CN103592888B - The postpositive disposal method of domestic Double swing head five-axis machine tool - Google Patents
The postpositive disposal method of domestic Double swing head five-axis machine tool Download PDFInfo
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- CN103592888B CN103592888B CN201310030822.XA CN201310030822A CN103592888B CN 103592888 B CN103592888 B CN 103592888B CN 201310030822 A CN201310030822 A CN 201310030822A CN 103592888 B CN103592888 B CN 103592888B
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Abstract
A kind of postpositive disposal method that cutter spacing source file is converted to domestic Double swing head five-axis machine tool machining code.It is characterized in that making brachium is 0, uses five axle Double swing head cutter center algorithms to calculate, comprising: the α calculated by cutter spacing source fileCAnd extract maximum rotation angle αCmax;Relatively lathe maximum anglec of rotation CmaxWith maximum rotation angle αCmaxSize, then compare cutter spacing source file first trip rotation angle αC1With secondary row rotation angle αC2Difference and βCSize;Corresponding processing mode is used to change according to comparative result;Finally, the NC code changed is returned main program.Its advantage is based on, compared with the preposition limiting angle processing the maximum and lathe self that the cutter spacing source file generated calculates the 5th axle anglec of rotation, then selecting corresponding processing mode, finally giving rational procedure, to improve working (machining) efficiency and machining accuracy.
Description
Technical field
The present invention relates to multiaxis NC maching field, particularly relates to one and cutter location file is converted to domestic five axles connection
The postpositive disposal method of the domestic Double swing head five-axis machine tool of dynamic Digit Control Machine Tool machining code.
Background technology
Along with developing rapidly of world today's Computerized Numerical Control processing technology, five-axis robot technology is widely used in Aeronautics and Astronautics
Manufacture field.Monoblock type impeller in the compressor of Aero-Space engine, air blast belong to have high accuracy the most complex-curved
Part.Therefore the monoblock type impeller in aero-engine generally uses five-axis linkage machine tools to process, according to the structure of five-axis machine tool
Difference can be divided into polytype, and due to the difference of five-axis machine tool type, each rotary shaft of lathe has unrestricted and restricted area
Between each variant, present invention is generally directed to five axle planer-type Double swing head lathes, the rotary shaft of this lathe is the most restricted, especially
Five axles restricted causing causes some region time processing not put in place in reality is processed, and conventional method is first at this by workpiece
Ruling in position, uses angel measuring instrument measurement to be rotated to an angle by workpiece and then reprocess, or consider lathe when programming
The limit anglec of rotation, its its limit point divide machining area, respectively programming, postpositive disposal go out multiple program processing.But,
This conventional method needs frequent mounting or dismounting workpiece, produces position error, or increases programming trouble, and must post-process multiple program,
Increase the production time of enterprise, and it cannot be guaranteed that machining accuracy.This has large effect to the productivity effect of enterprise.
Summary of the invention
The purpose of the present invention is exactly mainly for five domestic axle Double swing head lathes, for avoiding this structure machine tool after exploitation
When putting process, the anglec of rotation of the 5th rotary shaft exceedes the extreme angles of lathe self, causes the excess of stroke to be reported to the police and some Guo Xian district
Between the problem such as cannot process, it is proposed that the rearmounted place of a kind of domestic Double swing head five-axis machine tool being specifically designed for five axle Double swing head lathes
Reason method.
The solution of the present invention is such that
The present invention is whether to add brachium according to this domestic five-axis machine tool to provide two kinds of postpositive disposal modes, and according to front
Compared with the limiting angle of the maximum and lathe self that the cutter spacing source file putting process generation calculates the 5th axle anglec of rotation, then
Select corresponding processing mode.
As a example by Double swing head five axle (A, C axle) linkage machine tool, illustrate how select postpositive disposal mode and how to solve
The problems such as lathe the 5th axle rotational angle range transfinites.
