CN111630461B - Numerical control machining method and system and device with storage function - Google Patents
Numerical control machining method and system and device with storage function Download PDFInfo
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- 238000003754 machining Methods 0.000 title claims abstract description 115
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- 238000003860 storage Methods 0.000 title claims abstract description 12
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- 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
- G05B19/4097—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 using design data to control NC machines, e.g. CAD/CAM
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Abstract
The application discloses a numerical control machining method, a system and a device with a storage function, wherein the numerical control machining method comprises the steps of obtaining a target machining speed, a bow height error and an interpolation period corresponding to a current machining section; obtaining an arc transition angle opening upper limit according to the target processing speed, the bow height error and the interpolation period; acquiring a next adjacent processing section of the current processing section to obtain an included angle between the current processing section and the next adjacent processing section; and if the included angle is smaller than the opening upper limit of the arc transition angle, performing arc transition machining between the current machining section and the next adjacent machining section. According to the method and the device, reasonable circular arc transition angle opening upper limit can be obtained through the target machining speed, the bow height error and the interpolation period, so that parts can be machined more accurately, and the machining efficiency and the quality of the surfaces of the parts can be improved.
Description
Technical Field
The present application relates to the field of numerical control machining technologies, and in particular, to a method and a system for numerical control machining, and a device with a storage function.
Background
In the numerical control machining, a machining path is generally fitted with a small line segment. The small line segment refers to a processing line segment generated after a free curve which cannot be directly programmed by a numerical control system is processed by Computer Aided Manufacturing (CAM) software, and is generally a set of tiny straight line segments with tracks similar to the original free curve. The circular arc transition is mainly used for realizing the smooth transition between processing line segments, and the method is to replace sharp corners on a processing path by using a round angle, so that the outline of a part is smooth, the surface quality is improved, and the repeated acceleration and deceleration process can be avoided to improve the processing efficiency. Fig. 1 is a schematic diagram of a circular arc transition between a straight line segment and a straight line segment, as shown in fig. 1, the straight line segment A1B1 and the straight line segment B1C1 are connected to a corner point B1, the transition circular arc is a circular arc with a point O1 as a center, E1 and F1 as starting and ending points, and an intersection point of the E1F1 and the B1O1 is a point H1.
However, in order to save resources, arc transition is not usually performed between any processing line sections, and how to determine corresponding conditions when arc transition is performed is not accurate in the prior art, so that the actual processing speed is unreasonable, and the processing efficiency and the quality of the surface of a part are reduced.
Therefore, it is necessary to provide a method and a system for numerical control machining and a device with a storage function to solve the above technical problems.
Disclosure of Invention
The numerical control machining method and system and the device with the storage function can reasonably determine arc transition conditions and reasonably configure the opening upper limit of the arc transition angle, and further improve machining efficiency and the surface quality of parts.
In order to solve the above technical problem, a first technical solution adopted by the present application is to provide a numerical control machining method, including: acquiring a target processing speed, a bow height error and an interpolation period corresponding to a current processing section; obtaining an arc transition angle opening upper limit according to the target processing speed, the bow height error and the interpolation period; acquiring a next adjacent processing section of the current processing section to obtain an included angle between the current processing section and the next adjacent processing section; and if the included angle is smaller than the opening upper limit of the arc transition angle, performing arc transition machining between the current machining section and the next adjacent machining section.
In order to solve the above technical problem, a second technical solution adopted by the present application is to provide a processing system, which includes a memory and a processor coupled to each other, and the processor executes the processing method as described in any one of the above.
In order to solve the above technical problem, a third technical solution adopted by the present application is to provide an apparatus having a storage function, wherein the apparatus stores program data, and the program data can be executed to realize the processing method as described in any one of the above.
The beneficial effect of this application is: different from the situation of the prior art, the numerical control machining method comprises the steps of obtaining a target machining speed, a bow height error and an interpolation period corresponding to a current machining section, and obtaining an upper limit of opening of a circular arc transition angle according to the obtained target machining speed, the bow height error and the interpolation period; and if the included angle between the adjacent processing sections is smaller than the opening upper limit of the arc transition angle, arc transition processing is carried out between the current processing section and the next adjacent processing section. According to the method and the device, reasonable circular arc transition angle opening upper limit can be obtained through the target machining speed, the arch height error and the interpolation period, so that the circular arc transition condition is accurately set, more accurate machining can be performed on the part, and the machining efficiency and the quality of the surface of the part can be improved.
