CN103862326A - Cutter point control method for rotating tool of double-rotating-work-table five-shaft machine tool - Google Patents

Abstract

The invention discloses a cutter point control method for a rotating tool of a double-rotating-work-table five-shaft machine tool. On the basis of a standard numerical control system with an RTCP (rotating tool center point) function, compiling post treatment is carried out according to the structural form of a five-shaft numerical control machine tool. The post treatment refers to a process for converting cutter position source files into a numerical control program identified by a machine tool control system. An RTCP option function is realized on a control system, the coordinate transformation is calculated through a controller, the processing procedures can maintain unchanged, and for the same batch of parts, the frequent program change due to installing and clamping position change is not needed. Only corresponding coordinate positions need to be written into parameters. Meanwhile, the method also brings following advantages that machined workpieces are diverse, the machining efficiency is improved, and the machining precision is high.

Description

A kind of dual rotary workbench five-axis machine tool rotary cutter point of a knife control method

Technical field

The invention belongs to five-axis machine tool processing technique field, relate in particular to five-axis machine tool center cutter point of a knife position error control technology.

Background technology

Digit Control Machine Tool, according to the quantity of coordinate system axis, is divided into three axis numerically controlled machine, four axles and multi-axis NC Machine Tools (containing five axles and more than five axles).In theory, have the Digit Control Machine Tool of 3 linear axes and 2 gyroaxises, five-axle linkage can realize complex-curved continuous processing, is commonly referred to as five shaft five linkage Digit Control Machine Tool; If can five axles location but do not link, can processing space arbitrary orientation point, be commonly referred to as five axle positioning numerical control lathes.Five-axle number control machine tool, by version, is divided into double-workbench oscillating-type, two main shaft milling head oscillating-types, worktable rotary and main tapping oscillating-type etc.Controller of digital controlled machine tool divides by functional characteristics, be divided into and be not with RTCP (rotary cutter central point, point of a knife keeps) functional form and band RTCP functional form, early stage digital control system is not generally with RTCP function, carry out five shaft five linkage and add man-hour, require procedure to calculate the processing stand of workpiece, the actual coordinate value after lathe rotates, also will consider the problems such as cutter compensation.If the lathe swinging with main tapping, this problem is particularly outstanding, once in the situation that renewing cutter, variation has occurred tool length, and programmed value is originally all incorrect, need to re-start post processing, and this has brought very burden to actual use.And working (machining) efficiency is low.

Summary of the invention

In order to overcome the technical problem of above-mentioned existence, the invention provides a kind of dual rotary workbench five-axis machine tool rotary cutter point of a knife control method, the method effectively compensates cutter error in length, has improved the working (machining) efficiency of five-axis machine tool.

In order to achieve the above object, the present invention is by the following technical solutions: a kind of dual rotary workbench five-axis machine tool rotary cutter point of a knife control method, described five-axis machine tool processing stand location coordinate comprises 3 linear axes and 2 rotating shafts, wherein 3 linear axes form three-dimensional system of coordinate, rotating shaft rotates and is set as A axle around X-axis in three-dimensional system of coordinate, another rotating shaft rotates and is set as C axle around the Y-axis in three-dimensional system of coordinate, comprises the following steps:

Step 1, basic parameter are set, and according to the form below defines and sets value each parameter:

Parameter number	Setting value	Meaning of parameters
			pr3001	2	Five axis mechanism types: dual rotary workbench
pr3002	3	Cutter is universal: z axle
			pr3003	0	Cutter angle of inclination
pr3004	0	Cutter angle of inclination
			pr3005	1	Lst rotating shaft: A axle
pr3006	3	2nd rotating shaft: C axle
			pr3007	2	Lst rotating shaft is universal: left in rule
pr3008	2	2nd rotating shaft is universal: left in rule
			Pr3009	250000	Lst rotating shaft angle starting point: 250 degree
pr3010	15000	Lst rotating shaft angle terminal: 15 degree
			Pr3011	0	2nd rotating shaft angle starting point: 0 degree
pr3012	0	2nd rotating shaft angle terminal: 0 degree
			pr3013	0	Tool rest length
pr3031	0	From A axle toward C axle in the universal side-play amount of X
			Pr3032	Actual amount measured value Yca	From A axle toward C axle in the universal side-play amount of Y
pr3033	Actual amount measured value Zca	From A axle toward C axle in the universal side-play amount of z
			Pr3034	Actual amount measured value XO	A axle axle X-axis aligning mechanical coordinate
pr3035	Actual amount measured value YO	A axle axle Y-axis aligning mechanical coordinate
			pr3036	Actual amount measured value	The z shaft mechanical coordinate in A axle axle center

