracy-related calculations and compensation data generate. The invention has ingenious structural design, comprehensive tool tip characteristic testing functions, strong versatility, greatly reduces the cost of testing the precision of numerical control machining, and has good practical and popularization value.
Description
技术领域technical field
本发明属于数控机床技术领域，涉及的是机床刀尖动态特性综合精度的检测，具体的说，是涉及一种数控机床刀尖动态特性精度综合检测装置及其方法。The invention belongs to the technical field of numerical control machine tools, and relates to the detection of comprehensive accuracy of the dynamic characteristics of the tool tip of a machine tool, in particular to a comprehensive detection device and method for the dynamic characteristic accuracy of the tool tip of a numerical control machine tool.
背景技术Background technique
数控机床在加工的过程中，各种误差源均会通过各种机电环节传递至刀具刀尖点，使得刀尖点偏移理论位置，从而产生实际加工误差。随着数控技术朝着高速度、高精度及多轴化的方向发展，数控机床热变形误差、加工动态特性误差的检测需求日益突现。数控机床在加工的过程中，在各种热源：如轴承发热、电机发热、滚珠丝杆与螺母发热、导轨发热与日照、地热、空气流动等环境热源的共同作用下，会导致机床上的部件发生不同程度的热胀冷缩，在这些热变形的叠加传递作用下，导致机床刀尖处的位置精度遭到破坏，由此导致的误差称为热误差。一般说来，数控机床在加工过程中由于热变形引起的加工误差占机床全部误差的40～70％，国内外尽管对机床热变形误差研究较多，但目前国内尚无成熟的数控机床热特性误差检测手段。During the machining process of CNC machine tools, various error sources will be transmitted to the tool tip point through various electromechanical links, so that the tool tip point will deviate from the theoretical position, resulting in actual machining errors. With the development of CNC technology in the direction of high speed, high precision and multi-axis, the detection requirements of thermal deformation error and machining dynamic characteristic error of CNC machine tools are becoming more and more prominent. During the processing of CNC machine tools, under the joint action of various heat sources: such as bearing heating, motor heating, ball screw and nut heating, guide rail heating and environmental heat sources such as sunlight, geothermal heat, and air flow, it will cause components on the machine tool to Different degrees of thermal expansion and contraction occur, and under the superimposed transfer of these thermal deformations, the position accuracy at the tool tip of the machine tool is destroyed, and the resulting error is called thermal error. Generally speaking, the machining error caused by thermal deformation of CNC machine tools accounts for 40-70% of the total error of the machine tool during the machining process. Although there are many studies on the thermal deformation error of machine tools at home and abroad, there is no mature thermal characteristics of CNC machine tools in China. Error detection means.
对于四轴或五轴联动数控机床来说，由于引入了1或2个摆动或旋转轴导致引入了更多的刀尖误差源，加之多轴加工技术本身也较为复杂，导致用户掌握使用及设备维护过程中的精度检测中产生了诸多困难。机床四轴联动加工精度目前没有成熟的检测方法。机床五轴联动加工精度的检测一般采取NAS979圆锥试件或者S形试件切削加工的方法实施检验，不仅试件材料及刀具消耗大，而且受编程水平、刀具、工艺参数等影响较大，还需对试件拆卸并搬移至三坐标机上进行最终检测，精度损失环节较多，检测成本颇高，较难直接地反映联动过程中的动态加工精度。For four-axis or five-axis linkage CNC machine tools, due to the introduction of 1 or 2 oscillating or rotating axes, more sources of tool nose errors are introduced, and the multi-axis machining technology itself is relatively complicated, which leads to users mastering the use and equipment. There are many difficulties in the accuracy detection in the maintenance process. At present, there is no mature detection method for the four-axis linkage machining accuracy of machine tools. The inspection of the five-axis linkage machining accuracy of machine tools generally adopts the method of cutting NAS979 conical specimens or S-shaped specimens. The test piece needs to be disassembled and moved to the three-coordinate machine for final inspection. There are many links of precision loss, and the inspection cost is quite high. It is difficult to directly reflect the dynamic machining accuracy in the linkage process.
另外，针对刀尖运动误差的检测，传统用千分表直接架表进行测量，导致架表精度对操作技术水平要求不仅较高，而且完全依靠肉眼观察表头指针偏移并手工记录及计算，无法实现连续各瞬态刀尖位姿和温度信息的完整数据过程记录，且出错环节较多，更无法实现自动化准确分析和高精度计算；现代精度检测仪器如激光干涉仪、激光跟踪仪等在多轴联动机床的联动动态精度检测方面的局限性逐步显现，例如激光干涉仪适合直线轴精度检测且无法直接满足大摆角范围测量，而采用动则单台达数百万元价格的激光跟踪仪则在成本、便捷性和易用性与等方面还无法被广大机床用户接受和认可。采用更科学合理、高性价比的方法来实现数控机床加工精度检测，已经成为数控机床安装调试人员、特别是五轴机床用户提高生产率和机床利用率，改进和提高产品加工质量，实现数控机床装备优化运行的关键制约因素。In addition, for the detection of the movement error of the tool tip, the traditional dial gauge is used to directly mount the meter for measurement, resulting in not only high requirements for the accuracy of the mounted meter, but also a high level of operating technology, and it is completely dependent on the naked eye to observe the pointer offset of the meter head and manually record and calculate. It is impossible to realize the complete data process recording of the continuous transient tool tip pose and temperature information, and there are many error links, and it is impossible to realize automatic and accurate analysis and high-precision calculation; modern precision testing instruments such as laser interferometers and laser trackers are used in The limitations of the linkage dynamic accuracy detection of multi-axis linkage machine tools are gradually emerging. For example, the laser interferometer is suitable for the accuracy detection of linear axes and cannot directly meet the measurement of large swing angle ranges, while the laser tracking with a price of several million yuan per machine is used. However, in terms of cost, convenience and ease of use, the instrument cannot be accepted and recognized by the majority of machine tool users. Adopting a more scientific, reasonable and cost-effective method to realize the machining accuracy detection of CNC machine tools has become a tool for CNC machine tool installation and debugging personnel, especially for five-axis machine tool users to improve productivity and machine tool utilization, improve and improve product processing quality, and realize CNC machine tool equipment optimization. key constraints on operation.