Drawings
FIG. 1 is a schematic view of a circular arc transition between a straight line segment and a straight line segment;
FIG. 2 is a schematic flow chart of a first embodiment of the numerical control machining method provided by the present application;
FIG. 3 is a schematic view of one embodiment of an included angle between two adjacent straight segments provided herein;
FIG. 4 is a schematic view of another embodiment of an included angle between two adjacent straight segments provided herein;
FIG. 5 is a schematic view of one embodiment of an end-to-end sequence of multiple processing sections provided herein;
FIG. 6 is a schematic flow chart of a second embodiment of the numerical control machining method provided in the present application;
FIG. 7 is a schematic block diagram of an embodiment of a processing system provided herein;
fig. 8 is a schematic structural diagram of an embodiment of an apparatus with a storage function provided in the present application.
Detailed Description
The present application provides a method and a system for numerical control machining, and a device with a storage function, so that the purpose, technical solution, and technical effect of the present application are more clear and clear, and the present application is described in further detail below. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
According to the method and the device, the arc transition angle opening upper limit of the curve is obtained according to the target processing speed, the arch height error and the interpolation period, so that a reasonable arc transition angle opening upper limit can be configured; and when the included angle between the adjacent processing sections is judged to be smaller than the opening upper limit of the arc transition angle, arc transition processing is carried out between the current processing section and the next adjacent processing section, so that reasonable arc transition conditions are set, reasonable processing speed and track are obtained, parts are processed more reasonably, and the processing efficiency and the surface quality of the parts can be improved.
Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of a numerical control machining method provided in the present application, and the method mainly includes the following steps:
step 21: and acquiring a target processing speed, a bow height error and an interpolation period corresponding to the current processing section.
In practice, the curve of the surface of the part is generally a random free curve. Before arc transition, the irregular free curves need to be processed to obtain processing sections which are sequentially connected end to end, wherein the processing sections are specifically straight-line sections, that is, the free curves are equivalent to a plurality of straight-line sections which are sequentially connected end to end, the tracks of the straight-line sections which are sequentially connected end to end are overlapped with the tracks of the irregular free curves, the overlapping is not strictly complete overlapping, and errors in an allowable range exist in an actual situation. The free curves are typically processed by CAM software to obtain straight line segments that are connected end to end. Of course, the free curve can be processed in other ways to obtain straight line segments which are connected end to end in sequence.
And after processing to obtain the processing sections which are sequentially connected end to end, acquiring a target processing speed, a bow height error and an interpolation period corresponding to the current processing section, recording and storing the acquired target processing speed, bow height error and interpolation period, and in the subsequent steps, a user can change the set target processing speed according to the actual situation. In this embodiment, the target processing speed is a speed at which the part is processed, which is set by a user; the bow height error is the maximum allowable track error between the transition arc set by a user and the processing section to be transited; in practical situations, the whole time segment for performing arc transition processing on the part is divided into a plurality of equal time intervals, the interpolation period is the time interval, and the interpolation period is generally preset and does not need to be set by a user.
Step 22: and obtaining the opening upper limit of the arc transition angle according to the target processing speed, the bow height error and the interpolation period.
Specifically, an arc transition angle opening parameter k is obtained according to the following formula (1):
wherein v isuSetting a target processing speed for a user, wherein delta is a bow height error, and T is an interpolation period;
then according to the arc transition angle opening parameter k, obtaining the arc transition angle opening upper limit alpha through the following formula (2) 0：
Wherein,
substituting the value of the arc transition angle opening parameter k calculated by the formula (1) into the formula (2) to obtain the arc transition angle opening upper limit alpha0The value of (c).
The following will describe the obtaining of the arc transition angle opening upper limit α in detail0The derivation process of (1).
The radius of a transition circular arc corresponding to the included angle between two adjacent straight line segments is rcircleRadius of transition arc rcircleCan be calculated by the following equation (3):
wherein alpha is an included angle between two adjacent straight line segments, and delta is a bow height error.
