CN102608952A - Method of smoothening five-axis-linkage machine tool machining path by using ball-end cutter - Google Patents
Method of smoothening five-axis-linkage machine tool machining path by using ball-end cutter Download PDFInfo
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Abstract
The invention discloses a method of smoothening a five-axis-linkage machine tool machining path by using a ball-end cutter. The method comprises the following steps: firstly, generating cutter spacing source files according to the geometrical shape and technological parameters of a processed part; secondly, sequentially reading the source files in a non-interlaced way, analyzing, extracting cutter locating point positions and cutter shaft vectors, and judging whether cutter locating lines interfere taper angles or not to ensure the operation on taper angle values, thereby obtaining taper angle cutter road files; thirdly, sequentially reading the taper angle cutter road files in a non-interlaced way, analyzing, extracting cutter locating points, cutter shaft vectors and taper angles, and determining the operation of an optimum cutter shaft vector in all the cutter locating lines; and fourthly, calculating the coordinates of cutter locating points according to the optimum cutter shaft vector and then carrying out postposition process to generate the machine tool machining path, thereby realizing smoothing process on the machine tool machining path. According to the method, a cutter shaft is subjected to smooth transition to realize three-axis machining partially, thereby eliminating partial non-linear errors, solving the problem of large rotation of a rotating shaft of a machine tool in singular positions, and enhancing the machining efficiency.
Description
Technical field
The present invention relates to the multi-axis linkage numerical control field of machining, more specifically, relate to a kind of method the level and smooth machining path of five-axis linkage machine tools that adopts the bulb cutter.
Background technology
Along with Aero-Space, shipbuilding, automobile, industrial expansions such as the energy, metallurgy, the multi-axis linkage numerical control process technology applies in the processing of high-accuracy complex-curved thin-walled parts just widely.In multi-axis linkage numerical control processed process, can be according to part geometry shape and the technological parameter processing cutter track of making rational planning for out, and generate corresponding cutter spacing trail file.This document need pass through rearmounted treatment conversion becomes nc program, could drive machine tooling.Five-axis machine tool is compared with three lathes, has increased by two turning axles, can adjust any cutter axis orientation thus avoiding some inevitable interference problems in three machine toolings, but meanwhile also bring the problem of rearmounted processing aspect.For example, the rotation of turning axle can produce nonlinearity erron, makes the little line segment of planning cutter track handle into space curve through rearmounted, has departed from planned trajectory.
At present, the rearmounted processing mode to the planning cutter track all is to control the upper limit of nonlinearity erron through the mode of inserting point.Higher limit is big more, and it is far away more to depart from planned trajectory, and crudy is poor more; Higher limit is more little, and the little line segment that interpolation disperses is many more, the frequent acceleration and deceleration of machine tool motion axle, and working (machining) efficiency is low more.When five-axis machine tool was in singular position, the swing of the trace of the cutter shaft in the cutter track of planning with causing the lathe turning axle unnecessary significantly rotation to occur, was followed the nonlinearity erron maximization this moment, possibly produce the machining path disorder.Knut Sorby published thesis on the machine tools&manufature magazine in 2006 and has proposed a kind of five rearmounted interpolation methods of handling the singular position processing; It makes that through interpolation significantly fast rotational has become slightly slowly rotation of segmentation; Make the singular position place process the safety that becomes; But do not solve significantly circling behavior of singular position in fact, and make working (machining) efficiency become low.
Summary of the invention
The present invention is directed to the defective of prior art; The object of the present invention is to provide a kind of method, to eliminate the local nonlinearity error and to avoid lathe singular position place to rely on the significantly rotation problem of turning axle to the level and smooth machining path of five-axis linkage machine tools that adopts the bulb cutter.