In table, the unit of Pr3009～3012, Pr3032～Pr3036 is BLU;

Step 2, C axle shaft core position measure

First dial holder is located on machine tool chief axis, amesdial probe is down in centre bore, traveling probe makes the far-end of its touching workbench inner side, and moves left and right after the distal-most end in X-axis confirmation Y-direction fixing X-axis; Then mobile Y-axis makes zero amesdial probe counting, and recording now Y-axis coordinate figure is Y1;

Then, by A axle rotation, to-90 ° of positions, mobile amesdial probe touching work top makes zero amesdial probe counting, and to record now Y-axis coordinate figure be Y2;

Then, mobile amesdial probe makes its touching workbench centre bore lower edge, and amesdial counting is made zero, and to record now Z axis coordinate figure be Z2;

Then, A axle is rotated to 0 ° of position, mobile amesdial probe touching work top, makes zero amesdial counting, and records now Z axis coordinate figure Z1;

Finally calculate and obtain each parameter value by the following method:

A, suppose the negative Y-direction of C axle at A axle, and obtain the input value of Pr3032 and Pr3033 by formula (1) and (2):

$\mathrm{Yca}=\frac{|Y1-Y2|-|Z1-Z2|}{2}---\left(1\right)$

$\mathrm{Zca}=\frac{|Y1-Y2|+|Z1-Z2|}{2}-R---\left(2\right)$

Wherein, R is the radius of workbench centre bore; In the time that Yca is positive number, Zca is the value of Pr3033, and the value of Pr3032 is-Yca; In the time that Yca is negative,, Zca is the value of Pr3033, and the value of Pr3032 is Yca;

Step 3, A axle shaft core position measure

First, amesdial is fixed on to main shaft nose and guarantees that amesdial can rotate with main shaft, then mobile Z axis makes amesdial probe in touching the height of workbench centre bore inner edge, follows mobile X-axis and Y-axis and makes amesdial probe touch workbench centre bore inner edge;

Then, slowly rotating spindle, and progressively adjust X-axis and Y-axis, until the no longer variation of amesdial counting, the now center of spindle alignment workbench centre bore, and record the now coordinate figure of X-axis and Y-axis and be respectively XO and Y0; And XO is inputted to Pr3034, and Y0-Pr3032 is as the input value of Pr3035;

Then, A axle is rotated to 0 °, and on workbench placing height setting apparatus, and lower Z axis and make main shaft nose touching height setting device, and counting is made zero, recording now Z axis coordinate figure is Z0; And input value using Z0-(height setting device height)-Pr3033 as Pr3036;

Step 4, RTCP functional test

First, introduce 2 Rbit, be respectively R518 and R519, in the time of mobile linear axis, setting value and the implication of R518 during with the different situation of R519 is defined as follows table:

Then, measure cutter protruded length, and as the long compensation of cutter; After all setting parameters complete, R519 is set as to 1, now manual operation rotating shaft revolution is point of a knife point control, and assigns G43.4H instruction in MDI pattern, carries out processing and processes;

Finally, be switched to handwheel pattern, mobile linear axes makes cutter point of a knife move to the position of convenient identification, then rotates rotating shaft, and now the relative position between cutter point of a knife point and workbench immobilizes.

Technique scheme is improved, before step 2, needed rotating shaft to position, eliminate error.

Further improve, before step 2, A axle levelness is tested by the following method: initial point is got back in the rotation of A axle, and amesdial is fixed on main shaft, and decline Z axis makes amesdial probe touch workbench; Then fix X-axis, mobile Y-axis is also observed amesdial pointer, if the unchanged workbench level that represents of pointer, if pointer changes, is adjusted A axle to not changing to pointer, and recorded the angle value of now A axial adjustment.