The equivalent radius of direct transition corresponding to the included angle between two adjacent straight line segments is rlineDirect transition equivalent radius rlineCan be calculated by the following equation (4):
wherein v isuAnd setting a target processing speed for a user, wherein alpha is an included angle between two adjacent straight line segments, and T is an interpolation period.
Setting the radius r of the transition arccircleRadius r equivalent to direct transitionlineEqual, at this time, the included angle between two adjacent straight line sections is the opening upper limit alpha of the arc transition angle0I.e., equation (3) is equal to equation (4), the following equation (5) can be obtained:
fitting trigonometric function parameters
Opening parameter of arc transition angle
Substituting the formula (5) to obtain the following formula (6):
km3+m2+km-1＝0(6)
wherein, the arc transition angle opening parameter k is larger than 0, and the trigonometric function parameter m belongs to [0,1 ].
The formula (6) is arranged according to the formula of containing gold to obtain the following formula (7):
wherein,
substituting the arc transition angle opening parameter k into the formula (7) to obtain a trigonometric function parameter m
Obtaining the opening upper limit alpha of the arc transition angle0。
In step 22, the arc transition angle opening upper limit is obtained according to the target processing speed, the bow height error and the interpolation period, and is more reasonable than the arc transition angle opening upper limit directly configured by a user in the prior art.
Step 23: and acquiring the next adjacent processing section of the current processing section, and acquiring the included angle between the current processing section and the next adjacent processing section.
The processing sections connected end to end in sequence comprise a plurality of processing sections, the current processing section is obtained in the step 21, the next adjacent processing section of the current processing section is obtained in the step 23, the processing section is specifically a straight section, the current processing section and the next adjacent processing section are connected at a corner point, and the included angle between the current processing section and the next adjacent processing section can be obtained through the step 23.
And step 24: and if the included angle is smaller than the opening upper limit of the arc transition angle, performing arc transition machining between the current machining section and the next adjacent machining section.
In the previous step 23, the included angle between the current processing section and the next adjacent processing section is obtained, the included angle is compared with the upper limit of the opening of the arc transition angle, and in the present step 24, if the included angle is judged to be smaller than the upper limit of the opening of the arc transition angle, the arc transition processing is performed between the current processing section and the next adjacent processing section.
Specifically, referring to fig. 3, fig. 3 is a schematic view of an embodiment of an included angle between two adjacent linear segments provided in the present application. As shown in fig. 3, the straight line segment A3B3 and the straight line segment B3C3 are two adjacent straight line segments, the straight line segments A3B3 and B3C3 are connected at a corner point B3, and an included angle between the two adjacent straight line segments A3B3 and B3C3 is an angle A3B3C 3. The included angle A3B3C3 and the arc transition angle opening upper limit alpha0Comparing, if the included angle A3B3C3 is smaller than the opening upper limit alpha of the arc transition angle0Then arc transition machining is performed.
More specifically, the maximum centripetal acceleration a is first determined according to the systemcThe included angle alpha between the current processing section and the next adjacent processing section and the bow height error delta are obtained according to the following formula (8) to obtain the speed v limited by the centripetal acceleration of the systema：
Then, the actual transitional processing speed v for processing the included angle between the current processing section and the next adjacent processing section is determined according to the following formula (9):
v＝min(vu,va,...)(9)
Namely, the target machining speed vuVelocity v limited by centripetal acceleration of the systemaAnd comparing, determining the smaller value of the two as the actual transition processing speed v for performing arc transition processing on the included angle, and processing along the track of the transition arc by using the actual transition processing speed v.
When arc transition processing is carried out on the included angle at the actual transition processing speed v, the radius r of the transition arc needs to be acquiredcircleTwo tangent points are formed by a circle with a radius and an included angle, an arc between the two tangent points is determined as a transition arc of the included angle, and arc transition processing is carried out on the included angle according to the transition arc. Wherein, the radius r of the transition arccircleCalculated by the above formula (3).