发明内容Contents of the invention
本发明的目的在于克服上述缺陷，提供一种结构设计合理，可综合地实现数控加工过程刀尖点运动特性和热变形等动态特性相关参数自动化检测装置及其方法。The object of the present invention is to overcome the above-mentioned defects, and provide a device and method for automatically detecting parameters related to dynamic characteristics such as the kinematic characteristics of the tool tip point and thermal deformation in the numerical control machining process with reasonable structural design.
为了实现本发明的目的，本发明采用的技术方案如下：In order to realize the purpose of the present invention, the technical scheme that the present invention adopts is as follows:
数控机床刀尖动态特性精度检测装置及其方法，包括可安装在数控机床工作台的支座，通过设置在支座顶部的连接板，与L形支持壁板构成整体组件结构，在支持板和连接板通过孔方式设置有呈两两垂直布置的位移传感器，通过位移传感器与芯棒上的球头表面相对距离的检测，实现在主轴摆动运动过程中对刀尖动态位姿信息的实时获取，通过数据采集器将上述刀尖多传感器融合信息高速发送输入计算机进行自动记录及分析，快速计算出数控机床刀尖点动态特性的各项精度指标和修正补偿参数，并实现测试分析数据的图形化显示及打印测试报告。The device and method for detecting the dynamic characteristic accuracy of the tool tip of a numerical control machine tool include a support that can be installed on the workbench of the numerical control machine tool, and form an integral component structure with an L-shaped support wall plate through a connecting plate arranged on the top of the support plate. The connecting plate is provided with displacement sensors arranged vertically in pairs through holes. Through the detection of the relative distance between the displacement sensor and the surface of the ball head on the mandrel, the real-time acquisition of the dynamic pose information of the tool tip during the spindle swing movement is realized. Through the data collector, the above-mentioned multi-sensor fusion information of the tool tip is sent to the computer at high speed for automatic recording and analysis, and the accuracy indicators and correction compensation parameters of the dynamic characteristics of the tool tip point of the CNC machine tool are quickly calculated, and the graphic of the test and analysis data is realized. Display and print test report.
所述的连接板平行于支座顶部水平端面布置固定，连接板内部设置有螺纹通孔以便于位移传感器沿着竖直方向进行贯穿式安装。The connecting plate is arranged and fixed parallel to the horizontal end surface of the top of the support, and a threaded through hole is provided inside the connecting plate to facilitate the penetrating installation of the displacement sensor along the vertical direction.
所述的L形支持壁板的两个壁面呈直角90°布置，L形支持壁板的两个壁面均垂直于支座顶部水平端面布置，并与L形支持壁板的两个壁面内部设置有螺纹通孔以便于位移传感器贯穿式安装。The two wall surfaces of the L-shaped support wall plate are arranged at a right angle of 90°, and the two wall surfaces of the L-shaped support wall plate are arranged perpendicular to the horizontal end surface of the top of the support, and are arranged inside the two wall surfaces of the L-shaped support wall plate There are threaded through holes for through-mounting of displacement sensors.
所述的位移传感器包括3个呈两两垂直布置的位移传感器，实现对球头各位姿运动位移进行实时检测。The displacement sensor includes three displacement sensors arranged vertically in pairs to realize real-time detection of the movement displacement of each posture of the ball head.
所述的温度传感器组包括多套热敏电阻传感器构成，通过磁铁或者胶布贴附方式灵活布置在机床主要热源附近。The temperature sensor group is composed of multiple sets of thermistor sensors, which are flexibly arranged near the main heat source of the machine tool by attaching magnets or adhesive tapes.
所述的计算机包括用于RTCP(旋转刀具中心点)精度测试模块、主轴径向倾斜度测试模块、主轴回转精度测试模块、主轴热变形测试模块，用于摆动轴补偿值数据生成模块、刀尖点受热发生热偏移修正数据生成模块，以及由动态精度预警模块和历史数据跟踪模块组成的数据库模块。The computer includes an accuracy test module for RTCP (rotary tool center point), a spindle radial inclination test module, a spindle rotation accuracy test module, a spindle thermal deformation test module, a swing axis compensation value data generation module, and a tool tip Thermal offset correction data generation module for point heating, and a database module consisting of a dynamic precision early warning module and a historical data tracking module.
