CN109933009A - A kind of five axis interpolating methods based on cutter-contact point route segment - Google Patents
A kind of five axis interpolating methods based on cutter-contact point route segment Download PDFInfo
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- CN109933009A CN109933009A CN201910306193.6A CN201910306193A CN109933009A CN 109933009 A CN109933009 A CN 109933009A CN 201910306193 A CN201910306193 A CN 201910306193A CN 109933009 A CN109933009 A CN 109933009A
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Abstract
The invention discloses a kind of five axis interpolating methods based on cutter-contact point route segment cannot achieve effective control problem of cutter-contact point motion profile when solving traditional five axis G01 linear interpolation.On the basis of traditional five axis G01 linear interpolations instruction can only input five parameters, eight parameters can be inputted by changing into, and increased three parameters are coordinate of the cutter-contact point under lathe coordinate system；Time segmentation is carried out to cutter-contact point route segment using data sampling principle, obtain the interpolation cutter-contact point, cutter heart point and location attitude of the cutter angle of current interpolation cycle, calculate the difference of interpolation cutter heart point, cutter-contact point spacing and tool radius, cutter heart point adjustment distance is calculated on the basis of interpolation cutter-contact point if beyond processing allowable error and sets adjustment with direction unit vector and to cutter heart click-through line position, completes the SERVO CONTROL to lathe translation shaft.Cutter can be effectively ensured in the shape and position precision of parts processing surface upper feeding motion profile in the present invention, be greatly improved suface processing quality when part five-axis robot.
Description
Technical field
The present invention relates to computer numerical control (CNC) (CNC) technical fields, in particular to five-axis robot is linearly inserted in the field
The accurate control technique of added time cutter-contact point route segment.
Background technique
CNC technology is to carry out accurate insert to the digitlization track by computer after a kind of digitlization by cutting tool track
It mends, data that interpolation obtains is moved accordingly to drive digital servomotor to make, is finally completed part machining
A kind of digital motion control technology.It in the most crucial TRAJECTORY CONTROL function of CNC technical field is realized by CNC system,
And function most crucial inside CNC system is locus interpolation control function.The algorithm for realizing interpolation function is interpolation algorithm.
The diversity of interpolation algorithm determines the diversity of the TRAJECTORY CONTROL ability of CNC system, and the superiority and inferiority degree of interpolation algorithm is then determined
Determine the TRAJECTORY CONTROL precision of CNC system.Therefore, it by supplement to CNC system interpolation algorithm and perfect, can not only enrich
The function of system, and play a significant role and realistic meaning for the precision for improving CNC processing.
Five axis CNC processing is more and more extensive a kind of processing technology form that CNC manufacture field is applied in recent years.
Be machined with significant difference with the axial three fixed always axis CNC of cutter: in five axis CNC process, cutter axially exists
Constantly change to adapt to the appearance profile requirement of part.Therefore, five axis CNC process tools have preferable accessibility and flexibility
The features such as, the cutter that can make adaptability to the complex appearance of part is axially adjustable, is generally all applied to complex parts
In processing.Five axis CNC machines are usually three translation shafts plus two rotary shafts, five servo motion axis while Union Movement shape
At the motion profile of cutter, just because of this five axis CNC processing is also referred to as five-axle linkage CNC processing.Currently, in five axis CNC systems
The locus interpolation control function most generally used is still five axis interpolation functions, is defined as G01 in ISO6983 standard
Instruction.By taking the bis- turn table type five-axis machine tools of A-C as an example, G01 instruction uses format are as follows: G01 Xx Yy Zz Aa Cc.It is above-mentioned
In format: X/Y/Z/A/C is reserved keyword, respectively indicates two rotary shafts of tri- translation shafts of X, Y, Z and A, C；x/y/z/a/c
The motion control terminal point coordinate of respectively corresponding five kinematic axis X/Y/Z/A/C.Due to machining movement continuity, for
The terminal of two G01 Machining Instructions of arbitrary neighborhood, previous G01 instruction is the starting point of the latter G01 instruction.Therefore each
A G01 can be considered a machining path section, and G01 expression synthesizes straight line (linear) between its route segment beginning and end
Track.
However, the motion profile that five existing axis interpolating methods are typically all control cutter cutter heart point is linear track
, directly ignore the motion profile shape of cutter and part cutting contact point completely.This is the control of current CNC manufacture field track
A fundamental issue existing for object processed, the reason is that: cutter heart point is simultaneously not involved in machining and cutter-contact point is only and cuts
The contact point on sword with piece surface is cut, the shape and position precision of cutter-contact point motion profile will directly determine part cutting surface
Forming accuracy and roughness.As it can be seen that improving the control precision of cutter-contact point motion profile has the raising of part processing quality
Significance.However, resultant motion track of five servo motion axis at cutter-contact point is more complicated, count cutter heart is only given
It is believed that cannot achieve effective control to cutter-contact point motion profile for the five axis G01 linear interpolation of tradition of breath at all.