Continuing with FIG. 3, the included angle A3B3C3 between two adjacent straight line segments and the bow height error delta are determinedThe formula (3) obtains the radius r of the transition arccircleThen, the radius r of the transition arc is obtainedcircleThe two tangent points (point E3 and point F3) formed by the circle with the radius and the included angle A3B3C3, the arc E3F3 between the two tangent points E3 and F3 is a transition arc corresponding to the included angle A3B3C 3. In fig. 3, point O3 is the center of a circle with the radius of the transition arc as the radius, and the distance between point E3 and point O3, E3O3 and the distance between point F3 and point O3 are equal to the radius r of the transition arc circleE3O3 is perpendicular to A3B3, and F3O3 is perpendicular to B3C 3. During actual machining, the part is machined along the trajectory of the arc E3F3 at the obtained actual transitional machining speed v of the included angle A3B3C3, for example, the part is cut.
When the included angle formed by two adjacent straight line segments is judged to be not less than the opening upper limit alpha of the arc transition angle0In the process, direct machining is carried out along the track of the current machining section and the next adjacent machining section at the actual direct machining speed. Wherein the actual direct processing speed satisfies a speed plan with continuous speed or continuous acceleration, and the maximum speed at the corner point of the included angle is not more than
acThe maximum centripetal acceleration of the system is shown, alpha is an included angle between two adjacent straight line segments, and T is an interpolation period. In this embodiment, the speed plan with continuous speed is a trapezoidal speed plan, the complete trapezoidal speed plan generally includes three stages, the acceleration in the first stage is suddenly changed from 0 to a fixed acceleration, and the speed is linearly increased from 0 by the fixed acceleration; when the speed reaches the expected speed, entering a second stage, namely a constant speed stage, wherein the speed is constant and the acceleration is suddenly changed to 0; when the end point is approached, the third stage is entered and the speed starts to decrease at a fixed acceleration until it is reduced to 0. The speed plan with continuous acceleration is an S-shaped speed plan, the complete S-shaped speed plan generally comprises seven stages, in the first three stages, the speed is smoothly increased, the acceleration shows T-shaped change, and the acceleration changes suddenly between a set value and zero; when the speed is accelerated to the expected speed or the maximum speed, entering a constant speed stage; entering the final deceleration stage when the terminal point is approached, and decelerating The process is symmetrical with the acceleration process. In other embodiments, the actual direct machining speed may also meet other types of speed plans.
Further, an actual direct machining speed between the two end points of the machining section is obtained from the speeds at the two end points of the machining section and the target machining speed, and machining is performed at the actual direct machining speed.
In one embodiment, please refer to fig. 4, wherein fig. 4 is a schematic diagram of another embodiment of an included angle between two adjacent linear segments provided in the present application. In FIG. 4, the included angle A4B4C4 between the straight line segments A4B4 and B4C4 is larger than the opening upper limit alpha of the arc transition angle0Then processing is performed along the trajectories of the current processing station A4B4 and the next adjacent processing station B4C4 at the actual direct processing speed. For example, the actual direct machining process is from point A4 to point B4 to point C4, and the maximum speed at corner point B4 is not greater than
The speed of the workpiece during cutting along the tracks of the straight line segments A4B4 and B4C4 meets a speed plan with continuous speed or continuous acceleration, the actual direct processing speed of the workpiece along the straight line segment A4B4 is obtained according to the speeds of the points A4 and B4 and the target processing speed, and the actual direct processing speed of the workpiece along the straight line segment B4C4 is obtained according to the speeds of the points B4 and C4 and the target processing speed.