在上述基于结构的基础上，本发明还提供了其实现方法，包括以下步骤：On the basis of above-mentioned structure-based, the present invention also provides its realization method, comprises the following steps:
(1)设定数控机床的各工作参数，在机床工作台上架设数控机床刀尖动态特性精度检测装置，对位移传感器、温度传感器组、放大器、数据采集器和计算机进行初始化，完成检测装置工作参数的设定值；(1) Set the working parameters of the CNC machine tool, set up the dynamic characteristic accuracy detection device of the CNC machine tool tip on the machine tool workbench, initialize the displacement sensor, temperature sensor group, amplifier, data collector and computer, and complete the work of the detection device The setting value of the parameter;
(2)按照数控机床刀尖动态特性各项指标要求开启计算机中各项测试功能模块，通过位移传感器或温度传感器实现对数控机床相关运行状态下的刀尖动态信号测量，并将测量的动态信号通过数据采集器传输至计算机，完成数控机床刀检点动态数据采集处理；(2) According to the requirements of various indicators of the dynamic characteristics of the CNC machine tool tip, open various test function modules in the computer, and realize the measurement of the dynamic signal of the tool tip under the relevant operating state of the CNC machine tool through the displacement sensor or temperature sensor, and the measured dynamic signal Transmit to the computer through the data collector to complete the dynamic data collection and processing of the CNC machine tool inspection point;
(3)根据测试要求由计算机实现对该项指标测试数据进行分析处理，并将机床刀尖动态特性的测量值与设定值或历史数据进行对比；(3) According to the test requirements, the computer implements the analysis and processing of the test data of the index, and compares the measured value of the dynamic characteristics of the machine tool tip with the set value or historical data;
(4)生成供数控系统进行参数调整的修正或补偿数据与机床刀尖动态特性各项指标分析报告。(4) Generate the correction or compensation data for parameter adjustment of the CNC system and the analysis report of various indicators of the dynamic characteristics of the tool tip of the machine tool.
与现有技术相比，本发明的有益效果在于：Compared with prior art, the beneficial effect of the present invention is:
(1)本发明采用在数控机床工作台上安装集成传感器支座方式实现进行主轴芯棒球头刀尖点位姿动态误差和热误差的检测，与采购通用激光干涉仪或者激光跟踪仪等昂贵复杂仪器相比不仅结构简单，可维修性较好，而且装置成本较为低廉，测试工艺灵活，通用性较强，大大降低了机床安装调试及后续维护成本；(1) The present invention adopts the method of installing the integrated sensor support on the workbench of the numerical control machine tool to realize the detection of the dynamic error and the thermal error of the tip point position and attitude of the spindle mandrel, which is different from the expensive and complicated method of purchasing general-purpose laser interferometers or laser trackers. Compared with the instrument, it not only has a simple structure and better maintainability, but also has relatively low device cost, flexible testing process, and strong versatility, which greatly reduces the cost of machine tool installation, commissioning and subsequent maintenance;
(2)本发明采用多类传感器集成的自动化测试方法与传统用千分表直接架表测量方式相比不仅方式更灵活简便，特别是支座上位移传感器布置方式大大降低了架设千分表的难度，缩短了辅助时间，还能实现了连续各瞬态刀尖位姿和温度信息的完整数据过程记录和高精度计算，大大提高了机床动态精度的测量效率和精度；(2) The present invention adopts the automatic testing method of multi-type sensor integration and compares not only the way more flexible and convenient with the traditional dial indicator directly erecting meter measuring method, especially the displacement sensor arrangement mode on the support has greatly reduced the erection of the dial gauge difficulty, shorten the auxiliary time, and realize the complete data process recording and high-precision calculation of the continuous transient tool tip pose and temperature information, which greatly improves the measurement efficiency and accuracy of the dynamic accuracy of the machine tool;
(3)本发明对能够全面实现数控机床刀尖动态特性参数指标测量、数控系统补偿修正值数据生成、精度预警和历史数据跟踪及追溯等综合功能，具有参数齐全，功能实用，性价比高，具有在数控机床应用领域广泛的应用前景；(3) The present invention can comprehensively realize comprehensive functions such as the measurement of the dynamic characteristic parameter index of the tool tip of the CNC machine tool, the generation of the compensation correction value data of the CNC system, the precision early warning, and the tracking and tracing of historical data, etc., and has complete parameters, practical functions, and high cost performance. Wide application prospects in the application field of CNC machine tools;
附图说明Description of drawings
图1为本发明的机械结构主视图。Fig. 1 is the front view of the mechanical structure of the present invention.
图2为本发明的机械结构俯视图。Fig. 2 is a top view of the mechanical structure of the present invention.
图3为本发明的机械结构侧视图。Fig. 3 is a side view of the mechanical structure of the present invention.
图4为本发明中刀尖动态特性测试系统的原理框图。Fig. 4 is a functional block diagram of the tool tip dynamic characteristic testing system in the present invention.
图5为数控机床坐标系构成示意图。Figure 5 is a schematic diagram of the coordinate system of the CNC machine tool.
图6为本发明的检测方法实施工作流程图。Fig. 6 is a flow chart of the implementation of the detection method of the present invention.
图7为本发明应用在主轴热态特性测试的工作示意图。Fig. 7 is a schematic diagram of the application of the present invention in the thermal characteristic test of the spindle.
图8为本发明应用在主轴倾斜度测试的工作示意图。Fig. 8 is a schematic diagram of the application of the present invention in the test of the inclination of the main shaft.
图9为本发明应用在主轴回转精度测试的工作示意图。Fig. 9 is a schematic diagram of the application of the present invention in the test of the rotation accuracy of the spindle.
图10为本发明应用在刀尖点C轴动态精度测试的工作示意图。Fig. 10 is a schematic diagram of the application of the present invention in the C-axis dynamic accuracy test of the tool tip point.
图11为本发明应用在刀尖点B轴动态精度测试的工作示意图。Fig. 11 is a schematic diagram of the application of the present invention in the B-axis dynamic accuracy test of the tool tip point.
图12为本发明应用在刀尖点A轴动态精度测试的工作示意图。Fig. 12 is a schematic diagram of the application of the present invention in the A-axis dynamic accuracy test of the tool tip point.