According to the present invention, a kind of method to the level and smooth machining path of five-axis linkage machine tools that adopts the bulb cutter has been proposed, this method comprises the following steps:
(1) according to the geometric configuration and the technological parameter of processing parts, generates the cutter spacing track source file that lathe adopts the bulb cutter;
(2) the cutter spacing track source file that generates is read, resolves and extract its cutter location position and generating tool axis vector successively line by line; And judgement cutter spacing row presence of interference cone angle is handled with the sequence of operations of the cone angle value of definite each cutter spacing row; Obtain to have comprised the cone angle cutter track file of cutter location position, generating tool axis vector and cone angle value information thus, the operation of said definite cone angle value specifically comprises following substep:
(i) with the cone angle value θ of first in cutter spacing track source file row cutter spacing
1Assignment is 0, is 2 with cutter spacing row n assignment simultaneously;
(ii) calculate the capable generating tool axis vector of n [i j k]
nWith the capable generating tool axis vector of n-1 [i j k]
N-1Between vector angle α
n
(iii) calculate the upper limit
of the capable cutter spacing cone angle of n value
(iv) making up the cone angle value does
Cutter cone model and processing model do interference checking, if do not have to interfere then to set when the front angle value do
Interfere if exist, then work as front angle and dwindle to scale, interfere to confirm current line cone angle value θ up to satisfying not have
n
(v) the n assignment is increased by 1, repeat (ii) above-mentioned～(iv) step is up to the cone angle of confirming each cutter spacing row;
(3) the cone angle cutter track file that is obtained through step (2) is read successively line by line; Resolve and extract its cutter spacing position, generating tool axis vector and cone angle; And the sequence of operations processing of confirming the optimum generating tool axis vector of all cutter spacing row, the operation of the optimum generating tool axis vector of said definite cutter spacing row specifically comprises following substep:
(a) with first the row cutter spacing generating tool axis vector [i j k]
1Being set at optimum generating tool axis vector and calculating the value of its corresponding lathe turning axle, is 2 with cutter spacing row n assignment simultaneously;
(b) generating tool axis vector [i j k] of the capable cutter spacing of calculating n
nWith the capable fixed generating tool axis vector of n-1 [i j k]
N-1Between vector angle α
n
(c) if vector angle α
nThe cone angle value θ that≤the n is capable
n, then the optimum generating tool axis vector of the capable cutter spacing of n is confirmed as [i j k]
N-1, and calculate the value of its corresponding lathe turning axle;
(d) if vector angle α
nThe cone angle value θ that＞the n is capable
n, then discrete taper angle theta
nIn generating tool axis vector; And the value of the pairing lathe turning axle of the generating tool axis vector after will dispersing compares with the value of (n-1) row generating tool axis vector pairing lathe turning axle one by one, therefrom selects to cause the minimum generating tool axis vector of turning axle weighting rotation amount as the capable optimum generating tool axis vector of n; And
(e) the n assignment is increased by 1, repeat above-mentioned steps (b)～(d) up to the optimum generating tool axis vector of confirming all cutter spacing row; And
(4) according to determined optimum generating tool axis vector in the step (3), calculate corresponding cutter location coordinate, and further carry out the rearmounted machining path of handling with the acquisition five-axis linkage machine tools, thereby realize smoothing processing the machine tooling path.
As further preferably, can in step (4) afterwards the machining path after the acquisition smoothing processing be imported five-axis linkage machine tools, to carry out processing to workpiece.
Through method of the machining path of five-axis linkage machine tools being carried out smoothing processing of the present invention; When impeller channel finishing; Cutter shaft can seamlessly transit; The part becomes three processing, has eliminated the technical matters that the singular position lathe turning axle of previous nc program significantly rotates thus, thereby the technique effect that can obtain significantly to improve working (machining) efficiency, improve aspects such as machining precision in field of machining.
Description of drawings
Fig. 1 rotates a circle the synoptic diagram of the formed cutter cone of the outline of all cutters around former cutter shaft after the generating tool axis vector of process tool departs from original cutter shaft angle;
Fig. 2 is the method flow block diagram that is used for the level and smooth machining path of five-axis linkage machine tools that adopts the bulb cutter according to of the present invention.
Embodiment
Below in conjunction with accompanying drawing the present invention is specifically described.
The rotational component of lathe turning axle can be calculated by the generating tool axis vector of CAM software plan.Because machine tooling separates with the planning cutter track fully, traditional CAM software can't be made rational planning for through still satisfying the preposition cutter location file of processing request after rearmounted the processing based on machining tool.In order to strengthen the fairness in machine tooling path; Five Free-Form Surface Machining are become local three processing to eliminate nonlinearity erron; Avoid five-axis machine tool singular position place to rely on the significantly rotation of turning axle simultaneously; The present invention is directed to five-axis machine tool ball cutter point and mill processing a kind of cone angle cutter location file that comprises cutter location position, generating tool axis vector, cone angle information is provided, and its rearmounted processing is generated level and smooth lathe number of path control method for processing.