After arc transition processing is carried out between the current processing section and the next adjacent processing section, whether the arc transition processing is finished or not is further judged; if the machining is not finished, judging whether the target machining speed is changed; and if the arc transition angle is changed, obtaining the changed arc transition angle opening upper limit according to the changed target machining speed, the changed arc height error and the interpolation period, and performing arc transition machining according to the changed arc transition angle opening upper limit. In one embodiment, referring to fig. 5, fig. 5 is a schematic view of one embodiment of a plurality of processing sections provided herein connected end-to-end in sequence. As shown in fig. 5, A5B5, B5C5 and C5D5 are three-stage processing stages connected end to end, wherein A5B5 and B5C5 are connected to corner point B5, and B5C5 and C5D5 are connected to corner point C5. For example, the angle A5B5C5 is smaller than the upper limit of the opening of the arc transition angle, and after the arc transition processing is performed on the diagonal angle A5B5C5, it is determined that the processing is not completed, and the processing is continued on the diagonal angle B5C5D 5. Before the opposite angle B5C5D5 is processed, whether the target processing speed set by the user is changed or not needs to be judged, if so, the changed arc transition angle opening upper limit is obtained by recalculation according to the changed target processing speed, and arc transition processing is carried out on the opposite angle B5C5D5 according to the changed arc transition angle opening upper limit; if the target machining speed is not changed, the arc transition angle opening upper limit is kept unchanged, and arc transition machining is continuously performed according to the arc transition angle opening upper limit diagonal B5C5D 5.
If the target processing speed is kept unchanged all the time, the calculation of the opening upper limit of the arc transition angle is only needed once in the whole processing process. According to the method and the device, when the target processing speed set by the user is changed, the arc transition angle opening upper limit needs to be recalculated, namely, the arc transition angle opening upper limit does not need to be calculated once when every two adjacent straight-line segments are processed, and the requirement of real-time performance can be guaranteed.
The processor of the processing finger controller executes the above steps to obtain processing parameters such as a processing speed and a processing track, so as to control the actuator or the processing end to process the object to be processed.
According to the method, the reasonable arc transition angle opening upper limit can be obtained according to the target machining speed, the arch height error and the interpolation period, the reasonable arc transition condition is set, the more accurate actual machining speed and actual machining track can be obtained through the reasonable arc transition angle opening upper limit, and the machining efficiency and the quality of the surface of the part can be improved.
Referring to fig. 6, fig. 6 is a schematic flow chart of a second embodiment of a numerical control machining method provided in the present application, and fig. 6 is a specific embodiment of fig. 2, which mainly includes the following steps:
Step 61: a processing section is obtained.
And processing the free curves through CAM software to obtain N processing sections which are sequentially connected end to end, wherein specifically, the tail end of the first processing section is connected with the head end of the second processing section, the tail end of the second processing section is connected with the head end of the third processing section, and the tail end of the Nth-1 th processing section is connected with the head end of the Nth processing section.
In one embodiment, the one processing section obtained in step 61 is the first processing section obtained.
Step 62: and acquiring a target processing speed, a bow height error and an interpolation period corresponding to the current processing section.
And acquiring a target machining speed, a bow height error and an interpolation period, recording and storing the acquired target machining speed, bow height error and interpolation period, and in the subsequent steps, a user can change the set target machining speed according to the actual situation.
And step 63: and calculating to obtain the arc transition angle opening upper limit for arc transition according to the target processing speed, the bow height error and the interpolation period.
Specifically, an arc transition angle opening parameter k is obtained according to the following formula (1):
wherein v isuSetting a target processing speed for a user, wherein delta is a bow height error, and T is an interpolation period;
Then according to the arc transition angle opening parameter k, obtaining the arc transition angle opening upper limit alpha through the following formula (2)0：
Wherein,
substituting the value of the arc transition angle opening parameter k calculated by the formula (1) into the formula (2) to obtain the arc transition angle opening upper limit alpha0The value of (c).
Step 64: and acquiring the next adjacent processing section of the current processing section.
In the step, the included angle between the current processing section and the next adjacent processing section is obtained by obtaining the next adjacent processing section of the current processing section.
Step 65: and judging whether the included angle between the current processing section and the next adjacent processing section is smaller than the opening upper limit of the arc transition angle.
The included angle between the current processing section and the next adjacent processing section and the calculated arc transition angle opening upper limit alpha are calculated0Comparing, and if the included angle is smaller than the arc transition angle opening upper limit, executing the following step 66; if the included angle is not less than the arc transition angle opening upper limit, the following step 67 is performed.
And step 66: and if the included angle is smaller than the opening upper limit of the arc transition angle, performing arc transition machining between the current machining section and the next adjacent machining section.