其中，附图标记所对应的名称：1-支座，2-连接板，3-L形支持壁板，4-第一位移传感器，5-第二位移传感器，6-第三位移传感器，7-热敏电阻传感器，8-计算机，9-位移信号放大器，10-接线端子板，11-温度信号放大器，12-数据采集器，13-球头芯棒，14-标准芯棒。Among them, the names corresponding to the reference signs: 1-support, 2-connecting plate, 3-L-shaped support wall plate, 4-first displacement sensor, 5-second displacement sensor, 6-third displacement sensor, 7 -thermistor sensor, 8-computer, 9-displacement signal amplifier, 10-terminal board, 11-temperature signal amplifier, 12-data collector, 13-ball mandrel, 14-standard mandrel.
具体实施方式detailed description
下面结合附图对本发明作进一步说明。本发明的实施方式包括但不限于下列实施例。The present invention will be further described below in conjunction with accompanying drawing. Embodiments of the present invention include, but are not limited to, the following examples.
如图1、图2、图3所示，为本发明数控机床刀尖动态特性精度检测装置结构的一个优选实例的主视、俯视及侧视图。其主要包括安装在数控机床工作台上的包括安装在数控机床工作平台的支座1，设置在支座顶部的连接板2，连接板2内部设置有螺纹通孔以便于第三位移传感器6沿着竖直方向进行贯穿式安装，安装在连接板上的L形支持壁板3，L形支持壁板3的两个壁面均垂直于支座1顶部水平端面布置，并与L形支持壁板的两个壁面内部设置有螺纹通孔以便于第一位移传感器4和第二位移传感器5进行贯穿式安装，实现对标准芯棒球头在各方向位置姿态运动偏差数据进行实时检测。As shown in Fig. 1, Fig. 2 and Fig. 3, it is a front view, a top view and a side view of a preferred example of the structure of the CNC machine tool tip dynamic characteristic precision detection device of the present invention. It mainly includes a support 1 installed on the workbench of the CNC machine tool, including a support 1 installed on the work platform of the CNC machine tool, a connecting plate 2 arranged on the top of the support, and a threaded through hole is arranged inside the connecting plate 2 so that the third displacement sensor 6 can move along Through-type installation in the vertical direction, the L-shaped support wall plate 3 installed on the connecting plate, the two walls of the L-shaped support wall plate 3 are arranged perpendicular to the horizontal end surface of the top of the support 1, and are connected with the L-shaped support wall plate Threaded through holes are provided inside the two walls of the two walls to facilitate the through-type installation of the first displacement sensor 4 and the second displacement sensor 5, so as to realize real-time detection of the standard mandrel ball head's position, attitude, and motion deviation data in all directions.
如图4所示，本实施例提供了数控机床刀尖动态特性测试系统的硬件组成结构及检测原理，通过各位移传感器检测出球头芯棒的位姿实时信息，通过温度传感器组7检测出机床各主要发热部位的温度状态信息，通过数据采集器12采集上述球头位置信息和温度信息并高速发送这些数据信息进入计算机8进行自动计算分析与显示及打印报告。As shown in Figure 4, this embodiment provides the hardware composition structure and detection principle of the dynamic characteristic test system of the CNC machine tool tip. The temperature status information of each main heating part of the machine tool is collected by the data collector 12 above-mentioned ball head position information and temperature information, and these data information are sent at high speed to the computer 8 for automatic calculation, analysis, display and print report.
如图5所示，为数控机床坐标系构成示意图。主要是定位数控机床刀尖点位姿的理论参考基准，包括X/Y/Z/A/B/C六个自由度基准。As shown in Figure 5, it is a schematic diagram of the coordinate system of the CNC machine tool. It is mainly the theoretical reference datum for locating the pose of the tool tip of the CNC machine tool, including X/Y/Z/A/B/C six degrees of freedom datum.
如图6所示，为本发明的检测方法实施工作流程图。主要是首先设定数控机床的各工作参数，在机床工作台上架设数控机床刀尖动态特性精度检测装置，对位移传感器4/5/6、热敏电阻传感器组7、各类放大器、数据采集器12和计算机进行初始化设定。然后，按照数控机床刀尖动态特性各项指标要求开启计算机中各项测试功能模块，通过位移传感器4/5/6或温度传感器组7实现对数控机床相关运行状态下的刀尖动态信号测量，并将测量的动态信号通过数据采集器12传输至计算机8，完成数控机床刀尖点动态数据采集处理。接着，根据测试要求由计算机实现对该项指标测试数据进行在机分析处理，并将机床刀尖动态特性的测量值与设定值或历史数据进行对比，以对数控机床刀尖动态精度进行异常判断，若判断结果为否，则数控机床保持原来精度状态或继续测试，若判断结果为是，则进入下一步数据报告生成。最后，生成相应修正或补偿数据供数控系统进行参数调整并得到机床刀尖动态特性各项指标分析报告，为安装及调整维修提供参考数据，最终实现对数控加工精度的改进和提升。As shown in FIG. 6 , it is a flow chart for implementing the detection method of the present invention. It is mainly to firstly set the working parameters of the CNC machine tool, and set up the dynamic characteristic accuracy detection device of the CNC machine tool tip on the machine tool workbench. The device 12 and the computer are initialized. Then, according to the requirements of various indicators of the dynamic characteristics of the CNC machine tool tip, open various test function modules in the computer, and realize the measurement of the dynamic signal of the tool tip under the relevant operating state of the CNC machine tool through the displacement sensor 4/5/6 or the temperature sensor group 7, And the measured dynamic signal is transmitted to the computer 8 through the data collector 12 to complete the dynamic data acquisition and processing of the tool tip point of the CNC machine tool. Then, according to the test requirements, the computer implements the on-machine analysis and processing of the test data of the index, and compares the measured value of the dynamic characteristics of the tool tip of the machine tool with the set value or historical data, so as to check the dynamic accuracy of the tool tip of the CNC machine tool. Judgment, if the judgment result is no, then the CNC machine tool will maintain the original precision state or continue the test, if the judgment result is yes, then enter the next step of data report generation. Finally, the corresponding correction or compensation data is generated for the CNC system to adjust the parameters and obtain the analysis report of various indicators of the dynamic characteristics of the tool tip of the machine tool, which provides reference data for installation, adjustment and maintenance, and finally realizes the improvement and promotion of the CNC machining accuracy.