Summary of the invention
For solve the above existing five axis interpolating method data-oriented information it is few, cannot achieve cutter-contact point trace control
Etc., the present invention provides a kind of five axis interpolating methods based on given cutter-contact point linear track.
The content that this method includes is: 1) change existing five-axis robot G01 instruction uses format；2) increase in five axis interpolation algorithms
Add the real time linear interpolation to cutter-contact point route segment and the position of interpolation cutter heart point is adjusted in real time.
Used technical solution is the present invention to solve above-mentioned technical problem:
1) on the basis of existing G01 is instructed, extension increases the corresponding cutter-contact point data information of cutter heart point, by original five
Parameter G01 instruction format is extended for eight parameter instruction formats:
G01 Xx Yy Zz Aa Cc Uu Vv Ww；
The meaning of first five parameter is the same in the above format.Three parameters U, V, W are reserved keyword afterwards, are respectively used to
Storage and coordinate components u, v, the w of the corresponding cutter-contact point of cutter heart point (x, y, z) in lathe cartesian coordinate system.
After above-mentioned expansion is made in G01 instruction, between two neighboring G01 instruction other than forming a cutter heart point route segment, also
A cutter-contact point route segment will be increased.The route segment is directive line segment, and starting point is the terminal of a upper cutter-contact point route segment.
2) according to Sampled -data interpolation principle, in each interpolation cycle, to cutter heart point route segment, rotation axis angular displacement with
And cutter-contact point route segment does synchronous real time linear interpolation respectively, and current interpolation cutter heart point, interpolation pose angle are obtained after interpolation and is inserted
Mend cutter-contact point.
3) in conjunction with the parameters such as shape, size of cutter, according to interpolation cutter heart point between interpolation cutter-contact point at a distance from and space
Positional relationship calculates the distance and direction vector of the adjustment of cutter heart point on the basis of interpolation cutter-contact point.
4) at a distance from for interpolation cutter heart point between interpolation cutter-contact point and the difference of tool radius is greater than processing allowable error
Situation makes adjustment interpolation cutter heart point according to above-mentioned adjustment distance and direction, the cutter heart point position coordinates that will be obtained after adjustment
Servo motion data as three translation shafts complete cutter-contact point trace control.
The present invention increases cutter-contact point data information on traditional five axis G01 instruction basis, and when five axis linear interpolations is with knife
Contact route segment is calculating benchmark, calculate to cutter heart point position and makes tune to the input data of each servo motion axis of lathe
It is whole.Beneficial effect of the above-mentioned technical proposal provided by the present invention compared with existing similar technique be no longer limited to cutter heart point it
Between carry out linear track INTERPOLATION CONTROL OF PULSE, but be changed between cutter-contact point carry out linear interpolation operation, cutter can be effectively ensured and exist
The shape and position precision of parts processing surface upper feeding motion profile are greatly improved surface processing when part five-axis robot
Quality.
Detailed description of the invention
Fig. 1 is the five axis linear interpolation flow charts based on cutter-contact point route segment.
Fig. 2 is starting point, terminal relation schematic diagram between a plurality of cutter heart point route segment and cutter-contact point route segment.
Fig. 3 is the schematic diagram that current path section obtains interpolation cutter heart point, cutter-contact point.
Fig. 4 is the schematic diagram that practical interpolation cutter heart point is obtained after position adjusts.
Specific embodiment
The detailed technology process of specific embodiment is as shown in Fig. 1, and for the process, detailed description are as follows:
1) what eight parameter G01 were instructed is defined using format.
By taking the bis- turn table type five-axis machine tools of A-C as an example, eight parameter G01 instruction formats are defined are as follows:
G01 Xx Yy Zz Aa Cc Uu Vv Ww；
In the instruction format: x, y, z respectively indicates position of the cutter heart point on X, Y, Z axis direction in lathe cartesian coordinate system
Set coordinate components；A, c respectively indicates the angular displacement that cutter rotates in lathe coordinate system around X, Z axis；U, v, w respectively indicate lathe
Location coordinates component of the cutter-contact point on X, Y, Z axis direction in cartesian coordinate system.
2) cutter heart point route segment and cutter-contact point route segment.
Cutter heart point refers to the centre of sphere, flat-bottomed cutter bottom to a particular point for defining tool position on cutter, such as ball head knife
Hold the center of circle etc. of disc.Cutter-contact point refers to that point contacted in tool in cutting sword with piece surface.Since five axis CNC are processed
Each of program G01 can be considered a machining path section, therefore then respectively define one for eight parameter G01 instruction
Cutter heart point route segment and a cutter-contact point route segment.The terminal of each path section (including cutter heart point and cutter-contact point) is by G01 sentence
Provide, starting point is then provided by a upper G01 sentence, that is, the terminal of a upper path segments be this path segments starting point, this
The terminal of route segment is the starting point of next path segments, as shown in Fig. 2.
