CN108279642A - A kind of generation method of complex-curved surface machining locus - Google Patents
A kind of generation method of complex-curved surface machining locus Download PDFInfo
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Abstract
The present invention relates to a kind of generation methods of complex-curved surface machining locus, this method improves component surface performance by surface Hardening Treatment, as the effective means for improving its service life, and as the final step of parts production and processing, while not destroying structure, how to different component surface, complex-curved be processed, this method is in embodiment by taking blade of aviation engine as an example, using each coordinate system of gang tool as controling parameter, to the track of complex-curved surface processing, sequencing generation method is given.
Description
Technical field
The present invention relates to processing technology processing technique fields, are a kind of generation method of complex-curved surface machining locus.
Background technology
With the development of science and technology, performance and service life of the modern industry field to mechanical structure and parts
More stringent requirements are proposed, does not require nothing more than it with higher performance, longer service life, and require it that can fit
Answer more harsh Service Environment.It is well known that the performances such as the intensity of material, heat resistance, corrosion resistance, rub resistance abrasion are to determine
The key factor of mechanical structure and parts performance and service life.Therefore, these performances of material how to be improved increasingly
As the key subjects in advanced manufacturing technology field.
In most cases, the destruction of material is since surface.For example, surface is the important of fatigue crack initiation
Position.According to statistics, the mechanical structure to be failed due to fatigue accounts for about the 90% of failure structure.Begin in addition, corrosion and abrasion also more
In surface.The steel that the whole world produces every year becomes iron rust because of surface corrosion there are about 10%, 30% electromechanical equipment therefore and
Damage, energy loss accounts for the 1/3 of energy consumption caused by abrasion, and industrially developed country's economic loss caused by abrasion is up to hundreds of
Hundred million dollars, up to 5,000,000 tons of the steel that China is lost by abrasion.The surface property for improving material, can be largely
Reduce the generation of these losses.Therefore, reprocessing processing is carried out to surface, to being a kind of mode improving material surface performance.
However be complex-curved parts to surfaces such as blades, machining locus when finished surface lacks reliable generation method.
Invention content
In view of this, the complex-curved surface machining locus that the present invention provides a kind of solution or part solves the above problems
Generation method.
To achieve the effect that above-mentioned technical proposal, the technical scheme is that：A kind of complex-curved surface machining locus
Generation method, comprise the steps of：Each coordinate system of the method based on gang tool, complex-curved surface is processed
Track is a kind of sequencing generation method as target is generated；Tool of the method using gang tool as processing, processing
The preceding Controlling principle for establishing gang tool, the machining area of setting workpiece, the track of the complex-curved surface processing, which is equal to, to be added
Foreman track, determines machining center, processing route is planned on the central surface on curved surface, the track of machining center point is processing
The dynamic formation of route；
The motor of the gang tool includes feeding motor Z, rotary electric machine φ, synchronous motor Y, left motor L, right side electricity
Machine R；Each coordinate system is established to gang tool, the setup parameter of each coordinate system is that Z axis is workpiece direction of feed, X-axis
To be parallel to ground, it is vertical with workpiece direction of feed and with left motor L and right motor R on same straight line, Y-axis hang down
Directly in ground, perpendicular to the intersection point of X-axis, Y-axis, θ turns to turn about the Z axis, and D thickness is the both sides processing head using gang tool
Tracking obtains the thickness of workpiece, and both sides processing head is located at left motor L, and control input quantity is described more on right motor R
The speed of motor in axis lathe and the position of motor；The setup parameter of each coordinate system, the control input quantity are
Controling parameter；The speed of the motor is that its frequency is directly proportional, is equal to process velocity, and the position of the motor is it described
Relative position on gang tool；Blade on gang tool is installed, and is moved into the zero position, distance is used
Sensor judges the position of the blade to detect the installation site of the blade by a location point on the blade