如图7所示，为本发明应用在主轴热态特性测试的工作示意图。主要是通过空载或加载定时运行后，通过换刀将球头芯棒安装在主轴上并采用编程自动执行方法快速移动到预先设置后的刀尖位置实现对热误差的检测。As shown in FIG. 7 , it is a schematic diagram of the application of the present invention in the thermal characteristic test of the spindle. It is mainly to detect the thermal error by changing the tool to install the ball head mandrel on the spindle and quickly move to the pre-set tool tip position by using the programming automatic execution method after the timed operation with no load or loading.
如图8所示，为本发明应用在主轴倾斜度测试的工作示意图。主要是通过将标准芯棒安装在主轴上并移动到预先设置后的刀尖位置，起动Z坐标轴上下往复运动并采集主轴相关信号，实现对主轴倾斜度的检测。As shown in FIG. 8 , it is a schematic diagram of the application of the present invention in the test of the inclination of the main shaft. Mainly by installing the standard mandrel on the spindle and moving it to the preset tool tip position, starting the Z coordinate axis to reciprocate up and down and collecting the relevant signals of the spindle to detect the inclination of the spindle.
如图9所示，为本发明应用在主轴回转精度测试的工作示意图。主要是通过将标准芯棒安装在主轴上并移动到预先设置后的刀尖位置，起动主轴作额定转速n的旋转运动并采集主轴相关信号，实现对主轴回转精度的检测。As shown in FIG. 9 , it is a schematic diagram of the application of the present invention in the test of the rotation accuracy of the spindle. Mainly by installing the standard mandrel on the spindle and moving it to the preset tool tip position, starting the spindle to rotate at the rated speed n and collecting the relevant signals of the spindle, the detection of the rotation accuracy of the spindle is realized.
如图10所示，为本发明应用在刀尖点C轴动态精度测试的工作示意图。主要是通过将球头芯棒安装在主轴上并移动到预先设置后的刀尖位置，对具有C坐标摆动头的C轴进行固定角度回转运行，同时启动RTCP模式实现C轴全行程动态刀尖运动特性的检测。As shown in FIG. 10 , it is a schematic diagram of the application of the present invention in the C-axis dynamic accuracy test of the tool tip point. Mainly by installing the ball head mandrel on the main shaft and moving it to the preset tool tip position, the C-axis with C-coordinate swing head is rotated at a fixed angle, and the RTCP mode is started at the same time to realize the full-stroke dynamic tool tip of the C-axis Detection of motion characteristics.
如图11所示，为本发明应用在刀尖点B轴动态精度测试的工作示意图。主要是通过将球头芯棒安装在主轴上并移动到预先设置后的刀尖位置(如在同一机床上已测过任意一个摆动或回转坐标则可省略此步骤)，对具有B坐标摆动头的B轴进行固定角度回转运行，同时启动RTCP模式实现B轴全行程动态刀尖运动特性的检测。As shown in FIG. 11 , it is a schematic diagram of the application of the present invention in the B-axis dynamic accuracy test of the tool tip point. It is mainly by installing the ball mandrel on the spindle and moving it to the preset position of the tool tip (this step can be omitted if any swing or rotation coordinates have been measured on the same machine tool), for swing heads with B coordinates The B-axis performs fixed-angle rotary operation, and at the same time starts the RTCP mode to realize the detection of the dynamic tool tip motion characteristics of the B-axis full stroke.
如图12所示，为本发明应用在刀尖点A轴动态精度测试的工作示意图。主要是通过将球头芯棒安装在主轴上并移动到预先设置后的刀尖位置(如在同一机床上已测过任意一个摆动或回转坐标则可省略此步骤)，对具有A坐标摆动头的A轴进行固定角度回转运行，同时启动RTCP模式实现A轴全行程刀尖运动特性的检测。As shown in FIG. 12 , it is a schematic diagram of the application of the present invention in the A-axis dynamic accuracy test of the tool tip point. Mainly by installing the ball mandrel on the spindle and moving it to the preset tool tip position (this step can be omitted if any swing or rotation coordinates have been measured on the same machine tool), for swing heads with A coordinates The A-axis performs fixed-angle rotary operation, and at the same time starts the RTCP mode to realize the detection of the motion characteristics of the A-axis full-stroke tool tip.
按照上述实施例，便可很好地实现本发明。值得说明的是，基于上述设计原理的前提下，为解决同样的技术问题，即使在本发明所公开的结构基础上做出的一些无实质性的改动或润色，所采用的技术方案的实质仍然与本发明一样，故其也应当在本发明的保护范围内。According to the above-mentioned embodiments, the present invention can be well realized. It is worth noting that, based on the premise of the above-mentioned design principle, in order to solve the same technical problem, even if some insubstantial changes or modifications are made on the basis of the structure disclosed in the present invention, the essence of the adopted technical solution is still Like the present invention, it should also be within the protection scope of the present invention.