Tradition cutter location file cutter spacing row format is: goto/x, y, z, i, j, k.The first three items data are the cutter location position coordinates [x y z] under the machining coordinate system after the goto/ indications
T, back three association are its corresponding generating tool axis vector [i j k]
TWith double pendulum platform (A axle C axle) five-axis linkage machine tools is example, explains how to strengthen the fairness in lathe path through optimizing generating tool axis vector:
The A axle is non-dependence turning axle, and its anglec of rotation is θ
A, C axle axial line produces spatial variations for relying on axle along with the rotation of A axle, and its anglec of rotation is used θ
CExpression.Suppose that machining coordinate system is identical with the lathe coordinate system orientation, and fixing.Originally tool coordinate system overlaps with machining coordinate system, and generating tool axis vector is [0 0 1]
TThrough twice rotational transform, become the corresponding generating tool axis vector [i j k] of cutter location
T, following equation is arranged: (Rot is a rotation matrix)
Expansion obtains
Can find out that more than the anglec of rotation of A axle and C axle is only relevant with the generating tool axis vector of planning cutter track, and with the cutter location location independent.According to the bilingual selection algorithm that postposition is handled, can obtain relation one to one, for example use θ
A=F (k) and θ
C=G (i, j) schematic representation.Because the difference of generating tool axis vector in the adjacent cutter spacing row in the cutter location file, calculate the difference of separating of adjacent lines turning axle in the numerical control program, caused the lathe rotating shaft member to rotate constantly.
In order to reduce the unnecessary rotation of lathe rotary part in the process, can to set optimization aim be: to the definite generating tool axis vector [i j k] of lastrow
N-1The generating tool axis vector [i j k] of adjustment current line
n, it is minimum to satisfy relative rotation amount weighted value, has wherein added flexible strategy f respectively for two turning axles
A, f
CThe proportion of two turning axle rotation amounts of control.(n is the sequence number on the cutter spacing, and wherein n is 2,3,4 ...)
θ
A＝F(k)
θ
C＝G(i，j)
Wherein S (a, b) for calculating a, the rotation amount of two angles of b, the result be on the occasion of.
Cylinder rose cutter (cutter) is made up of two parts, top bulb part and cylinder knife bar part.The point milling cutter road of planning usually, the contact point of cutter and workpiece are called for short point of contact and are positioned at the bulb part.When keeping the centre of sphere (the cutter heart) constant; New generating tool axis vector departs from the cutter that original cutter is vowed new pose that certain angle forms; If do not interfere with workpiece, point of contact is invariant position on workpiece, still is in cutter bulb part; This generating tool axis vector satisfies the contact condition, belongs to suitable generating tool axis vector.After new generating tool axis vector departed from original cutter shaft angle θ, after former cutter shaft rotated a circle, the outline of all cutters formed a cone, is referred to as cutter cone (referring to accompanying drawing 1), and θ is a cutter awl cone angle.If the cutter awl is not interfered with workpiece, then keep the cutter heart constant, generating tool axis vector can be in the inner adjustment arbitrarily of cone angle.Generally speaking, the big more adjustable cutter shaft scope of cutter awl taper angle theta is just big more, can take more internal memory and computing time and inessential but search for maximum θ.If comprise this generating tool axis vector in the cutter shaft tapering of time row cutter spacing, then optimum generating tool axis vector keeps the same with up definite generating tool axis vector in time row cutter spacing, is best cutter shaft.Angle value and lastrow through the anti-turning axle of obtaining of this generating tool axis vector are consistent, and the part has become three processing.
Based on above analysis, the present invention proposes a kind of cone angle cutter track cutter spacing row format: goto/x, y, z, i, j, k, θ.To the turning axle angle in the lastrow lathe path, a series of generating tool axis vector that in the cutter awl, disperse out are calculated its corresponding turning axle anglec of rotation respectively according to the turning axle solution formula, are optimum generating tool axis vector with rotation amount weighted value minimum.Through generating new cutter location coordinate after the adjustment generating tool axis vector, further confirm the amount of movement of each parts axle of lathe, generate level and smooth machine tooling path thus.
Correspondingly, the method according to the level and smooth lathe machining path of generation of the present invention mainly comprises four steps:
(1), generates cutter spacing track source file according to the geometric configuration and the technological parameter of processing parts;
(2) the cutter spacing track source file that generates is read, resolves and extract its cutter location position and generating tool axis vector successively line by line; And calculate cutter spacing row presence of interference angle and handle with the sequence of operations of the cone angle value of definite each cutter spacing row, obtain to have comprised the cone angle cutter track file of cutter location position, generating tool axis vector and cone angle value information thus;
(3) the cone angle cutter track file that is obtained through step (2) is read successively line by line, resolve and extract its cutter spacing position, generating tool axis vector and cone angle, and the sequence of operations processing of confirming the optimum generating tool axis vector of all cutter spacing row;
(4) according to determined optimum generating tool axis vector in the step (3), calculate corresponding cutter location coordinate, and further carry out the rearmounted machining path of handling with the generation five-axis linkage machine tools, thereby realize smoothing processing the machine tooling path.