Set the precision of installation；
The Controlling principle is the 3 D stereo simulation model for establishing workpiece, by workpiece in 3 D stereo simulation model
Complex-curved complete reproduction, the cutting line of processing is continuous zigzag；To the rail of the both sides processing head end of gang tool
Mark is controlled into line trace, while to each motor, and the zero-bit of setting workpiece is set in the coordinate system of gang tool each axis all
Parallel position；
The machining area of setting workpiece as sets the depth of the machining area, the processing amount of feeding, and will be described
Depth, the concrete numerical value of the amount of feeding are set in the cutting line of processing, and the depth of the machining area is equal to the processing
Depth in cutting line；When the position of the both sides processing head corresponds to, the both sides processing route of the machining area also corresponds to；
The processing head track is conceptualized as the function of the coordinate value relative time on each coordinate system, by described
Point and the process velocity on processing route are fitted to obtain by spline curve interpolation, including left side machining locus, right side
Machining locus, intermediate machining locus；Each coordinate system of the processing head track based on the gang tool, can be broken down into,
The left side machining locus is expressed as left side processing abscissa function x1(t) and right side processes ordinate function y1(t), right side adds
Work track is expressed as right side processing abscissa function x2(t) and right side processes ordinate function y2(t), intermediate machining locus indicates
For centre processing ordinate function z (t) and function # (t) is turned to, wherein left side processing abscissa function x1(t) and it is described
Right side processes ordinate function y1(t) the changing of the abscissa relative time of the left side machining locus, the left side are indicated respectively
The variation of the ordinate relative time of side machining locus, the right side processing abscissa function x2(t) and right side processing is vertical
Coordinate function y2(t) the changing of the abscissa relative time of the right side machining locus, the right side machining locus are indicated respectively
Ordinate relative time variation, the intermediate processing ordinate function z (t) indicates the intermediate machining locus in the Z
The variation of coordinate relative time on axis, the function # (t) that turns to indicate that the angle, θ of intermediate machining locus turns to the inverse time about the z axis
The variation of the angle relative time of needle rotation, t are the variable of time, wherein also meet x2(t)-x1(t)=D (t), the D are thick
The function representation of degree is D (t), meets y1(t)=y2(t), the right side processing ordinate function y1(t), the right side processing is vertical
Coordinate function y2(t) trend for using both isochronous controller control, by the processing head track come to the gang tool
It is controlled；
The pattern of complex-curved surface processing is to process layer by layer, it is described be processed as layer by layer to complex-curved surface from level to level by
It gradually processes, regard the intermediate processing ordinate function z (t) of the intermediate machining locus as the amount of feeding, both sides processing head is in x
It is moved in the plane that axis is formed with y-axis, and both sides processing head is consistent on the y axis, forms level of processing line；Workpiece
In machining area process side area in, the processing side area by the left side machining locus, the right side machining area,
The intermediate processing zone domain is included, in the left side machining locus of the left motor L, the right motor R processing
The left side processing abscissa function x1(t) and the right side processes ordinate function y1(t), institute in the right side machining locus
State right side processing abscissa function x2(t) and the right side processes ordinate function y2(t) and the angle electrical machinery processing institute
It states and turns to function # (t) constantly variation described in intermediate machining locus, the intermediate machining locus of the feeding motor Z processing
Described in intermediate processing ordinate function z (t) remain unchanged, if the intermediate processing ordinate function z (t) changes, processing
After one layer, next layer is reprocessed；Remaining region in the machining area of workpiece, the variation bigger of the processing head track；The work
The machining area of part includes the processing side area and remaining described region；
Side area is processed described in machining area for the workpiece, processing section e is set as feeding height z
(t)=zeWhen, zeIndicate the coordinate values of the processing section e in z-axis, and maintain its value it is constant when, the both sides processing head
By in the same processing plane；The processing section e is a closed curve, by leftmost curve le1, right side graph le2、
