CN107390632A - Five axle drum type knife radius compensation methods are post-processed based on AB types five-axle number control machine tool - Google Patents
Five axle drum type knife radius compensation methods are post-processed based on AB types five-axle number control machine tool Download PDFInfo
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- CN107390632A CN107390632A CN201710495651.6A CN201710495651A CN107390632A CN 107390632 A CN107390632 A CN 107390632A CN 201710495651 A CN201710495651 A CN 201710495651A CN 107390632 A CN107390632 A CN 107390632A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37256—Wear, tool wear
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
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Abstract
Five axle drum type knife radius compensation methods are post-processed based on AB types five-axle number control machine tool the invention discloses one kind, comprised the following steps：The general principle of the complex-curved radius compensation of axle Flank machining of drum type knife five is studied, derives cutter location Vector operation equation after five axle drum type knife radius compensation directions and compensation；The relation equation established between each reference axis of preposition cutting location data and AB type five-axle number control machine tool；Using cutter location Vector operation equation after five axle drum type knife radius compensations, the relation equation between cutting location data and each reference axis of AB type five-axle number control machine tools after five axle drum type knife radius compensations is derived；For AB types five-axle number control machine tool a set of the poster processing soft with five axle drum type knife radius compensation functions is developed using C Plus Plus；The nc program containing drum type knife radius compensation macro-variable is generated using the poster processing soft, the value of its macro-variable is directly changed according to actual drum type knife radius size to realize five axle drum type knife radius compensations.
Description
Technical field
The present invention relates to a kind of five-axle number control machine tool Cutter Radius Compensation Method, more particularly to one kind to be based on the number of axle of AB types five
Control lathe and post-process five axle drum type knife radius compensation methods, belong to digital control processing field.
Background technology
Cutter radius compensation technology has carried out numerous studies during domestic and foreign scholars are processed to five-shaft numerical control, at present one
Certain applications have been carried out in a little external commercial digital control systems.Tool radius when generally speaking, primarily directed to five shaft end Milling Machinings
Compensation is studied, and existing five axles function of tool radius compensation, which is realized, mainly three kinds of approach：
Prior art one, digital control system have five axle function of tool radius compensation in itself, and support band cutter radius compensation
Vector block format, now numerical control program need provide cutter radius compensation vector.
Prior art two, cutter radius compensation is carried out in post processor, generate the numerical control journey after cutter radius compensation
Sequence, at this moment digital control system special block format need not be provided.
Prior art three, the macro-variable and mathematical operation function that combining with digital control system provides, develops special post processing journey
Sequence, and the numerical control program containing tool radius macro-variable is generated, directly by changing the numerical value of macro-variable in numerical control program come real
The compensation of existing five axle tool radius, referring specifically to document【Xu Rufeng, Chen Zhi are based on the axle cutter radius compensation of postpositive disposal five with
Method [J] mechanical engineering journal .2014,50 (13):157-164】And patent【One kind is based on the axle tool radius of postpositive disposal five
Compensation method, application number：CN201310440414.1】.
Above-mentioned prior art at least has the following disadvantages：
Prior art one is, it is necessary to which digital control system possesses five axle function of tool radius compensation, for not possessing five axle radiuses benefit
For the digital control system repaid, then need to buy corresponding software kit to digital control system progress upgrading, lathe will be significantly increased
Use cost, so as to improve the processing charges of part.It is also desirable to CAM softwares can be generated with compensation vector
Cutter location data file, then utilize nc program of the special the poster processing soft generation with cutter radius compensation vector.
Prior art two, when being post-processed to cutter location data file, it is contemplated that cutter radius compensation value, and be output to
In nc program.But enter when tool radius changes, it is necessary to be post-processed again to original cutter location data file
And obtain nc program after new radius compensation.This process is very cumbersome, and the reusability of nc program compared with
Difference, the workload of technologist, and the total elapsed time of part will be significantly increased, so as to lift the manufacturing cost of part.