To more specifically describe above each step with reference to Fig. 2 below:
At first, geometric configuration and the processing technology according to processing parts requires in UG software Impeller Machining module, to have planned impeller channel finishing track with certain bulb cutter that derive the cutter spacing track source file of describing cutter location coordinate and generating tool axis vector, suffix is called .cls.
Then, extract six parameters [x y z i j k] in the cutter location file cutter spacing data goto/ statement line by line.With [x y z i j k]
nRepresent the cutter spacing information that n is capable, wherein n ∈ [1, N].These parameters are kept in the calculator memory, are further used for calculating cutter spacing row cone angle and export the cone angle cutter track file that has cone angle information.The calculation procedure of cutter spacing cone angle is following:
N=2, the taper angle theta of first trip cutter spacing
1Be changed to 0;
Calculate the capable cutter spacing generating tool axis vector of n [i j k]
nWith its lastrow cutter spacing generating tool axis vector [i j k]
N-1Between angle be α
n, further calculate the higher limit of the capable cone angle of n
Formula is following:
α
n＝arccos([i?j?k]
n-1·[i?j?k]
n)
In UG, call inner api function interface, creating generating tool axis vector is [i j k]
n, the cone angle size does
Cutter cone model and processing component do interference checking, if do not interfere, cone angle value then
If interfere, reduced cone angle is assignment again
Wherein f is the positive constant less than 1.Repeat above dwindle with the assignment step till not interfering, confirm the cone angle value of the capable cutter spacing of n thus.Cutter cone model parameters needed that institute's call function is created such as cutter awl path R
1, the big footpath of cutter awl R
2, the point coordinate P of bottom center
Tc, cutter cone height H
ConCalculate as follows:
The tool dimension R of planning cutter track
Tool, the knife bar length L
Tool
The n value repeats above step up to the cone angle value that calculates all cutter spacing row from increasing 1.
With goto/x, y, z, i, j, k, the form of θ is exported the cutter spacing data in order, forms the cone angle cutter location file thus.
Then, the cone angle cutter track file that is obtained is read successively line by line, resolve and extract its cutter spacing position, generating tool axis vector and cone angle, and the sequence of operations processing of confirming the optimum generating tool axis vector of all cutter spacing row.
The detailed process of this step is: read in or the cone angle cutter location file, extract seven parameters that comprise cutter location coordinate, generating tool axis vector, cone angle information [x y z i j k θ] in each row goto/ statement in the cone angle cutter location file.With [x y z i j k θ]
nRepresent the capable cutter spacing information of n, wherein n ∈ [1, N].Parameter is kept in the calculator memory, is used to search for optimum generating tool axis vector.
The concrete steps of the optimum generating tool axis vector of said search are following:
Confirming the optimum generating tool axis vector
of the first row cone angle cutter spacing and calculate the value of its corresponding lathe turning axle, is 2 with the n assignment simultaneously;
Calculate the generating tool axis vector [i j k] of the capable cutter spacing of n
nAngle [i j k] with the capable generating tool axis vector of up n-1
N-1Angle
n, computing formula is following:
α
n＝arccos([i?j?k]
n-1·[i?j?k]
n)
If vector angle α
n≤θ
n(the capable cone angle of n) confirms that then the optimum generating tool axis vector of the capable cutter spacing of n does
And calculate the value of its corresponding lathe turning axle;
If vector angle α
n＞θ
n, the inner vector of then discrete cone angle calculates corresponding lathe turning axle and separates the capable turning axle value contrast with n-1, selects to cause the minimum generating tool axis vector of turning axle weighting rotation amount as the capable optimum generating tool axis vector of n
And the value of the turning axle of calculating correspondence, θ
A=F (k), θ
C=G (i is the computing formula of lathe turning axle j), is easy to derive, and be not emphasis according to the invention.S (a, b) for calculating a, the rotation amount of two angles of b, the result be on the occasion of, equation of constraint is following:
The n assignment is increased by 1, repeat above-mentioned steps up to the optimum generating tool axis vector of confirming all cutter spacing row.