Center curve le0Composition, the both sides processing head are moved along the closed curve；
The determining machining center first seeks the center curve l of the processing section ee0, the center curve le0On
Point arrives the leftmost curve le1With the right side graph le2Distance it is all equal, center curve is sought to all processing section e,
All center curves constitute central surface, the complex-curved both sides distance of curved surface phase of the central surface to the workpiece
Deng；The value of the both sides processing head on the y axis synchronizes determination, both sides processing head adding on workpiece using the isochronous controller
Work point forms level of processing line, also, the corner of workpiece is constantly changing；Machining center point E be the level of processing line with
The tangential direction of the vertical intersection point of center curve of the processing section e, the places the machining center point E is θ steerings, is added described
Normal at work central point E is to the leftmost curve le1With the right side graph le2Total distance be named as in the processing
Thickness at heart point E is labeled as De, by the normal of the machining center point E to the leftmost curve le1Distance de1And institute
Normal at machining center point E is stated to the right side graph le2Distance le2Composition, can acquire from the machining center point E
For both sides processing head in respective processing stand position, e1 indicates that the subscript of the leftmost curve of the processing section e, e2 indicate described and add
The subscript of the right side graph of work section e；
Processing route is planned on central surface on curved surface, the processing route is similar to the cutting line of processing, is
Continuous zigzag is similar, and the point on the processing route is [x using the coordinate representation on coordinate systeme, ye, ze], wherein
xeFor coordinate of the point in x-axis on the processing route, yeFor the coordinate of point on the y axis on the processing route, zeFor institute
Coordinate of the point in z-axis on processing route is stated, the point on the processing route to the leftmost curve le1Distance be expressed as
de1(xe, ye, ze) and machining center point E at normal to the right side graph de2Distance be expressed as de2(xe, ye, ze),
The tangent directional angle of the processing route is θe(xe, ye, ze), it is combined with working motion speed, obtains the machining center point
Track f (xe(t), ye(t), zeAnd the tangential direction value θ of machining center point (t))e(t), the rail of the machining center point
Mark is the dynamic formation of processing route, with the time t, the working motion velocity correlation；
The feeding motor determines intermediate machining locus Z (t), and z (t)=ze(t), the synchronous motor Y determines right
The function y of side machining locus2(t), the function y of left side machining locus1(t), the function y of right side machining locus2(t) the two is kept
Unanimously, as y1(t)=y2(t)=ye(t)；
Wherein, xe(t) variable quantity of the coordinate relative time t for the point on processing route in x-axis；ye(t) it is processing road
The variable quantity of the coordinate relative time t of point on the y axis on line；ze(t) opposite for coordinate of the point on processing route in z-axis
The variable quantity of time t；
The left motor L, the right motor R are responsible for solving coordinate points [xe(t), ye(t), ze(t)] leftmost curve is arrived
le1Distance de1(t), coordinate points [xe(t), ye(t), ze(t)] right side graph d is arrivede2Distance de2(t), left side machining locus
Function x1(t) meet x1(t)=xe(t)-de1(t), the function x of right side machining locus2(t) meet x2(t)=xe(t)+de2(t)；
The angle electrical machinery be responsible for solving the intermediate machining locus angle, θ turn to the angle rotated counterclockwise about the z axis it is opposite when
Between variation θ (t), and meet θ (t)=- θe(t)。
The present invention useful achievement be：The present invention provides a kind of generation methods of complex-curved surface machining locus, originally
Method improves component surface performance by surface Hardening Treatment, as the effective means for improving its service life, and as zero
The final step of component production and processing, while not destroying structure, how to different component surface, complex-curved
It being processed, this method is in embodiment by taking blade of aviation engine as an example, using each coordinate system of gang tool as controling parameter,
To the track of complex-curved surface processing, sequencing generation method is given.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is the schematic diagram in present invention processing section；
Fig. 2 is the schematic diagram of zero position and left and right side curve surface definition in the present invention；
Fig. 3 is the schematic diagram of processing stand position of the present invention；
Fig. 4 is the schematic diagram present invention determine that leaf margin section endpoint.