Be a neutral file by the preposition cutter spacing source file generated that processes, including: tool-information (diameter, cutter number,
Cutter number picked up), rotating speed, the information such as multiaxis is opened, coolant is opened, the cutter spacing position of cutter location and cutter spacing direction vector, this cutter location
All motionless with workpiece, the mode of tool motion obtains, and in this lathe reality is processed, workpiece is also motion, so needing
Cutter location information changed by the spatial kinetics model of this type of lathe, to become numerical control code.According to international standard
Change tissue (ISO 841) standard, determine each reference axis and the direction of motion of Double swing head five-axis linkage machine tools, according to lathe coordinate system
Be lathe coordinate system inherently and cannot change, and workpiece coordinate system be part to be processed programming time used
Coordinate system, name coordinate system usually adds the coordinate system and consistent with lathe coordinate system direction of definition in man-hour, wound in this lathe
Build lathe coordinate system OcXcYcZcWorkpiece coordinate system OmXmYmZmName coordinate system OrXrYrZrAnd respectively with lathe bed, workpiece, cutter
Connect firmly, at workpiece coordinate system OmXmYmZmUnder, Rw(wx,wy,wz)、Rv(vi,vj,vk) represent cutter location cutter spacing position and cutter spacing respectively
Vector.Each axle of fixing workpiece coordinate system is the most consistent with each direction of principal axis of name coordinate system, now Rw(wx,wy,wz)、Rv(vi,
vj,vk) initial position be respectively [0 0 0]T[0 0 1]T.Rotary shaft A, the anglec of rotation of C use α respectivelyAAnd αCRepresent.Pendulum
Dynamic center [X, Y, Z] is pendulum length L to the distance of main shaft section and is definite value, main shaft end face to cutter location cutter spacing position Rw(wx,wy,
wz) distance be the long K of cutter.Because of from oscillation center to the distance value of cutter location cutter spacing position be cutter length and pendulum length sum, therefore
Long for cutter K is referred to as brachium H with pendulum length L sum.With reference to " the complex-curved digital control processing correlation technique " of Chen Liangji, become according to coordinate
Change relation, derive lathe at workpiece coordinate system OmXmYmZmUnder coordinates of motion value X, Y, Z, αA, αCMethod be:
αA=LAarccos(vk) LA=(1,-1) (1)
αC=arctan(vi/vj)-LCπ LC=(0,1) (2)
In formula: αA、αCIt is respectively rotary shaft A, the anglec of rotation of C;
(wx,wy,wz)、(vi,vj,vk) it is respectively cutter location cutter spacing position and cutter spacing vector;
[X, Y, Z] is oscillation center coordinate;
H is brachium value.
Make αA=arccos(vk)=β, αA1=-β, αC=arctan(vi/vj)=φ, αC1=φ±π.By αA,αCWith αA1,αC1Point
Do not substitute into formula (3) to launch:
Formula (4) is equal with formula (5) result as can be seen here.When can illustrate to obtain a pair known angle, by rotation angle αABecome
Negative value, by rotation angle αCRotation turnback, cutter location coordinate is constant.When calculating the anglec of rotation accordingly, use whole positive-angle meter
Calculate, as the α calculated by cutter spacing source fileCLimiting angle C is rotated more than lathemaxTime, all α in this program can be madeAValue becomes
Negative value, by rotation angle αCRotation turnback.Just can solve the lathe anglec of rotation and cross limit problem.Special by the structure comparison of this lathe, warp
[X, Y, the Z] obtained after calculatingTValue is for oscillation center trajectory coordinates, therefore formula (1), (2), (3) are called five axle Double swing head center of oscillations calculations
Method, and oscillation center coordinate is determined by cutter spacing position, brachium, the anglec of rotation.Obviously, as brachium H=0, [X, Y, Z]TIt is output as cutter
Position position coordinates is:
[X,Y,Z]T=[wxwywz]T(6)
Formula (1), (2), (6) are referred to as five axle Double swing head cutter center algorithms, in such a mode, it is necessary in the control system of lathe
In system, insertion arm long value calculates, and can process.And brachium is made up of pendulum length and cutter length, pendulum length is certain value, a length of variate of cutter.
Thus in production in enormous quantities, cutter will produce length abrasion, and traditional tool length compensation method can be used at lathe
Control system in fill into the difference of the cutter length after abrasion and the cutter length of new cutter, it is possible to meet processing request.The method is the most real
With, greatly reduce the processing technology time, improve productivity effect for enterprise and there is important practicality meaning.