Beneficial effect: compared with prior art, the present invention has the following advantages: realize RTCP function by dual rotary workbench five-axis machine tool being carried out to the long error compensation of cutter, in control system with RTCP option, coordinate transform is calculated by controller, procedure can remain unchanged, for with a collection of part, can be because clamping position changes chop and change program, only need to be by the write parameters of corresponding coordinate position.Also brought following some benefit: 1: processing work diversity simultaneously.2: working (machining) efficiency improves .3: machining accuracy is high.4: improve cutter rigidity.

Brief description of the drawings

Fig. 1 is the walking path schematic diagram of cutter point of a knife while not opening RTCP function of the present invention;

The walking path schematic diagram of cutter point of a knife when Fig. 2 is unlatching RTCP function of the present invention;

When Fig. 3 is calculating C axle shaft core position of the present invention, each parameters relationship schematic diagram when Yca value is positive number;

When Fig. 4 is technology C axle shaft core position of the present invention, each parameters relationship schematic diagram when Yca value is negative;

Fig. 5 is five axis coordinate system schematic diagrames of five-axis machine tool of the present invention.

Detailed description of the invention

Below in conjunction with the drawings and specific embodiments, further illustrate the present invention, should understand these embodiment is only not used in and limits the scope of the invention for the present invention is described, after having read the present invention, those skilled in the art all fall within the application's claims limited range to the amendment of the various equivalent form of values of the present invention.

The cutter point of a knife control method of dual rotary workbench five-axis machine tool of the present invention,

Specific implementation method is divided following step:

1. board brief introduction

Five axle board types: dual rotary workbench lathe; Rotating shaft is the A axle around X-axis rotation: stroke (110～～15 degree); C axle around Z axis rotation: 360 degree.Five axles digital control system title used: five-axis machine tool-AC axle is set; Version is SKYCNC2014; By MDI(manual data input) pattern, and by the brief instruction of input, start and carry out related command.

2. preparation

2.1 axle location

Rotation adds the error relevant with rotating shaft in man-hour, and reason, except desaxe, may be also not good causing of rotating shaft location, so if can first carry out rotating shaft location,, in the time that error occurs, just can first possible source of error scope be dwindled.The location error compensation mode of rotating shaft, the same with the pitch compensation of linear axis, as long as the error of each position is inserted to compensation meter (Pr8001～10000).Being rotated axle location needs to use precision instrument, and common mechanical factory does not nearly all have this kind equipment, so rotating shaft accurate positioning is a great problem of five-axis machine tool.If there is no measurement equipment in factory, this step can only directly skip over, and has error to occur if follow-up, is just assumed to be desaxe and causes, and adjust with this.

The inspection of A axle levelness

Checking procedure:

1.A axle completes back initial point

2. amesdial is fixed on main shaft

3. decline Z axis can be encountered workbench by amesdial probe

4. fixing X-axis, mobile Y-axis, sees that pointer has unchanged

If 5. pointer is unchanged, represent workbench level

If 6. pointer changes, adjust A axle according to incline direction, until pointer no longer changes, and the angle value adjusted of record

7. by the origin offset (Pr88X) of the angle value input A axle of adjusting, if be that past positive direction is adjusted 0.1 degree, input+100, if toward negative direction adjustment, inputs-100.

The unit of points for attention: Pr88X is BLU, and not degree of being should be noted the figure place of setting value, if side-play amount 1 degree, setting value is 1000.

3. five axle machine system basic parameters are set

3.1 system basic parameters are set

Parameter number	Setting value	Note
			pr3001	2	Five axis mechanism types: dual rotary workbench
Pr3002	3	Cutter is universal: z axle
			Pr3003	0	Cutter angle of inclination
pr3004	0	Cutter angle of inclination
			Pr3005	1	Lst rotating shaft: A axle
pr3006	3	2nd rotating shaft: C axle
			Pr3007	2	Lst rotating shaft is universal: left in rule
Pr3008	2	2nd rotating shaft is universal: left in rule
			Pr3009	250000	* lst rotating shaft angle starting point: 250 degree
pr3010	15000	* lst rotating shaft angle terminal: 15 degree
			Pr3011	0	* 2nd rotating shaft angle starting point: 0 degree
pr3012	0	* 2nd rotating shaft angle terminal: 0 degree
			Pr3013	0	* tool rest length

Points for attention: the unit of Pr3009～3012 is BLU, not degree of being, should be noted and the figure place of setting value if angle is 15 degree, be set as 15000.Angle initialization scope is 0～360 degree, can not input negative value.When rotating shaft can three-sixth turn, starting point, terminal can all be set as 0.Before note, there is " * " to represent that this pre-set parameter can change with board is different.