Prior art three, mainly in five shaft end Milling Machinings, it is only applicable to the end mills such as ball head knife, flat-bottomed cutter and endless knife
Knife, and it is complex-curved for five axle Flank machinings, especially the axle Flank machining of drum type knife five, and its general principle compensated is different, because
This its special post processing program is difficult to be applied to five axle drum type knife Flank machinings.
The content of the invention
Online five axle is difficult to realize after cutter wears during to overcome the existing axle Flank machining of drum type knife five complex-curved
The problem of radius compensation, the present invention provide a kind of based on five axle drum type knife radius compensation sides of AB types five-axle number control machine tool post processing
Method.
To achieve these goals, the technical solution adopted by the present invention is such：One kind is based on AB type five shafts numerical controlled machines
Bed five axle drum type knife radius compensation methods of post processing, comprise the following steps：
A, the general principle of the complex-curved radius compensation of axle Flank machining of drum type knife five is studied, derives five axle drum type knives half
Cutter location Vector operation equation after footpath compensation direction and compensation；
B, the relation equation established between each reference axis of preposition cutting location data and AB type five-axle number control machine tool；
C, using cutter location Vector operation equation after five axle drum type knife radius compensations, after establishing five axle drum type knife radius compensations
Relation equation between cutting location data and each reference axis of AB type five-axle number control machine tools；
D, being developed for AB types five-axle number control machine tool using C Plus Plus a set of has five axle drum type knife radius compensation functions
The poster processing soft；
E, the nc program containing drum type knife radius compensation macro-variable is generated using step D the poster processing soft.This
The beneficial effect of invention is that this method can conveniently realize the cutter for not possessing five axle drum type knife radius compensation functional digital control systems
Radius compensation, avoid tool radius size from must return to CAM system after changing and recalculate knife rail and post-processed again
Complicated processes, so as to shorten part total elapsed time and improve nc program reusability, there is stronger reality
Application value.
Brief description of the drawings
Fig. 1 is to post-process five axle drum type knife radius compensation method flow diagrams based on AB types five-axle number control machine tool；
Fig. 2 is five axle drum type knife radius compensation principle schematics；
Fig. 3 is double turntable AB type five-axle number control machine tool kinematic chains；
Fig. 4 is the coordinate system of double turntable AB type five-axle number control machine tools；
Fig. 5 is the nc program containing five axle drum type knife radius compensation macro-variables.
Embodiment
One kind of the present invention is based on AB types five-axle number control machine tool and post-processes five axle drum type knife radius compensation methods, its basic flow
Journey as shown in figure 1, its preferable embodiment is, including：
Step A, the general principle of the complex-curved radius compensation of axle Flank machining of drum type knife five is studied, derives five axle drum types
Cutter location Vector operation equation behind knife radius compensation direction and compensation.The step A is specially：
As shown in Fig. 2 S is design curved surface, P is the cutter-contact point on curved surface, and drum type cutter is tangent with curved surface S at point P；
Assuming that radially maximum revolution radius of circle is R to drum type knife, drum type arc generatrix radius of circle is r, and drum type bus lip height is h, O
For cutter heart point, OposFor cutter location, O1For the center of circle of drum type arc generatrix, and positioned at drum type knife radially maximum turning circle diametrically,
OOpos=h/2；I is the generating tool axis vector of cutter spacing at cutter-contact point P, and n is the law vector of curved surface at cutter-contact point P, and m is perpendicular to cutter shaft
The vector O in direction1O, the vector of the above three is unit vector.
Assuming that drum type tool radius changes, i.e., maximum revolution radius of circle from R be changed into R', drum type arc generatrix radius by
When r is changed into r', to keep drum type cutter still to be cut at cutter-contact point P with curved surface S-phase, then cutter heart point O must be along at cutter-contact point P
Law vector n and vector m perpendicular to cutter axis orientation are translated.Therefore, drum type cutter radius compensation direction vector is by vector m
Determined with n, the compensation rate of both direction is respectively Δ R=R '-R and Δ r=r '-r.Then, in workpiece coordinate system OWXWYWZW
The position vector of cutter heart point O' after middle compensation is
rO′=rO+(Δr-ΔR)·m+Δr·n (1)
In formula, vector n and m are unknown quantitys, and its specific method for solving is presented below.