Claims (7)
1. Digit Control Machine Tool point of a knife dynamic characteristic accuracy detecting device and method thereof, it is characterized in that, comprise the bearing 1 being arranged on work of numerical control machine platform, be arranged on the connecting plate 2 of holder top, the L shape be arranged on connecting plate supports wallboard 3, be arranged on the displacement transducer 4/5/6 supporting wallboard 3 and connecting plate 2, the point of a knife pose real time information of bulb plug is detected by each displacement transducer, the state of temperature information of each main heating position of lathe is detected by sets of temperature sensors 7, obtain the Multi-sensor Fusion signal of above-mentioned bulb point of a knife pose by data acquisition unit 12 and send at a high speed data and enter computer 8 and implement computational analysis.
2. Digit Control Machine Tool point of a knife dynamic characteristic accuracy detecting device according to claim 1 and method thereof, it is characterized in that, described connecting plate 2 is parallel to bearing 1 top water planar end surface and arranges fixing, and connecting plate 2 inside is provided with tapped through hole so that triple motion sensor 6 carries out penetration type installation along vertical direction.
3. Digit Control Machine Tool point of a knife dynamic characteristic accuracy detecting device according to claim 1 and method thereof, it is characterized in that, described L shape supports the rectangular 90 ° of layouts of two walls of wallboard 3, L shape supports that two walls of wallboard 3 are all arranged perpendicular to bearing 1 top water planar end surface, and supports two of wallboard 3 wall inside to be provided with tapped through hole so that the first displacement transducer 4 and second displacement sensor 5 carry out penetration type installation with L shape.
4. Digit Control Machine Tool point of a knife dynamic characteristic accuracy detecting device according to claim 1 and method thereof, it is characterized in that, described the first displacement transducer 4, second displacement sensor 5 and triple motion sensor 6, in being arranged vertically between two, realizes detecting in real time all directions position and attitude movement warp data of bulb.
5. Digit Control Machine Tool point of a knife dynamic characteristic accuracy detecting device according to claim 1 and method thereof, is characterized in that, described sets of temperature sensors 7 forms by overlapping thermistor (temperature) sensor more.
6. Digit Control Machine Tool point of a knife dynamic characteristic accuracy detecting device according to claim 1 and method thereof, it is characterized in that, described computer comprises for RTCP (rotary cutter central point) accuracy test module, main shaft radial tilt test module, spindle rotation accuracy test module, main shaft thermal deformation test module, be heated for swinging axle offset data generation module, point of a knife point thermal migration correction data generation module occurs, and the DBM be made up of dynamic accuracy warning module and historical data tracking module.
7. as the implementation method of claim 1 to 6 Digit Control Machine Tool point of a knife dynamic characteristic accuracy detecting device, it is characterized in that, described test implementation method mainly comprises the following steps:
(1) each running parameter of Digit Control Machine Tool is set, platen sets up Digit Control Machine Tool point of a knife dynamic characteristic accuracy detecting device, to each displacement transducer 4/5/6, sets of temperature sensors 7, displacement transducer amplifier 9, temperature sensor amplifier 10, data acquisition unit 12 and computer 8 initialize, and complete the setting of checkout gear running parameter;
(2) require to open every test function module in computer according to Digit Control Machine Tool point of a knife dynamic characteristic indices, realized the dynamic multipath signal measurement under Digit Control Machine Tool relevant operational state by displacement transducer or thermistor (temperature) sensor group, and the multiple signals of measurement are transferred to computer through data acquisition unit 12 by bus mode, complete the dynamic fused data acquisition process of Digit Control Machine Tool point of a knife point;
(3) realized this index test data analysis process by computer according to test request, and the measured value of lathe point of a knife dynamic characteristic and setting value or historical data are contrasted, to carry out abnormal judgement to Digit Control Machine Tool point of a knife dynamic accuracy, if judged result is no, then Digit Control Machine Tool keeps original state or has continued test, if the determination result is YES, then next step is performed;
(4) generate correction or the offset data of lathe point of a knife dynamic characteristic indices analysis report and respective counts Ore-controlling Role, final realization is to the improvement of Digit Control Machine Tool machining accuracy and lifting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410663448.1A CN105269404B (en) | 2014-11-20 | 2014-11-20 | Numerically-controlled machine tool point of a knife dynamic characteristic accuracy detecting device and its method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410663448.1A CN105269404B (en) | 2014-11-20 | 2014-11-20 | Numerically-controlled machine tool point of a knife dynamic characteristic accuracy detecting device and its method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105269404A true CN105269404A (en) | 2016-01-27 |
| CN105269404B CN105269404B (en) | 2018-11-23 |
Family
ID=55139704