3.2C axle shaft core position measures

Parameter number	Setting value	Note
			Pr3031	0	From A axle toward C axle in the universal side-play amount of X
Pr3032	Need actual measurement	From A axle toward C axle in the universal side-play amount of Y
			pr3033	Need actual measurement	From A axle toward C axle in the universal side-play amount of z

Measurement step: first dial holder is located on main shaft, then following operation:

1. probe is dropped in centre bore, traveling probe removes to touch that end away from from user, then

2. move left and right X-axis, find out in Y-direction farthest that

3. move Y-axis and allow probe counting make zero, record now Y-axis mechanical block and be designated as Y1.(find in Y-direction after farthest that, subsequent step is not mobile X-axis all).

4. A axle is forwarded to-90 degree, note not bumping against amesdial.

5. traveling probe removes to touch work top, allows counting make zero, and recording now Y-axis mechanical block table is Y2.

6. traveling probe removes to touch centre bore lower edge, and allows counting make zero, and records now Z axis mechanical block and is designated as Z2

7. A axle is gone back to 0 degree, note not bumping against amesdial

8. traveling probe removes to touch work top, and allows counting make zero, and records now Z axis machinery coordinate Z1.

9. please refer to figure below, suppose the negative Y-direction of C axle at A axle, when we are from board left side, while namely looking toward positive X-direction, the relation of Y1, Y2, Z1, Z2 can arrange as figure below, and R is the radius (25mm) of centre bore, according to these relations, can obtain formula as follows:

∣Y1－Y2∣＝P

∣Z1－Z2∣＝Q

Yca＝（Q－P）/2

Zca＝（P＋Q）/2－R

10.Yca should be on the occasion of, Zca can directly input Pr3033, Yca needs to add negative sign, then inputs Pr3032.

If 11. Yca are negative, representative hypothesis mistake, please skip to next step.

12. if the Yca Chu Now negative value of steps 9., representative hypothesis mistake, that is to say, C axle is actually the positive Y-direction at A axle, and at this time relation circle just becomes lower circle, and formula becomes:

∣Y1－Y2∣＝P

∣Z1－Z2∣＝Q

Yca＝（P－Q）/2

Zca＝（P＋Q）/2－R

13.Zca can directly input Pr3033, and Yca can directly input Pr3032.

Wherein, Pr3032,3033 unit are BLU, are not mm, should be noted the figure place of setting value, if Yca is 10, are set as 10000.

3.3A shaft position measures

Parameter number	If value	Note
			Pr3034	Need actual measurement	A axle axle X-axis aligning mechanical coordinate
Pr3035	Need actual measurement	A axle axle Y-axis aligning mechanical coordinate

Measurement step

1. amesdial is contained in to main shaft nose, amesdial can be rotated along with main shaft, mobile Z axis,

2. probe arrives the height that can measure centre bore inner edge, and then mobile X, Y-axis allow probe encounter centre bore inner edge,

3. with the slow rotating spindle of hand, progressively adjust X, Y-axis, until that amesdial allows is several constant, the now center of spindle alignment centre bore, mechanical block scale value is X0, Y0

4. X0 is inputted to Pr3034

In 5.Y direction, the departure of A axle, C axle must be taken into account, therefore Y0 must cut after Pr3032, just can input Pr3035.Suppose that Y0 equals 150, and Pr3032 is 20, Pr3035 is set as 149980

Wherein, Pr3034,3035 unit are BLU, are not mm, should be noted the figure place of setting value, if coordinate values is 10, are set as 10000.

Parameter number	Setting value	Note
			Pr3036	Need actual measurement	The z shaft mechanical coordinate in A axle axle center

Measurement step:

1.A axle goes to 0 degree, does not fill cutter on main shaft

2. height setting device is placed on workbench

3. decline Z axis, removes to touch height setting device by the minimum point of main shaft nose, and makes to allow number make zero, and records now Z axis machinery coordinate Z0

4.Pr3036 equals Z0-(height setting device height)-(Pr3033).The unit of Pr3036 is BLU, is not mm, should be noted the figure place of setting value, if coordinate values is 10, is set as 10000.