Specific implementation mode
In order to make technical problems, technical solutions and advantages to be solved be more clearly understood, tie below
Embodiment is closed, the present invention will be described in detail.It should be noted that specific embodiment described herein is only explaining
The present invention is not intended to limit the present invention, and can be realized that the product of said function belongs to equivalent replacement and improvement, is all contained in this hair
Within bright protection domain.The specific method is as follows：
Embodiment 1：The coordinate system of lathe is established, specific setting is as follows：
The various parameters of coordinate system are as Machine-Tool Control amount：
X-direction is parallel to ground, vertical with workpiece direction of feed；
Y-direction, perpendicular to ground；
Z-direction, workpiece direction of feed；
θ is turned to, and is rotated around Z-direction；
D thickness, both sides processing head track blade thickness of workpiece；
Control input quantity：The speed of motor and position；
Lathe includes feeding motor Z, rotary electric machine φ, synchronous motor Y, left motor L, right motor R；
Control method detailed process is as follows：
First, the mathematical model of blade is established, progress cutting line is zigzag, and bilateral processing head end carries out track,
Among these, each motor of lathe is controlled.
If Fig. 1 blades of aviation engine are in zero position, which is mainly made of left side curved surface s1 and right side curved surface s2.
Processing route is as follows：
For two N-Side surf s1 and s2, the machining area per side includes three：The two sides regions depth 20mm, tenon
The regions head connection depth 20mm, and process the amount of feeding and should be less than 0.1mm, the value is related with processing head, with the close phase of machining accuracy
It closes, and process velocity can be influenced.According to zigzag broken line processing route.Wherein, depth h=20mm and amount of feeding d<
0.1mm.Two side paths are to ensure that both sides processing head position processes corresponding premise in correspondence with each other.
Machining locus is as follows：
In process, processing head central point locus is conceptualized as function of the coordinate value to the time, which can be by adding
Point on work route and process velocity, are fitted to obtain, can be analyzed to by spline curve interpolation,
Left side machining locus x1(t), y1(t)
Right side machining locus x2(t), y2(t)
Intermediate machining locus z (t), θ (t)
Wherein, machining locus is relative to lathe coordinate system.Wherein,
x2(t)-x1(t)=D (t)
y1(t)=y2(t)
Due to y1(t)=y2(t) isochronous controller is used, an input quantity y (t) can be attributed to, therefore is five input quantities
x1(t), x2(t), y (t), z (t), θ (t).Thus the control of entire lathe can be completed.
The calibration of blade zero position
After processing installation blade is correct every time, need blade being moved to after zero position the control that brings into operation again.Due to peace
It equipped with certain error, needs to detect whether that installation is correct, whether can detect a certain location point of blade by both sides range sensor
It is correct to judge blade integral installation precision.
Embodiment 2：To controlled quentity controlled variable x1(t), x2(t), the calculating (core algorithm) of y (t), z (t), θ (t)：
Process is described as：This is a pattern processed in layer, for each amount of feeding z, both sides processing
Head is constantly moved in x-y plane, and the y values of both sides processing head are synchronized and are consistent, and forms a level of processing line.
When processing side area, x the and y values of both sides motor and the θ of angle electrical machinery constantly change, and feed motor z values
It remains unchanged or feed motion, z values variation feeding, reprocesses next layer after one layer of processing；It is same to transport when processing tenon region
It is dynamic, but the varied journey system bigger of x values and y values and θ.
(1) section e is processed
When processing lateral side regions e, for some feeding height z (t)=zeValue, both sides processing head are in approximately the same plane
e.It is noted that section e is described by a closed curve, by leftmost curve le1With right side graph le2Composition.Processing head is most
All along being moved on the two curves when number.Such as Fig. 2
(2) machining center, center curve and central surface
Machining center refers to corresponding to each z value, on the x-y plane, both sides processing head and the presence pair of blade workpiece
Ying Dian, the correspondence determine the generation method of track.Since blade profile is asymmetric irregular, processing cannot be simply determined
Center.Therefore, the present invention is processed using the center curve in section as reference data.