According to above-mentioned design philosophy, the present invention includes step:
(1), read in and receive data step: read in and at least include that tool-information, rotating speed, multiaxis are opened, coolant is opened, cutter spacing
The cutter spacing position of point and the cutter spacing source file of cutter spacing direction vector, receive simultaneously and at least include that brachium H, rotary axis of machine tool are maximum
Limiting angle CmaxLathe parameter;
(2), according to the greatest limit angle C of concrete rotary axis of machine tool C axlemax, the rotation of definition Double swing head five-axis machine tool C axle
Spacing angle betaC, its rotary stopper angle is the greatest limit angle C according to concrete rotary axis of machine tool C axlemaxSet, general during setting
Allow and make rotary stopper angle betaCIt is slightly less than greatest limit angle Cmax.General βC∈(180°,360°)。
(3) the spatial kinetics model step of lathe, is set up: be lathe coordinate system inherently according to lathe coordinate system
And cannot change, and workpiece coordinate system be part to be processed programming time the coordinate system that used, name coordinate system is usual
For adding the coordinate system of definition in man-hour and the feature consistent with lathe coordinate system direction, in lathe, create lathe coordinate system
OcXcYcZcWorkpiece coordinate system OmXmYmZmName coordinate system OrXrYrZrAnd connect firmly with lathe bed, workpiece, cutter respectively, sit at workpiece
Mark system OmXmYmZmUnder, Rw(wx,wy,wz)、Rv(vi,vj,vk) represent cutter location cutter spacing position and cutter spacing vector respectively.Fixing workpiece
Each axle of coordinate system is the most consistent with each direction of principal axis of name coordinate system, now Rw(wx,wy,wz)、Rv(vi,vj,vk) initial position
It is respectively [0 0 0]T[0 0 1]T;Rotary shaft A, the anglec of rotation of C use α respectivelyAAnd αCRepresent;
(4), brachium sets and processes step: set: the distance of oscillation center [X, Y, Z] to main shaft end face is pendulum length L, master
Axial end is to cutter location cutter spacing position Rw(wx,wy,wz) distance be the long K of cutter;The setting long K of cutter is added with pendulum length L and obtains brachium H;
When automatically loading brachium in machine tool system and calculating, making brachium H=0, the process step of employing includes:
Use five axle Double swing head cutter center algorithm formula:
αA=LAarccos(vk) LA=(1,-1)
αC=arctan(vi/vj)-LCπ LC=(0,1)
[X,Y,Z]T=[wxwywz]TCalculate;
In formula: αA、αCIt is respectively rotary shaft A, the anglec of rotation of C;
(wx,wy,wz)、(vi,vj,vk) it is respectively cutter location cutter spacing position and cutter spacing vector;
[X, Y, Z] is oscillation center coordinate.
(5), the five axle Double swing head cutter center algorithm formula using step 4 are calculated all C axles in this cutter spacing source file
Rotation angle αC, it is put in an array.Extract a maximum rotation angle αCmax;Relatively lathe maximum anglec of rotation CmaxWith cutter location
Maximum rotation angle αCmax:
If αCmax> Cmax, perform five axle Double swing head cutter center algorithms again, preserve the rotation angle values of first trip cutter location
αC1, in rotation angle values α to site calculating the second rowC2, compare αC1With αC2:
If αC2-αC1< βCIt processes step: perform again five axle Double swing head cutter center algorithms, after calculating every time
αCProcess.Make αC=αC-180 °, αA=-αA, the NC code changed is returned main program;
If αC2-αC1≥βC, its process step is: perform again five axle Double swing head cutter center algorithms, after calculating every time
αCNeed to judge.If αC> 180 °, exports αC=αC-360 °, otherwise export initial value.αAIt is worth constant, the NC code changed is returned
Return main program;
If αCmax< Cmax, its process step is: by five axle Double swing head cutter center algorithms, all export according to algorithm, will turn
The NC code finished changing returns main program.
Pass through above-mentioned steps, so that it may the anglec of rotation solving the 5th rotary shaft exceedes the extreme angles of lathe self, causes
The excess of stroke is reported to the police and some crosses the problems such as limit interval cannot process.