As shown in Fig. 2 utilization space vector cross product property, then have
In formula,And vector n is then
So far, two vectors in drum type knife radius compensation direction have been solved, and cutter location is actually by cutter heart point
Obtained along generating tool axis vector reserve migration h/2, i.e.,Simultaneous formula (1) can obtain drum type knife again
Cutter location O after radius compensationposPosition vector
Formula (4) is the general type of cutter location vector equation after drum type cutter compensation, and this is to realize five axle drum type cutters half
The post processor exploitation of footpath compensation provides theoretical foundation.
Step B, the relation equation established between each reference axis of preposition cutting location data and AB type five-axle number control machine tool.The step
Suddenly B is specially：
It is different according to machine tool rotary axle position, AB types five-axle number control machine tool can be divided into again Double swing head, double turntables and
Yaw turntable three basic forms of it, hereafter it will illustrate drum type mainly using double turntable AB types five-axle number control machine tools as research object
Relation between the preposition cutting location data of knife and each reference axis of double turntable AB type five-axle number control machine tools.
Fig. 3 show the kinematic chain of double turntable AB type five-axle number control machine tools.To describe above-mentioned double turntable AB type five-axis machine tools
Motion, establish the coordinate system shown in Fig. 4, wherein OmXmYmZmFor lathe coordinate system, its origin of coordinates OmPositioned at B axle turntable table
Face center；Om1Xm1Ym1Zm1For the coordinate system being connected with A axles, inceptive direction is consistent with lathe coordinate system, its origin Om1In lathe
Position vector in coordinate systemFor [xm1,ym1, zm1]；OwXwYwZwFor the workpiece coordinate system being connected with workpiece, it is initial each
Change in coordinate axis direction is consistent with lathe coordinate system, its origin OwThe position vector in lathe coordinate systemFor [x0,y0,z0], it is preposition
Cutting location data is provided under the coordinate system；OtXtYtZtFor the tool coordinate system being connected with cutter, its origin is located at cutter location
On, its initial each change in coordinate axis direction is consistent with lathe coordinate system.
In lathe original state, it is assumed that tool coordinate system OtXtYtZtOrigin OtWith lathe coordinate system OmXmYmZmOrigin
OmOverlap, workpiece coordinate system OwXwYwZwOrigin OwPosition vector in lathe coordinate systemFor [x0,y0,z0].In knife
Has coordinate system OtXtYtZtIn, the position vector and generating tool axis vector of cutter location are respectively (0,0,0)T(0,0,1)T.Assuming that lathe
Translation shaft is r relative to original state translation vectors(X, Y, Z), gyroaxis are respectively A and B (its relative to original state corner
Positive direction is as shown in Figure 4), now in workpiece coordinate system OwXwYwZwMiddle cutter location and generating tool axis vector be respectively (x, y, z) and (i,
j,k).Homogeneous coordinate transformation is carried out by machine tool motion chain, can be obtained：
(i,j,k,0)T=R (B) R (A) (0,0,1,0)T (5)
In formula, T and R are respectively to translate the homogeneous transform matrix with gyration：
It can be obtained by formula (5)：
Assuming that the scope A ∈ (- 90 °, 90 °) of A axle rotary tables, the scope B ∈ of B axle rotary table [- 45 °,
45 °], then it can be obtained by formula (7)
The calculation formula of each translation shaft of five-axle number control machine tool can be obtained by formula (6)：
Step C, using cutter location Vector operation equation after five axle drum type knife radius compensations, five axle drum type knife radiuses benefit is established
Repay the relation equation between each reference axis of rear cutting location data and AB type five-axle number control machine tool.The step C is specially：
Cutter location computing formula after (1) five axle drum type knife radius compensation
Generating tool axis vector is not influenceed from five axle drum type knife radius compensation principle in step A, during five axle cutter radius compensations,
Only influence cutter location position vector, therefore in post processor machine tool rotary angle be to maintain before and after cutter radius compensation it is constant
's.And drum type knife radius size can only move cutter location, so as to realize five axle knives when changing by compensation direction vector
The radius compensation of tool.Need to include drum type knife radius varitation for cutter location computing knife formula after drum type knife radius compensation.