First, the center curve l of section e is soughte0, point on the curve to le1And le2Distance it is equal (point to curve away from
From).Note that distance is not processing thickness D.One central surface may be constructed by the center curve in all processing sections,
" distance " of the curved surface to two N-Side surf s1 and s2 are equal.
Since in process, the y values of both sides processing head synchronize determination, and both sides processing stand forms a level of processing line.
In the present embodiment, it is desirable that workpiece corner constantly changes so that, level of processing line and the center curve in processing section are hung down in point of intersection
Directly, which is exactly machining center position, and the tangential direction at machining center point E is θe, it is corner direction.Machining center
Normal at point E is in curve le1And le2The distance between, the thickness at referred to as machining center point E is labeled as De, by de1With
de2Composition.By thickness, both sides processing stand position can be acquired from machining center point position E.
(4) machining locus generates
Processing route, broken line are planned on central surface first, and obtains each point [x in path pointe, ye, ze] thickness de1
(xe, ye, ze) and de2(xe, ye, ze) and its tangent directional angle θe(xe, ye, ze)。
Coordinate working motion speed, the track f (x of machining center point can be obtainede(t), ye(t), zeAnd θ (t))e
(t), wherein feeding motor：Z (t)=ze(t) synchronous motor：Y (t)=ye(t), both sides motor needs to solve [xe(t), ye
(t), ze(t)] thickness d ate1(t) and de2(t), then x1(t)=xe(t)-de1(t), x2(t)=xe(t)+de2(t)；Corner electricity
Machine：θ (t)=- θe(t)。
(5) nearly leaf margin section track is approached
Such as Fig. 4, to a certain processing section, visible blade region Curvature varying is shallower after the amplification of leaf margin section, at leaf margin
It is approximately a circular arc, arc radius is about 3mm.Machining area is the blade region for removing circular arc..AB, BC, CD, DE, EF are
1≤3mm of radius of curvature R that continuous line segment, wherein D, E, F determine, the radius of curvature R 2 that A, B, C are determined>>3mm.Become according to curvature
Law, radius of curvature is much smaller than blade region at leaf margin, so processing district can be determined according to cross section curve second dervative extreme value
Domain endpoint can make nearly leaf margin section machining locus approach end-destination, improve path accuracy.
Operating process is as follows：
By inputting mathematical model, machining locus is obtained, peaceful confirmation then is continued to the installation of blade, if be fitted without
It is good, confirmation is reinstalled, if installing, Zero calibration is carried out, is finally processed, the unloading of blade is carried out after processing.
The present invention useful achievement be：The present invention provides a kind of generation method of complex-curved surface machining locus,
It should also be noted that, herein, relational terms such as first and second and the like are used merely to one
Entity or operation are distinguished with another entity or operation, without necessarily requiring or implying between these entities or operation
There are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning lid
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also include other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
The foregoing is merely the preferred embodiments of the invention, are not limited to the claims of the present invention.
Simultaneously it is described above, for those skilled in the technology concerned it would be appreciated that and implement, therefore other be based on institute of the present invention
The equivalent change that disclosure is completed, should be included in the covering scope of the claims.
Claims (2)
1. a kind of generation method of complex-curved surface machining locus, which is characterized in that comprise the steps of：
Each coordinate system of the method based on gang tool, the track that complex-curved surface is processed are as target is generated
A kind of sequencing generation method；Tool of the method using gang tool as processing, establishes the control of gang tool before processing
The track of principle processed, the machining area of setting workpiece, the complex-curved surface processing is equal to processing head track, determines in processing
The heart plans that processing route, the track of machining center point are the dynamic formation of processing route on the central surface on curved surface.