Specifically, the maximum centripetal acceleration a of the system is firstly determined cThe included angle alpha between the current processing section and the next adjacent processing section and the bow height error delta obtain the speed v limited by the centripetal acceleration of the system according to the following formula (8)a：
Then, the actual transitional processing speed v for processing the included angle between the current processing section and the next adjacent processing section is determined according to the following formula (9):
v＝min(vu,va,...) (9)
namely, the target machining speed vuVelocity v limited by centripetal acceleration of the systemaAnd comparing, determining the smaller value of the two as the actual transition processing speed v for performing arc transition processing on the included angle, and processing along the track of the transition arc by using the actual transition processing speed v.
Step 67: and if the included angle is not less than the opening upper limit of the arc transition angle, directly processing between the current processing section and the next adjacent processing section.
When the included angle formed by two adjacent straight line segments is judged to be not less than the opening upper limit alpha of the arc transition angle0And then, directly processing along the track of the current processing section and the next adjacent processing section at the actual direct processing speed. Wherein the actual direct processing speed satisfies a speed plan with continuous speed or continuous acceleration, and the maximum speed at the corner point of the included angle is not more than
acThe maximum centripetal acceleration of the system is shown, alpha is an included angle between two adjacent straight line segments, and T is an interpolation period.
Step 68: and judging whether the machining is finished or not.
If it is determined that the processing is not completed, the next step 69 is performed; and if the judgment result is that the machining is finished, finishing the machining.
Step 69: and judging whether the target processing speed is changed or not.
If the target processing speed given by the user is changed, the changed target processing speed is obtained again through the step 62, the changed arc transition angle opening upper limit is obtained through recalculation according to the changed target processing speed, and the arc transition processing is performed according to the changed arc transition angle opening upper limit.
If the target machining speed set by the user is not changed, the opening upper limit of the arc transition angle is kept unchanged, and the next adjacent machining section is obtained again through step 64, and the machining steps are repeatedly executed.
According to the method, the reasonable arc transition angle opening upper limit can be obtained according to the target machining speed, the arch height error and the interpolation period, the reasonable arc transition conditions are set, the actual machining speed and the actual machining track obtained through the reasonable arc transition angle opening upper limit are more accurate and reasonable, and the machining efficiency and the surface quality of the part can be improved.
Referring to fig. 7, fig. 7 is a schematic structural diagram of an embodiment of a processing system according to the present application. As shown in fig. 7, the machining system 70 includes a processor 701 and a memory 702 coupled to each other, and the processor 701 is operative to perform the numerical control machining method according to any of the above embodiments.
Referring to fig. 8, fig. 8 is a schematic structural diagram of an embodiment of a device with a storage function provided in the present application. The device 80 having the storage function stores program data 801, and the program data 801 is used to execute the numerical control machining method according to any one of the embodiments.
The beneficial effect of this application is: different from the situation of the prior art, the numerical control machining method comprises the steps of obtaining a target machining speed, a bow height error and an interpolation period corresponding to a current machining section, and obtaining an upper limit of opening of a circular arc transition angle according to the obtained target machining speed, the bow height error and the interpolation period; and if the included angle between the adjacent processing sections is smaller than the opening upper limit of the arc transition angle, arc transition processing is carried out between the current processing section and the next adjacent processing section. This application can obtain reasonable circular arc transition angle through target machining speed, bow height error, interpolation cycle and open the upper limit, sets up more reasonable circular arc transition condition to can carry out more accurate processing to the part, and then improve the quality on machining efficiency and part surface.
The above description is only an embodiment of the present application, and is not intended to limit the scope of the present application, and all equivalent structures or equivalent processes performed by the present application and the contents of the attached drawings, which are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (13)
1. A method of numerical control machining, the method comprising:
acquiring a target processing speed, a bow height error and an interpolation period corresponding to a current processing section;
obtaining the opening upper limit of the arc transition angle according to the following formula:
wherein v isuThe target processing speed is delta the bow height error, T is the interpolation period, alpha0Opening an upper limit for the arc transition angle;
acquiring a next adjacent processing section of the current processing section, and acquiring an included angle between the current processing section and the next adjacent processing section;
and if the included angle is smaller than the opening upper limit of the arc transition angle, performing arc transition machining between the current machining section and the next adjacent machining section.