If cutter location O is provided in cutter location data fileposCutter-contact point P (the x of (x, y, z), cutter and curve surface of workpieceP,yP,
zP), radially maximum revolution radius of circle is R to drum type knife, and drum type arc generatrix radius is r, and cutter spacing after the change of tool radius size
Point is O'pos(x', y', z'), radially maximum revolution radius of circle is R' to drum type knife, and drum type arc generatrix radius is r', and R', r'
For known variables.Cutter location O' after five axle drum type knife radius compensations can be derived by formula (4)posCalculation formula：
In formula,
The coordinate value of each translation shaft of lathe after (2) five axle drum type knife cutter location radius compensations
Tool radius variable quantity is variable after being changed according to drum type knife size, can solve five axle drum type knife cutter spacing respectively
The coordinate value of each translation shaft of lathe after point radius compensation.Cutter location (x', y', z') after being compensated in formula (10) is substituted into formula (9),
The coordinate value of each translation shaft of lathe can then be obtained：
Step D, being developed for AB types five-axle number control machine tool using C Plus Plus a set of has five axle drum type knife radius compensations
The poster processing soft of function.The step D is specially：
(1) a line cutting location data is read in from cutter location data file, the data are handled, obtains cutter location position arrow
Amount, generating tool axis vector and cutter-contact point position vector；
(2) lathe gyroaxis A and B can be calculated using formula (7) according to the generating tool axis vector obtained；
(3) according to obtained cutter location position vector, generating tool axis vector and cutter-contact point position vector, can be obtained using formula (10)
The seat of each translation shaft of lathe when radially maximum revolution radius of circle and drum type arc generatrix radius of circle variable quantity are variable to drum type knife
Scale value X, Y and Z；
(4) repeat the above steps, until all cutting location datas are converted to each reference axis data X, Y, Z, A and B of lathe.
Step E, the numerically controlled machining programme containing drum type knife radius compensation macro-variable is generated using step D the poster processing soft
Sequence.The step E is specially：
In the nc program that step D the poster processing softs generate containing five axle drum type knife radius compensation macro-variables,
The compensation function of the i.e. achievable five axle drum type knife radiuses of value of its macro-variable is directly changed according to actual drum type knife radius size, such as
Shown in Fig. 5.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can readily occur in,
Such as Double swing head, the axle drum type knife radius compensation method of yaw turntable class AB types five-axle number control machine tool five, should all cover in the present invention
Protection domain within.
Claims (6)
1. one kind post-processes five axle drum type knife radius compensation methods based on AB types five-axle number control machine tool, it is characterised in that including such as
Lower step：
A, the general principle of the complex-curved radius compensation of axle Flank machining of drum type knife five is studied, derives that five axle drum type knife radiuses are mended
Cutter location Vector operation equation after repaying direction and compensating；
B, the relation equation established between each reference axis of preposition cutting location data and AB type five-axle number control machine tool；
C, using cutter location Vector operation equation after five axle drum type knife radius compensations, cutter spacing after five axle drum type knife radius compensations is established
Relation equation between data and each reference axis of AB type five-axle number control machine tools；
D, for AB types five-axle number control machine tool using C Plus Plus develop it is a set of there are five axle drum type knife radius compensation functions after
Handle software；
E, the nc program containing drum type knife radius compensation macro-variable is generated using step D the poster processing soft.