2. a kind of generation method of complex-curved surface machining locus according to claim 1, which is characterized in that described more
The motor of axis lathe includes feeding motor Z, rotary electric machine φ, synchronous motor Y, left motor L, right motor R；To gang tool
Establish each coordinate system, the setup parameter of each coordinate system is, Z axis is workpiece direction of feed, X-axis be parallel to ground,
It is vertical with workpiece direction of feed and with left motor L and right motor R on same straight line, Y-axis is perpendicular to ground, vertical
In the intersection point of X-axis, Y-axis, θ turns to turn about the Z axis, and D thickness is to track to obtain workpiece using the both sides processing head of gang tool
Thickness, both sides processing head is located at left motor L, and control input quantity is the electricity in the gang tool on right motor R
The speed of machine and the position of motor；The setup parameter of each coordinate system, the control input quantity parameter in order to control；It is described
The speed of motor is that its frequency is directly proportional, is equal to process velocity, and the position of the motor is it on the gang tool
Relative position；Blade on gang tool is installed, and is moved into the zero position, is detected using range sensor
The installation site of the blade, and by a location point on the blade come judge the blade position installation essence
Degree；
The Controlling principle is the 3 D stereo simulation model for establishing workpiece, the answering workpiece in 3 D stereo simulation model
Miscellaneous curved surface completely reappears, and the cutting line of processing is continuous zigzag；To the track of the both sides processing head end of gang tool into
Line trace, while controlling each motor, it is all parallel that the zero-bit of setting workpiece is set to each axis in the coordinate system of gang tool
Position；
The machining area of setting workpiece as sets the depth of the machining area, the processing amount of feeding, and by the processing
Cutting line in depth, the concrete numerical value of the amount of feeding set, the depth of the machining area is equal to the feed of the processing
Depth in route；When the position of the both sides processing head corresponds to, the both sides processing route of the machining area also corresponds to；
The processing head track is conceptualized as the function of the coordinate value relative time on each coordinate system, by the processing
Point and the process velocity on route are fitted to obtain by spline curve interpolation, including left side machining locus, right side processing
Track, intermediate machining locus；Each coordinate system of the processing head track based on the gang tool, can be broken down into, described
Left side machining locus is expressed as left side processing abscissa function x1(t) and right side processes ordinate function y1(t), right side processes rail
Trace description is that right side processes abscissa function x2(t) and right side processes ordinate function y2(t), during intermediate machining locus is expressed as
Between processing ordinate function z (t) and turn to function # (t), wherein left side processing abscissa function x1(t) and the right side
Process ordinate function y1(t) indicate that the changing of the abscissa relative time of the left side machining locus, the left side adds respectively
The variation of the ordinate relative time of work track, the right side processing abscissa function x2(t) and the right side processes ordinate
Function y2(t) indicate respectively the changing of the abscissa relative time of the right side machining locus, the right side machining locus it is vertical
The variation of coordinate relative time, the intermediate processing ordinate function z (t) indicate the intermediate machining locus on the Z axis
The variation of coordinate relative time, the function # (t) that turns to indicate that the angle, θ of intermediate machining locus turns to counterclockwise about the z axis turn
The variation of dynamic angle relative time, t are the variable of time, wherein also meet x2(t)-x1(t)=D (t), the D thickness
Function representation is D (t), meets y1(t)=y2(t), the right side processing ordinate function y1(t), the right side processes ordinate
Function y2(t) trend for using both isochronous controller control carries out the gang tool by the processing head track
Control；
The pattern of complex-curved surface processing is to process layer by layer, described to be processed as gradually adding complex-curved surface from level to level layer by layer
Work regard the intermediate processing ordinate function z (t) of the intermediate machining locus as the amount of feeding, both sides processing head x-axis with
It is moved in the plane of y-axis composition, and both sides processing head is consistent on the y axis, forms level of processing line；The processing of workpiece
It is processed in side area in region, the processing side area is by the left side machining locus, the right side machining area, described
Intermediate processing zone domain is included, described in the left side machining locus of the left motor L, the right motor R processing