4.RTCP functional test

4.1RTCP manual function arranges

In Ladder archives, add two R bit of R518 and R519.

R518 setting value: 0,1,2(is while moving linear axis, corresponding mechanical coordinate, formula coordinate, cutter coordinate respectively); R519 setting value: 0,1(RTCP function is closed and opened 0: close 1: open)

4.2 cuttves are long to be measured

It is long that the cutter length that five s functions use is compensated for as positive cutter, namely actual cutter protruded length, measurement mode is for first going to touch a reference point with main shaft nose, record mechanical coordinate, then install cutter, go to touch with reference point with point of a knife, record second mechanical coordinate, two coordinate values are subtracted each other, and then taking absolute value is exactly that positive cutter is long, calculate after cutter is grown numerical value is inserted to the long compensation meter of cutter.

The test of 4.3RTCP manual function

Testing procedure: please determine that setting parameter completes

R519 is set as to 1, and now manual operation rotating shaft, can transfer point of a knife point control to; MDI pattern assign G43.4H_(H argument corresponding be cutter number); MDI carries out processing; Be switched to handwheel motion of defect modes linear axes, point of a knife moved on to the place of convenient identification, Z direction is from the general 50mm of workbench, and XY direction is from the about 100mm in workbench center; Rotate rotating shaft, now point of a knife point can immobilize with the relative position of workbench.

4.4 use as follows in formula:

Program processing instruction format: G43.4H_;

G49;

G43.4: open RTCP function

G49: cancel RTCP function

H: cutter number

Use restriction: 1.G41G42 cutter radius compensation function can not be used together

2.G43G44 tool length compensate function can not use together

3. cutter is long sets that to be required to be positive cutter long

4. use before G53G28G29G30, assign G49 and cancel RTCP pattern, avoid board to occur abnormal action.Specifically introduce detailed step by use case below:

Following two sections of programmings can illustrate that RTCP has or not while unlatching, the difference of board action, and first paragraph instruction does not add G43.4 instruction, and second segment is opened RTCP function in the first row.

Do not open the formula of RTCP:

G00X0Z0B0C0

G01X50.Y0Z0B-45.C0

Fig. 1 when not opening RTCP, the mode of board action.Open the formula of RTCP:

G43.4H1

G00X0Y0Z0B0C0

G01X50.Y0Z0B-45.C0

Fig. 2 opens after RTCP, the mode of the action of board.

Claims (3)

1. a dual rotary workbench five-axis machine tool rotary cutter point of a knife control method, described five-axis machine tool processing stand location coordinate comprises 3 linear axes and 2 rotating shafts, wherein 3 linear axes form three-dimensional system of coordinate, rotating shaft rotates and is set as A axle around X-axis in three-dimensional system of coordinate, another rotating shaft rotates and is set as C axle around the Y-axis in three-dimensional system of coordinate, it is characterized in that comprising the following steps:

Step 1, basic parameter are set, and according to the form below defines and sets value each parameter:

Parameter number Setting value Meaning of parameters Pr3001 2 Five axis mechanism types: dual rotary workbench pr3002 3 Cutter is universal: z axle Pr3003 0 Cutter angle of inclination pe3004 0 Cutter angle of inclination pr3005 1 Lst rotating shaft: A axle pr3006 3 2nd rotating shaft: C axle pr3007 2 Lst rotating shaft is universal: left hand rule pr3008 2 2nd rotating shaft is universal: left hand rule pr3009 250000 Lst rotating shaft angle starting point: 250 degree pr3010 15000 Lst rotating shaft angle terminal: 15 degree pr3011 0 2nd rotating shaft angle starting point: 0 degree pr3012 0 2nd rotating shaft angle terminal: 0 degree Pr3013 0 Tool rest length pr3031 0 From A axle toward C axle in the universal side-play amount of X pr3032 Actual amount measured value Yca From A axle toward C axle in the universal side-play amount of Y pr3033 Actual amount measured value Zca From A axle toward C axle in the universal side-play amount of z pr3034 Actual amount measured value XO A axle axle X-axis aligning mechanical coordinate Pr3035 Actual amount measured value YO A axle axle Y-axis aligning mechanical coordinate pr3036 Actual amount measured value The z shaft mechanical coordinate in A axle axle center