2. The method of claim 1, wherein said performing arc transition machining between said current machining stage and said next adjacent machining stage if said included angle is less than said arc transition angle opening upper limit comprises:
Acquiring the actual transitional processing speed from the current processing section to the next adjacent processing section according to the speed limited by the system centripetal acceleration and the target processing speed;
and processing along the track of the transition arc at the actual transition processing speed.
3. The method according to claim 2, wherein said step of obtaining an actual transition machining speed from said current machining section to said next adjacent machining section from a speed limited by a systematic centripetal acceleration and said target machining speed comprises:
obtaining the speed limited by the system centripetal acceleration according to the system maximum centripetal acceleration, the included angle between the current processing section and the next adjacent processing section and the bow height error;
and comparing the centripetal acceleration limit speed of the system with the target machining speed, and determining the smaller one as the actual transitional machining speed.
4. A method according to claim 3, wherein said step of deriving said system centripetal acceleration limited speed from said system maximum centripetal acceleration, said angle between said current processing station and said next adjacent processing station and said bow-height error comprises in particular:
The system centripetal acceleration limited speed is obtained according to the following formula:
wherein v isaSpeed limited for centripetal acceleration of the system, acAnd alpha is the included angle between the current processing section and the next adjacent processing section, and delta is the bow height error.
5. The method according to any one of claims 1 to 4, further comprising:
and if the included angle is not less than the opening upper limit of the arc transition angle, directly processing along the tracks of the current processing section and the next adjacent processing section at the actual direct processing speed.
6. The method of claim 5, wherein said processing at an actual direct processing speed along a trajectory of an included angle between said current processing station and said next adjacent processing station comprises:
the actual direct processing speed meets the speed plan of continuous speed or continuous acceleration, and the maximum speed at the corner point of the included angle is less than or equal to
Wherein, acAnd the maximum centripetal acceleration of the system is defined, alpha is an included angle between two adjacent machining sections, and T is the interpolation period.
7. The method of claim 6, wherein said processing at said actual direct processing speed along a trajectory of an included angle between said current processing section and said next adjacent processing section comprises:
And acquiring the actual direct processing speed between the two end points of the processing section according to the speeds at the two end points of the processing section and the target processing speed.
8. The method according to claim 1, wherein if the included angle is smaller than the upper opening limit of the arc transition angle, the step of performing arc transition machining between the current machining section and the next adjacent machining section specifically comprises:
acquiring two tangent points formed by a circle taking the radius of the transition arc as the radius and the included angle;
and determining the circular arc between the two tangent points as a transition circular arc of the included angle, and performing circular arc transition machining between the current machining section and the next adjacent machining section along the track of the transition circular arc.
9. The method according to claim 8, wherein the obtaining of the transition arc radius is specifically:
and acquiring the radius of the transition arc according to the included angle between the current processing section and the next adjacent processing section and the bow height error.
10. The method of claim 1, wherein said step of performing a circular arc transition between said current processing station and said next adjacent processing station is further followed by:
Judging whether the arc transition machining is finished or not;
if the arc transition processing is not finished, judging whether the target processing speed is changed;
and if the target processing speed is changed, obtaining the changed arc transition angle opening upper limit according to the changed target processing speed, the changed arc height error and the interpolation period.
11. The method of claim 10, further comprising:
and if the target machining speed is not changed, keeping the opening upper limit of the arc transition angle unchanged, and continuing to perform arc transition machining by using the opening upper limit of the arc transition angle.
12. A machining system comprising a processor and a memory coupled to each other, the processor performing the machining method of any one of claims 1 to 11.
13. An apparatus having a storage function, characterized in that program data are stored, which can be executed to implement the machining method according to any one of claims 1 to 11.
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| CN114850549B (en) * | 2022-04-28 | 2024-02-23 | 成都航空职业技术学院 | Method for machining blades based on four-axis linkage machining center |
| CN115167277A (en) * | 2022-07-05 | 2022-10-11 | 深圳市汇川技术股份有限公司 | Small line segment track fitting method, numerical control machining equipment and readable storage medium |
| CN115854832B (en) * | 2022-11-18 | 2024-01-26 | 国网四川省电力公司达州供电公司 | Included angle error calculation method for workpieces with two-dimensional included angles |
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