3) the synchronization real time linear interpolation of cutter heart point route segment, rotation axis angular displacement and cutter-contact point route segment.
By taking current interpolation route segment is the kth path segments in attached drawing 3 as an example, while the interpolation cycle of given CNC system
The cutter that cutting feed speed for T, the route segment is F, is used is that ball head knife or flat-bottomed cutter (tool radius R), processing are permitted
Perhaps error is ε.
Find out interpolation cycle number n needed for completing the route segment interpolation of kth cutter-contact point:
Operator [] indicates rounding operation in above formula.
Cutter-contact point route segment, cutter heart point route segment and rotation axis angular displacement are carried out respectively according to Sampled -data interpolation principle
Data sampling segmentation is as follows:
The value range of the above various middle i is the integer from 1 to n.
So far interpolation cutter heart point vector O when can be in the hope of i-th of interpolation cycleiWith interpolation cutter-contact point vector CiRespectively
Oi=(xi, yi, zi) and Ci=(ui, vi, wi), as shown in Fig. 3.
4) position precision and its adjustment of interpolation cutter heart point.
In theory, for ball head knife and the such cutting tool of flat-bottomed cutter, between cutter heart point and cutter-contact point
Distance can effectively ensure that cutter is in correct cutting position in cutting process as can remain tool radius size.Base
In this, interpolation cutter heart point and interpolation cutter-contact point distance L can be first calculated
Judge the size relation between L and R, and measures the position precision of cutter heart point on the basis of the position of cutter-contact point.
1. if | L-R |≤ε illustrates that the location error of interpolation cutter heart point at this time is less than processing allowable error, does not adjust current
Position coordinates (the x of interpolation cutter heart pointi, yi, zi), and export as the motion control data of lathe translation shaft to lathe
Three translation shafts, while by interpolation calculated interpolation pose angle (ai, ci) export to two rotary shafts of lathe, complete this
Interpolation Process.
2. if | L-R | > ε illustrates that the location error of interpolation cutter heart point at this time is greater than processing allowable error, need to be to interpolation knife
The position of heart point is adjusted as follows:
The distance of adjustment be δ=| L-R |, the direction of adjustment is from interpolation cutter heart point (xi, yi, zi) it is directed toward interpolation cutter-contact point
(ui, vi, wi) direction, the direction vector of the direction is (ui-xi, vi-yi, wi-zi), it is T=((u after unitizationi-xi)/L,
(vi-yi)/L, (wi-zi)/L)。
Practical interpolation cutter heart point vector adjusted is O 'i=Oi+ δ T=(x 'i, y 'i, z 'i)。
The adjustment process of above-mentioned cutter heart point is as shown in Fig. 4.
By practical interpolation cutter heart point position coordinates (x ' adjustedi, y 'i, z 'i) motion control as lathe translation shaft
Data are exported to three translation shafts of lathe, while by interpolation calculated interpolation pose angle (ai, ci) export to two of lathe
Rotary shaft completes this Interpolation Process.
Claims (3)
1. a kind of five axis interpolating methods based on cutter-contact point route segment, it is characterised in that include in linear interpolation instruction format
Eight parameters, cutter heart point coordinate, rotation axis angular displacement, cutter-contact point coordinate respectively under lathe coordinate system.
2. a kind of five axis interpolating methods based on cutter-contact point route segment, it is characterized in that starting point and end to cutter-contact point route segment
The cutter-contact point line segment that point is formed carries out linear interpolation, and calculates corresponding interpolation cutter-contact point, cutter heart point and pose angle simultaneously.
3. linear interpolation process in claim 2 is characterized mainly in that: interpolation cutter-contact point is calculated at a distance from cutter heart point,
The distance is made the difference with tool radius, the situation for being greater than processing allowable error for difference calculates adjustment distance and direction vector,
The position of interpolation cutter heart point is adjusted using adjustment vector.
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Cited By (3)
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| CN110501974A (en) * | 2019-09-06 | 2019-11-26 | 天津工业大学 | A kind of nonlinearity erron control method based on eight parameters, five axis linear interpolation |
| CN111026035A (en) * | 2019-12-26 | 2020-04-17 | 山东大学 | Method for solving cyclone milling blade tool location point based on curvature change |
| CN115993804A (en) * | 2023-03-24 | 2023-04-21 | 中科航迈数控软件(深圳)有限公司 | Cutter parameter adjustment method based on numerical control machine tool and related equipment |
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| CN111026035A (en) * | 2019-12-26 | 2020-04-17 | 山东大学 | Method for solving cyclone milling blade tool location point based on curvature change |
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