At last; The formula that obtains corresponding optimum cutter location coordinate
compute optimal cutter location coordinate
according to optimum generating tool axis vector
is following, and wherein R is the ball head knife tool radius:
Carry out rearmounted the processing according to optimum cutter spacing data
, calculate corresponding each amount of exercise of lathe and be output into machine tooling path file.
Can the file in the level and smooth lathe path that obtains be imported MIKRON UCP 800 lathes; When impeller channel finishing; Cutter shaft can seamlessly transit; The part becomes three processing, has eliminated the technical matters that the singular position place lathe turning axle in previous lathe path significantly rotates thus, thereby the technique effect that can obtain significantly to improve working (machining) efficiency, improve aspects such as machining precision in field of machining.
Those of ordinary skill in the art understands easily, and the above is preferred embodiment of the present invention, but the present invention should not be confined to the disclosed content of this embodiment and accompanying drawing.So everyly do not break away from the equivalence of accomplishing under the disclosed spirit of the present invention or revise, all fall into the scope of the present invention's protection.
Claims (2)
1. method to the level and smooth machining path of five-axis linkage machine tools that adopts the bulb cutter, this method comprises the following steps:
(1), generates the cutter spacing track source file of the bulb cutter that lathe adopted according to the geometric configuration and the technological parameter of processing parts;
(2) the cutter spacing track source file that generates is read, resolves and extract its cutter location position and generating tool axis vector successively line by line; And judgement cutter spacing row presence of interference is handled with the sequence of operations of the cone angle value of definite each cutter spacing row; Obtain to have comprised the cone angle cutter track file of cutter location position, generating tool axis vector and cone angle value information thus, the operation of said definite cone angle value specifically comprises following substep:
(i) with the cone angle value θ of first in cutter spacing track source file row cutter spacing
1Assignment is 0, is 2 with cutter spacing row n assignment simultaneously;
(ii) calculate the capable generating tool axis vector of n [i j k]
nWith the capable generating tool axis vector of n-1 [i j k]
N-1Between vector angle α
n
(iii) calculate the upper limit
of the capable cutter spacing cone angle of n value
(iv) making up the cone angle value does
Cutter cone model and processing model do interference checking, if do not have to interfere then to set when the front angle value do
Interfere if exist, then the cone angle with cutter cone model dwindles to scale, interferes to confirm current line cone angle value θ up to satisfying not have
n
(v) the n assignment is increased by 1, repeat (ii) above-mentioned～(iv) step is up to the cone angle of confirming each cutter spacing row;
(3) the cone angle cutter track file that is obtained through step (2) is read successively line by line; Resolve and extract its cutter spacing position, generating tool axis vector and cone angle; And the sequence of operations processing of confirming the optimum generating tool axis vector of all cutter spacing row, the operation of the optimum generating tool axis vector of said definite cutter spacing row specifically comprises following substep:
(a) with first the row cutter spacing generating tool axis vector [i j k]
1Being set at optimum generating tool axis vector and calculating the value of its corresponding lathe turning axle, is 2 with cutter spacing row n assignment simultaneously;
(b) generating tool axis vector [i j k] of the capable cutter spacing of calculating n
nWith the capable fixed generating tool axis vector of n-1 [i j k]
N-1Between vector angle α
n
(c) if vector angle α
nThe cone angle value θ that≤the n is capable
n, then the optimum generating tool axis vector of the capable cutter spacing of n is confirmed as [i j k]
N-1, and calculate the value of its corresponding lathe turning axle;
(d) if vector angle α
nThe cone angle value θ that＞the n is capable
n, then discrete taper angle theta
nIn generating tool axis vector; And the value of the pairing lathe turning axle of the generating tool axis vector after will dispersing compares with the value of the pairing lathe turning axle of the capable generating tool axis vector of n-1 one by one, therefrom selects to cause the minimum generating tool axis vector of turning axle weighting rotation amount as the capable optimum generating tool axis vector of n; And
(e) the n assignment is increased by 1, repeat above-mentioned steps (b)～(d) up to the optimum generating tool axis vector of confirming all cutter spacing row;
(4) according to determined optimum generating tool axis vector in the step (3), calculate corresponding cutter location coordinate, and further carry out the rearmounted machining path of handling with the acquisition five-axis linkage machine tools, thereby realize smoothing processing the machine tooling path.
2. the method to the level and smooth machining path of five-axis linkage machine tools that adopts the bulb cutter as claimed in claim 1 is characterized in that, in step (4) afterwards, and with the machining path input five-axis linkage machine tools that obtains after the smoothing processing, to carry out processing to workpiece.
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