When the control system of lathe is not loaded with the calculating of brachium value, makes brachium H ≠ 0, use five axle Double swing head center of oscillation algorithms
Calculate all rotation angle α in this cutter spacing source fileC, it is put in an array.Extract a maximum rotation angle αCmax;Relatively
Lathe maximum anglec of rotation CmaxMaximum rotation angle α with cutter locationCmax;
If αCmax> Cmax, use five axle Double swing head center of oscillation algorithms to calculate again, preserve the rotation of first trip cutter location
Corner value αC1, in rotation angle values α to site calculating the second rowC2, compare αC1With αC2;
If αC2-αC1< βCIt processes step: use again five axle Double swing head center of oscillation algorithms to calculate, will every time
α after calculatingCProcess.Make αC=αC-180 °, αA=-αA, the NC code changed is returned main program;
If αC2-αC1≥βC, use again five axle Double swing head center of oscillation algorithms to calculate, the α after every time calculatingCNeed
Judge.If αC> 180 °, exports αC=αC-360 °, otherwise export initial value.αAIt is worth constant, the NC code changed is returned main
Program;
If αCmax< Cmax, use five axle Double swing head center of oscillation algorithms to calculate, all export according to algorithm, will conversion
Good NC code returns main program.
It is an advantage of the invention that and calculate the maximum of the 5th axle anglec of rotation according to the preposition cutter spacing source file generated that processes
Compared with the limiting angle of lathe self, then select corresponding processing mode, finally give rational procedure, it is possible to
Improve working (machining) efficiency and machining accuracy.
Accompanying drawing explanation
Accompanying drawing 1 is the method flow diagram of the present invention.
Accompanying drawing 2 is the cutter spacing source file of the runner of the present embodiment.
Detailed description of the invention
As a example by the XH/2024 five axle Double swing head lathe of Hanchuan Machinery Plant's research and development, this lathe is furnished with Siemens 840 D CNC System
The rotation limit of two rotary shafts (A axle, C axle) is (-110 °~110 °) and (-200 °~+200 °) respectively. due to the rotation of lathe
Axle C axle can not integral cycle rotating, can be restricted man-hour adding, bring to processing the most constant.Therefore the present invention solves just
This problem, it is possible to improve working (machining) efficiency and machining accuracy.The present invention is existing as a example by processing certain Impeller Parts runner, explains in detail
State this postpositive disposal method.First programming personnel is according to part feature and processing request, by using CAM software (such as UG) to arrange
Corresponding parameter generates cutter rail, finally derives runner cutter spacing source file.
This example makes brachium H=0.And then the five axle Double swing head postpositive disposal methods that combine change.Specifically comprise the following steps that
(1) reading in the cutter spacing source file (such as Fig. 2) of runner, this process includes: obtain total line number of this cutter spacing source file,
Utilize buffer stream to read in line by line, and separate the first key-strings of often row and the variable of back.According to obtaining keyword
Symbol string (such as TLDATA, LOAD, SPINDL, RAPID/GOTO, GOTO, FEDRAT, PAINT, END-OF-PATH etc.) judges that it contains
Justice also stores corresponding information.With this simultaneously, also obtain set in postpositive disposal software parameters (as brachium H,
The range of translation shaft, the rotation limiting angle C of rotary shaftmaxDeng);
(2) according to the greatest limit angle C of this rotary axis of machine tool C axlemax=200 °, definition Double swing head five-axis machine tool C axle
Rotary stopper angle betaC, make its βC=180°;
(3) the brachium information obtained according to step (), H=0 performs the first postpositive disposal mode, current cutter location
Cutter spacing vector is Rv(vi,vj,vk), and call five axle Double swing head cutter center algorithms (use complete on the occasion of algorithm) formula (2) and calculate αCAngle
All values, put into and array found out αCmax, following judgment expression (αCmax> 200 °), IF expression (αCmax>
200 °) it is true, redirect execution step (four), otherwise perform step (five);
(4) five axle Double swing head cutter center algorithms, the α calculated are performed againCValue be on the occasion of.Preserve first trip cutter location
Rotation angle values αC1, in rotation angle values α to site calculating the second rowC2, compare αC1With αC2:
If 1 | αC2-αC1| < 180 °, perform again five axle Double swing head cutter center algorithms, the α after every time calculatingCDo and locate
Reason.Make αC=αC-180 °, αA=-αA.The NC code changed is returned main program.Redirect execution step (six);
If 2 αC2-αC1>=180 °, perform again five axle Double swing head cutter center algorithms, the α after every time calculatingCNeeds are sentenced
Disconnected.If αC> 180 °, exports αC=αC-360 °, otherwise export initial value.αAIt is worth constant.The NC code changed is returned main journey
Sequence, redirects execution step (six);
(5) performing five axle Double swing head cutter center algorithms, all export according to algorithm.Redirect execution step (six);(6) receive
The NC code changed, the NC code write specified file that will have changed, export NC code.