In table, the unit of Pr3009～3012, Pr3032～Pr3036 is BLU;

Step 2, C axle shaft core position measure

First dial holder is located on machine tool chief axis, amesdial probe is down in centre bore, traveling probe makes the far-end of its touching workbench inner side, and moves left and right after the distal-most end in X-axis confirmation Y-direction fixing X-axis; Then mobile Y-axis makes zero amesdial probe counting, and recording now Y-axis coordinate figure is Y1;

Then, by A axle rotation, to-90 ° of positions, mobile amesdial probe touching work top makes zero amesdial probe counting, and to record now Y-axis coordinate figure be Y2;

Then, mobile amesdial probe makes its touching workbench centre bore lower edge, and amesdial counting is made zero, and to record now Z axis coordinate figure be Z2;

Then, A axle is rotated to 0 ° of position, mobile amesdial probe touching work top, makes zero amesdial counting, and records now Z axis coordinate figure Z1;

Finally calculate and obtain each parameter value by the following method:

A, suppose the negative Y-direction of C axle at A axle, and obtain the input value of Pr3032 and Pr3033 by formula (1) and (2):

$\mathrm{Yca}=\frac{|Y1-Y2|-|Z1-Z2|}{2}---\left(1\right)$

$\mathrm{Zca}=\frac{|Y1-Y2|+|Z1-Z2|}{2}-R---\left(2\right)$

Wherein, R is the radius of workbench centre bore; In the time that Yca is positive number, Zca is the value of Pr3033, and the value of Pr3032 is-Yca; In the time that Yca is negative,, Zca is the value of Pr3033, and the value of Pr3032 is Yca;

Step 3, A axle shaft core position measure

First, amesdial is fixed on to main shaft nose and guarantees that amesdial can rotate with main shaft, then mobile Z axis makes amesdial probe in touching the height of workbench centre bore inner edge, follows mobile X-axis and Y-axis and makes amesdial probe touch workbench centre bore inner edge;

Then, slowly rotating spindle, and progressively adjust X-axis and Y-axis, until the no longer variation of amesdial counting, the now center of spindle alignment workbench centre bore, and record the now coordinate figure of X-axis and Y-axis and be respectively XO and Y0; And XO is inputted to Pr3034, and Y0-Pr3032 is as the input value of Pr3035;

Then, A axle is rotated to 0 °, and on workbench placing height setting apparatus, and lower Z axis and make main shaft nose touching height setting device, and counting is made zero, recording now Z axis coordinate figure is Z0; And input value using Z0-(height setting device height)-Pr3033 as Pr3036;

Step 4, RTCP functional test

First, introduce 2 Rbit, be respectively R518 and R519, in the time of mobile linear axis, setting value and the implication of R518 during with the different situation of R519 is defined as follows table:

Then, measure cutter protruded length, and as the long compensation of cutter; After all setting parameters complete, R519 is set as to 1, now manual operation rotating shaft revolution is point of a knife point control, and assigns G43.4H instruction in MDI pattern, carries out processing and processes;

Finally, be switched to handwheel pattern, mobile linear axes makes cutter point of a knife move to the position of convenient identification, then rotates rotating shaft, and now the relative position between cutter point of a knife point and workbench immobilizes.

2. dual rotary workbench five-axis machine tool rotary cutter point of a knife control method according to claim 1, is characterized in that: before step 2, need rotating shaft to position, eliminate error.

3. dual rotary workbench five-axis machine tool rotary cutter point of a knife control method according to claim 2, is characterized in that: before step 2, A axle levelness is tested by the following method:

Initial point is got back in the rotation of A axle, and amesdial is fixed on main shaft, and decline Z axis makes amesdial probe touch workbench; Then fix X-axis, mobile Y-axis is also observed amesdial pointer, if the unchanged workbench level that represents of pointer, if pointer changes, is adjusted A axle to not changing to pointer, and recorded the angle value of now A axial adjustment.

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