It is 2. according to claim 1 a kind of based on five axle drum type knife radius compensation sides of AB types five-axle number control machine tool post processing
Method, it is characterised in that the step A is specially：
(1) cutter heart point O' position vector is after five axle drum type knife radius compensations in workpiece coordinate system
rO′=rO+(Δr-ΔR)·m+Δr·n (1)
In formula, Δ R and Δ r represent the compensation rate of m and n compensation directions respectively, and Δ R=R '-R and Δ r=r '-r, R and R ' are respectively
Radius of circle is turned round to be radially maximum before and after drum type knife change in size, r and r ' are respectively drum type circular arc before and after drum type knife change in size
Generatrix radius, O are cutter heart point；
(2) five axle drum type knife radius compensation direction vectors are
In formula,OposFor cutter location, i is generating tool axis vector at cutter-contact point P；
In formula, h is drum type knife lip height；
Cutter location O after (3) five axle drum type knife radius compensationsposPosition vector
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It is 3. according to claim 1 a kind of based on five axle drum type knife radius compensation sides of AB types five-axle number control machine tool post processing
Method, it is characterised in that in the step B, according to AB type five-axle number control machine tools concrete structure, machine tool motion chain and each coordinate of lathe
Relation between system, the relation equation established between each reference axis of preposition cutting location data and AB type five-axle number control machine tool：
(i,j,k,0)T=R (B) R (A) (0,0,1,0)T (5)
In formula, T and R are respectively the homogeneous transform matrix of translational and rotational movement：
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The calculation formula of machine tool rotary axle can be obtained by formula (5)：
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It is 4. according to claim 1 a kind of based on five axle drum type knife radius compensation sides of AB types five-axle number control machine tool post processing
Method, it is characterised in that the step C is specially：
(1) cutter location O' after five axle drum type knife radius compensations is derived by formula (4)posCalculation formula：
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In formula, (x, y, z) and (i, j, k) is cutter location OposCutting location data, (xP,yP,zP) it is drum type knife and curve surface of workpiece
Cutter-contact point P position vector, (x', y', z') are cutter location O' after drum type knife radius size changesposPosition vector,
The coordinate value of each translation shaft of lathe after (2) five axle drum type knife cutter location radius compensations
When drum type knife radial direction radius and drum type arc generatrix radius of circle variable quantity are variable, after radius compensation in formula (9)
Cutter location (x', y', z') substitutes into formula (8), then can obtain the coordinate value of each translation shaft of lathe after cutter location radius compensation：
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It is 5. according to claim 1 a kind of based on five axle drum type knife radius compensation sides of AB types five-axle number control machine tool post processing
Method, it is characterised in that the step D is specially：
(1) a line cutting location data is read in from cutter location data file, the data are handled, acquisition cutter location position vector,
Generating tool axis vector and cutter-contact point position vector；
(2) lathe gyroaxis A and B can be calculated using formula (7) according to the generating tool axis vector obtained；
(3) according to obtained cutter location position vector, generating tool axis vector and cutter-contact point position vector, can be roused using formula (10)
Coordinate value X, Y and Z of each translation shaft of lathe when type knife radial direction radius and drum type arc generatrix radius of circle variable quantity are variable；
(4) repeat the above steps, until all cutting location datas are converted to the machine coordinates number of axle according to X, Y, Z, A and B.
It is 6. according to claim 1 a kind of based on five axle drum type knife radius compensation sides of AB types five-axle number control machine tool post processing
Method, it is characterised in that in the step E, in the nc program containing five axle drum type knife radius compensation macro-variables, according to
Actual drum type knife radius size directly changes the value of its macro-variable to realize five axle drum type knife radius compensations.
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| CN108563186A (en) * | 2018-04-02 | 2018-09-21 | 西南交通大学 | A kind of five axis ball-end milling geometric error compensation methods |
| CN109062140A (en) * | 2018-10-17 | 2018-12-21 | 清华大学 | Instantaneous undeformed chip thickness calculation method during five axis Flank machinings of one kind |
| CN109396508A (en) * | 2018-11-02 | 2019-03-01 | 苏州千机智能技术有限公司 | Integrated impeller blade finishes three-dimensional knife compensating method |
| CN110426992A (en) * | 2019-08-08 | 2019-11-08 | 大连理工大学 | A kind of curved surface subregion contour parallel milling cutter path planing method |
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