Claims (1)
1. a postpositive disposal method for domestic Double swing head five-axis machine tool, including step:
(1), read in and receive data step: read at least include that tool-information, rotating speed, multiaxis are opened, coolant is opened, cutter location
The cutter spacing source file of cutter spacing position and cutter spacing direction vector, receives simultaneously and at least includes brachium H, rotary axis of machine tool greatest limit
Angle CmaxLathe parameter;
(2), according to the greatest limit angle C of concrete rotary axis of machine tool C axlemax, the rotary stopper of definition Double swing head five-axis machine tool C axle
Angle betaC, make rotary stopper angle betaCLess than greatest limit angle Cmax, βC∈(180°,360°);
(3) the spatial kinetics model step of lathe, is set up: in lathe, create lathe coordinate system OcXcYcZcWorkpiece coordinate system
OmXmYmZmName coordinate system OrXrYrZrAnd connect firmly with lathe bed, workpiece, cutter respectively, at workpiece coordinate system OmXmYmZmUnder, Rw
(wx,wy,wz)、Rv(vi,vj,vk) represent cutter location cutter spacing position and cutter spacing vector respectively;Each axle of fixing workpiece coordinate system with
Each direction of principal axis of name coordinate system is all consistent, now Rw(wx,wy,wz)、Rv(vi,vj,vk) initial position be respectively [0 0 0]T
[0 0 1]T;Rotary shaft A, the anglec of rotation of C use α respectivelyAAnd αCRepresent;
(4), brachium sets and processes step: set: the distance of oscillation center [X, Y, Z] to main shaft end face is pendulum length L, spindle end
Face is to cutter location cutter spacing position Rw(wx,wy,wz) distance be the long K of cutter;The setting long K of cutter is added with pendulum length L and obtains brachium H;Work as machine
When loading brachium calculating in bed system, making brachium H=0, the process step of employing includes:
Use five axle Double swing head cutter center algorithm formula:
αA=LAarccos(vk) LA=(1 ,-1)
αC=arctan (vi/vj)-LCπ LC=(0,1)
[X,Y,Z]T=[wx wy wz]TCalculate, it is characterised in that: five axle Double swing head cutter center algorithms public affairs of step 4 will be used
Formula calculates all C axle rotation angle α in this cutter spacing source fileC, it is put in an array;Extract a maximum rotation angle αCmax;
Relatively lathe maximum anglec of rotation CmaxMaximum rotation angle α with cutter locationCmax:
If αCmax> Cmax, perform five axle Double swing head cutter center algorithms again, preserve rotation angle values α of first trip cutter locationC1,
Calculate rotation angle values α of the cutter location of the second rowC2, compare αC1With αC2:
If | αC2-αC1| < βCIt processes step: perform again five axle Double swing head cutter center algorithms, the α after every time calculatingC
Process;Make αC=αC-180 °, αA=-αA, the NC code changed is returned main program;
If | αC2-αC1|≥βC, its process step is: perform again five axle Double swing head cutter center algorithms, the α C after every time calculating
Need to judge;If αC> 180 °, exports αC=αC-360 °, otherwise export initial value;αAIt is worth constant, the NC code that will have changed
Return main program;
If αCmax< Cmax, its process step is: by five axle Double swing head cutter center algorithms, all export according to algorithm, by conversion well
NC code return main program.
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