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410663448.1A Expired - Fee Related CN105269404B (en) | 2014-11-20 | 2014-11-20 | Numerically-controlled machine tool point of a knife dynamic characteristic accuracy detecting device and its method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105269404B (en) |
Cited By (16)
* Cited by examiner, † Cited by third party| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105500117A (en) * | 2015-12-31 | 2016-04-20 | 平湖市品耀机器自动化有限公司 | Screw tap detection device of tapping machine |
| CN105729243A (en) * | 2016-04-27 | 2016-07-06 | 成都飞机工业（集团）有限责任公司 | Dynamic precision detection system with load |
| CN106965038A (en) * | 2017-05-10 | 2017-07-21 | 南京工程学院 | A kind of high precision position triggers setting device |
| CN109211086A (en) * | 2018-09-26 | 2019-01-15 | 北京工业大学 | A kind of detection device of lathe comprehensive deformation |
| CN109333156A (en) * | 2018-11-12 | 2019-02-15 | 电子科技大学 | An error and attitude synchronization calibration method for RTCP detection of five-axis CNC machine tools |
| CN110860947A (en) * | 2018-08-27 | 2020-03-06 | 成都飞机工业（集团）有限责任公司 | Positioning and aligning self-centering device |
| CN111123835A (en) * | 2019-12-31 | 2020-05-08 | 纽威数控装备(苏州)股份有限公司 | Thermal displacement error measuring device and modeling method of numerical control machine tool |
| CN111168469A (en) * | 2019-11-12 | 2020-05-19 | 西安邮电大学 | Five-axis numerical control machine tool space thermal error measurement system |
| CN111215967A (en) * | 2019-11-27 | 2020-06-02 | 上海交通大学 | Device and method for detecting dynamic precision of numerical control machine tool |
| CN111735365A (en) * | 2020-06-29 | 2020-10-02 | 深圳市拓智者科技有限公司 | Checking device and checking method for RTCP function of five-axis machine tool |
| CN113375907A (en) * | 2021-07-16 | 2021-09-10 | 中国科学院长春光学精密机械与物理研究所 | Performance test system of high-precision six-degree-of-freedom optical assembly |
| CN114185930A (en) * | 2021-10-27 | 2022-03-15 | 松德刀具（长兴）科技有限公司 | Boring cutter management system with data memory function |
| CN114623780A (en) * | 2022-01-26 | 2022-06-14 | 深圳职业技术学院 | Detection device and online detection method for three-dimensional reconstruction of tool nose |
| CN115139154A (en) * | 2022-05-19 | 2022-10-04 | 嘉泰数控科技股份公司 | Multifunctional high-efficiency cutter length measurement control method with automatic correction function |
| CN118544180A (en) * | 2024-07-30 | 2024-08-27 | 国家机床质量监督检验中心 | A machine tool spatial position accuracy testing device and testing method |
| US12228906B2 (en) | 2021-12-24 | 2025-02-18 | Industrial Technology Research Institute | Calibration method and calibration system for machine tools |
Citations (6)
* Cited by examiner, † Cited by third party| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101151122A (en) * | 2005-03-30 | 2008-03-26 | 兄弟工业株式会社 | Machine tool and method for correcting the displacement of the machine tool |
| CN202278449U (en) * | 2011-08-16 | 2012-06-20 | 北京工业大学 | Device for testing displacement of machine tool combining part relative to tool nose point |
| CN102825504A (en) * | 2012-09-18 | 2012-12-19 | 重庆科技学院 | State detection method for main shaft of numerically-controlled machine tool |
| JP2013082022A (en) * | 2011-10-06 | 2013-05-09 | Tsugami Corp | Machine tool, control device, program, and machining method by machine tool |
| CN103143984A (en) * | 2013-04-09 | 2013-06-12 | 重庆大学 | Laser tracker-based machine tool error dynamic compensation method |
| CN204711699U (en) * | 2014-11-20 | 2015-10-21 | 电子科技大学 | Digit Control Machine Tool point of a knife dynamic characteristic accuracy detecting device |
-
2014
- 2014-11-20 CN CN201410663448.1A patent/CN105269404B/en not_active Expired - Fee Related
Patent Citations (6)
* Cited by examiner, † Cited by third party| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101151122A (en) * | 2005-03-30 | 2008-03-26 | 兄弟工业株式会社 | Machine tool and method for correcting the displacement of the machine tool |
| CN202278449U (en) * | 2011-08-16 | 2012-06-20 | 北京工业大学 | Device for testing displacement of machine tool combining part relative to tool nose point |
| JP2013082022A (en) * | 2011-10-06 | 2013-05-09 | Tsugami Corp | Machine tool, control device, program, and machining method by machine tool |
| CN102825504A (en) * | 2012-09-18 | 2012-12-19 | 重庆科技学院 | State detection method for main shaft of numerically-controlled machine tool |
| CN103143984A (en) * | 2013-04-09 | 2013-06-12 | 重庆大学 | Laser tracker-based machine tool error dynamic compensation method |
| CN204711699U (en) * | 2014-11-20 | 2015-10-21 | 电子科技大学 | Digit Control Machine Tool point of a knife dynamic characteristic accuracy detecting device |
Cited By (21)
* Cited by examiner, † Cited by third party| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105500117B (en) * | 2015-12-31 | 2017-11-10 | 平湖市品耀机器自动化有限公司 | The screw tap detection means of tapping machine |
| CN105500117A (en) * | 2015-12-31 | 2016-04-20 | 平湖市品耀机器自动化有限公司 | Screw tap detection device of tapping machine |
| CN105729243A (en) * | 2016-04-27 | 2016-07-06 | 成都飞机工业（集团）有限责任公司 | Dynamic precision detection system with load |
| CN106965038A (en) * | 2017-05-10 | 2017-07-21 | 南京工程学院 | A kind of high precision position triggers setting device |
| CN110860947B (en) * | 2018-08-27 | 2022-04-08 | 成都飞机工业（集团）有限责任公司 | Positioning and aligning method |
| CN110860947A (en) * | 2018-08-27 | 2020-03-06 | 成都飞机工业（集团）有限责任公司 | Positioning and aligning self-centering device |
| CN109211086A (en) * | 2018-09-26 | 2019-01-15 | 北京工业大学 | A kind of detection device of lathe comprehensive deformation |
| CN109333156A (en) * | 2018-11-12 | 2019-02-15 | 电子科技大学 | An error and attitude synchronization calibration method for RTCP detection of five-axis CNC machine tools |