Left side processes abscissa function x1(t) and the right side processes ordinate function y1(t), right described in the right side machining locus
Side processes abscissa function x2(t) and the right side processes ordinate function y2(t) and the angle electrical machinery processing it is described in
Between turn to function # (t) described in machining locus and constantly change, institute in the intermediate machining locus of the feeding motor Z processing
It states intermediate processing ordinate function z (t) to remain unchanged, if the intermediate processing ordinate function z (t) changes, processes one layer
Afterwards, next layer is reprocessed；Remaining region in the machining area of workpiece, the variation bigger of the processing head track；The workpiece
Machining area includes the processing side area and remaining described region；
Side area is processed described in machining area for the workpiece, processing section e is set as feeding height z (t)=ze
When, zeIndicate the coordinate values of the processing section e in z-axis, and maintain its value it is constant when, the both sides processing head will be in
The same processing plane；The processing section e is a closed curve, by leftmost curve le1, right side graph le2, middle innermost being
Line le0Composition, the both sides processing head are moved along the closed curve；
The determining machining center first seeks the center curve l of the processing section ee0, the center curve le0On point to institute
State leftmost curve le1With the right side graph le2Distance it is all equal, center curve, Suo Yousuo are sought to all processing section e
It states center curve and constitutes central surface, the complex-curved both sides distance of curved surface of the central surface to the workpiece is equal；Institute
It states the value of both sides processing head on the y axis and determination, processing stand of the both sides processing head on workpiece is synchronized using the isochronous controller
Level of processing line is formd, also, the corner of workpiece is constantly changing；Machining center point E be the level of processing line with it is described
The vertical intersection point of the center curve of section e is processed, the tangential direction at the machining center point E turns to for θ, in the processing
Normal at heart point E is to the leftmost curve le1With the right side graph le2Total distance be named as the machining center point E
The thickness at place is labeled as De, by the normal of the machining center point E to the leftmost curve le1Distance de1Add with described
Normal at work central point E is to the right side graph le2Distance de2Composition, can acquire both sides from the machining center point E
For processing head in respective processing stand position, e1 indicates that the subscript of the leftmost curve of the processing section e, e2 indicate that the processing is cut
The subscript of the right side graph of face e；
Processing route is planned on central surface on curved surface, the processing route is similar to the cutting line of processing, is continuous
Zigzag it is similar, the point on the processing route is [x using the coordinate representation on coordinate systeme, ye, ze], wherein xeFor
Coordinate of the point in x-axis on the processing route, yeFor the coordinate of point on the y axis on the processing route, zeAdd to be described
Coordinate of the point in z-axis on work route, point on the processing route to the leftmost curve le1Distance be expressed as de1
(xe, ye, ze) and machining center point E at normal to the right side graph de2Distance be expressed as de2(xe, ye, ze), institute
The tangent directional angle for stating processing route is θe(xe,ye,ze), it is combined with working motion speed, obtains the rail of the machining center point
Mark f (xe(t), ye(t), zeAnd the tangential direction value θ of machining center point (t))e(t), the track of the machining center point
For the dynamic formation of processing route, with the time t, the working motion velocity correlation；
The feeding motor determines intermediate machining locus Z (t), and z (t)=ze(t), the synchronous motor Y determines right side processing
The function y of track2(t), the function y of left side machining locus1(t), the function y of right side machining locus2(t) the two is consistent, i.e.,
For y1(t)=y2(t)=ye(t)；
Wherein, xe(t) variable quantity of the coordinate relative time t for the point on processing route in x-axis；ye(t) it is on processing route
Point coordinate relative time t on the y axis variable quantity；ze(t) the coordinate relative time for the point on processing route in z-axis
The variable quantity of t；
The left motor L, the right motor R are responsible for solving coordinate points [xe(t), ye(t), ze(t)] leftmost curve l is arrivede1's
Distance de1(t), coordinate points [xe(t), ye(t), ze(t)] right side graph d is arrivede2Distance de2(t), the function of left side machining locus
x1(t) meet x1(t)=xe(t)-de1(t), the function x of right side machining locus2(t) meet x2(t)=xe(t)+de2(t)；It is described
The angle, θ that angle electrical machinery is responsible for solving the intermediate machining locus turns to the angle relative time rotated counterclockwise about the z axis
Change θ (t), and meets θ (t)=- θe(t)。
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