| CN111168469A (en) * | 2019-11-12 | 2020-05-19 | 西安邮电大学 | Five-axis numerical control machine tool space thermal error measurement system |
| CN111215967A (en) * | 2019-11-27 | 2020-06-02 | 上海交通大学 | Device and method for detecting dynamic precision of numerical control machine tool |
| CN111215967B (en) * | 2019-11-27 | 2021-06-08 | 上海交通大学 | Device and method for detecting dynamic accuracy of numerically controlled machine tool |
| CN111123835A (en) * | 2019-12-31 | 2020-05-08 | 纽威数控装备(苏州)股份有限公司 | Thermal displacement error measuring device and modeling method of numerical control machine tool |
| CN111735365A (en) * | 2020-06-29 | 2020-10-02 | 深圳市拓智者科技有限公司 | Checking device and checking method for RTCP function of five-axis machine tool |
| CN113375907A (en) * | 2021-07-16 | 2021-09-10 | 中国科学院长春光学精密机械与物理研究所 | Performance test system of high-precision six-degree-of-freedom optical assembly |
| CN114185930A (en) * | 2021-10-27 | 2022-03-15 | 松德刀具（长兴）科技有限公司 | Boring cutter management system with data memory function |
| CN114185930B (en) * | 2021-10-27 | 2023-12-29 | 松德刀具（长兴）科技有限公司 | Boring cutter management system with data memory |
| US12228906B2 (en) | 2021-12-24 | 2025-02-18 | Industrial Technology Research Institute | Calibration method and calibration system for machine tools |
| CN114623780A (en) * | 2022-01-26 | 2022-06-14 | 深圳职业技术学院 | Detection device and online detection method for three-dimensional reconstruction of tool nose |
| CN115139154A (en) * | 2022-05-19 | 2022-10-04 | 嘉泰数控科技股份公司 | Multifunctional high-efficiency cutter length measurement control method with automatic correction function |
| CN118544180A (en) * | 2024-07-30 | 2024-08-27 | 国家机床质量监督检验中心 | A machine tool spatial position accuracy testing device and testing method |
| CN118544180B (en) * | 2024-07-30 | 2024-11-22 | 国家机床质量监督检验中心 | A machine tool spatial position accuracy testing device and testing method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105269404B (en) | 2018-11-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105269404B (en) | 2018-11-23 | Numerically-controlled machine tool point of a knife dynamic characteristic accuracy detecting device and its method |
| CN204711699U (en) | 2015-10-21 | Digit Control Machine Tool point of a knife dynamic characteristic accuracy detecting device |
| CN104568424B (en) | 2017-09-19 | Loading device with self-balancing load force direction and static stiffness test platform of CNC tool holder with self-control force direction |
| CN102589492B (en) | 2015-10-28 | A kind of large-scale curved flexible detection device |
| WO2021189298A1 (en) | 2021-09-30 | Swing head position error detection and identification method for ca double-swing-head five-axis numerically controlled machine tool |
| CN202869440U (en) | 2013-04-10 | Five-shaft system solid of revolution measuring instrument |
| CN105758343B (en) | 2018-06-26 | The device and method of C axis centre of gyration calibration based on double standard balls |
| CN107085409A (en) | 2017-08-22 | A dynamic error checking method and device for a numerically controlled machine tool |
| CN102768028A (en) | 2012-11-07 | Method and device for online in-situ measurement with single joint arm |
| CN108278979A (en) | 2018-07-13 | A kind of blade situ contact formula three-dimensional measuring apparatus and method |
| CN105404239B (en) | 2018-04-10 | A kind of any attitude measuring method of five axles series-parallel machine tool Kinematic Calibration |
| CN102689234B (en) | 2014-04-30 | Device and method for detecting thermal errors of hobbing machine tool |
| CN105479268A (en) | 2016-04-13 | RTCP (real-time transport control protocol) based geometrical error identification methods for swing shafts of five-axis numerical control machine tool |
| CN103278100A (en) | 2013-09-04 | Aperture measuring method based on non-contacting type sensor combination |
| CN110539020A (en) | 2019-12-06 | A precision self-diagnosis method for a dual-five-axis mirror milling machine tool |
| CN108188835A (en) | 2018-06-22 | Main shaft of numerical control machine tool thermal stretching test device and test method based on machine vision |
| CN102636137A (en) | 2012-08-15 | REVO (Resident Encrypted Variable Output) measuring head position posture calibrating method in joint arm type coordinate measuring machine |
| CN103009194B (en) | 2015-04-15 | Non-contact inner parallel plane distance measuring method for large-sized workpiece |
| CN104166373A (en) | 2014-11-26 | Online detecting method and system for numerical control machine tool machining error |
| CN109253710B (en) | 2020-03-20 | Calibration method for zero error of A axis of REVO measuring head |
| CN110108238A (en) | 2019-08-09 | It is a kind of for measuring the measuring system and measurement method of part flatness |
| CN109613889A (en) | 2019-04-12 | Comprehensive Error Compensation Method of On-machine Measurement System of CNC Machine Tool Based on Differential Transformation |
| CN110006322B (en) | 2024-01-30 | Device and method for detecting perpendicularity between two linear axes of machine tool |
| CN106392773B (en) | 2019-10-25 | A five-axis linkage machine tool spindle head attitude angle measurement device and measurement method |
| CN109282833B (en) | 2023-04-07 | Automatic calibration device and calibration method for plumb line coordinatograph |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 2016-01-27 | C06 | Publication | |
| 2016-01-27 | PB01 | Publication | |
| 2016-02-24 | C10 | Entry into substantive examination | |
| 2016-02-24 | SE01 | Entry into force of request for substantive examination | |
| 2018-11-23 | GR01 | Patent grant | |
| 2018-11-23 | GR01 | Patent grant | |
| 2024-11-29 | CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181123 |
| 2024-11-29 | CF01 | Termination of patent right due to non-payment of annual fee |