CN112506132A - Elliptical seal head punching and splitting method based on high-pressure water jet - Google Patents
Elliptical seal head punching and splitting method based on high-pressure water jet Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/182—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 the machine tool function, e.g. thread cutting, cam making, tool direction control
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35349—Display part, programmed locus and tool path, traject, dynamic locus
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Abstract
The invention discloses an elliptical seal head punching and splitting method based on high-pressure water jet, which comprises the following steps: (1) a height sensing device is arranged near the five-axis cutter head; (2) fitting the hole and the split plane track to the surface of the end socket according to an elliptical end socket equation to form a curved track; (3) combining the curved surface track of the specified thickness layer of the elliptical seal head with the curved surface track of the inner side to obtain the space attitude of the interpolation point and converting the space attitude into an AC rotating shaft angle; (4) lifting the track along the direction of the spatial attitude, adjusting the distance between the tool bit and the uneven surface of the elliptical seal head by using a height detection device, and feeding the error back to the numerical control system; (5) the path is modified and compensation is added based on the feedback error.
Description
Technical Field
The invention relates to an elliptical head perforating and notching method, in particular to an elliptical head perforating and notching method of a high-pressure water jet, which effectively avoids the problem of cutting quality caused by uneven surface of a workpiece.
Background
The elliptical seal head is an indispensable important part in pressure container equipment in petrochemical industry, atomic energy and food and pharmaceutical industry, the seal head is an end cover on a pressure container, is a main pressure bearing part of the pressure container and plays a role in sealing. The opening of the seal head is an important link in the manufacturing process of the container, and the opening is also a main step for fixing the pipeline and enhancing the sealing effect.
At present, a numerical control water cutting machine tool is mainly adopted for cutting, a lot of defects are caused, due to the particularity of water cutting, when an element to be cut is too close to a cutter tip, the surface damage of the element and the burst of a water pipe are easily caused, when the element to be cut is too far away from the cutter tip, the lower part of a waterline is diffused and the tail flicking is serious, the problem that a workpiece cannot be punctured is caused, the problem is caused most frequently on the surface of the rugged workpiece, meanwhile, the interference between a cutter head and a seal head is easily caused, and the problems of cutter head damage, workpiece damage and the like are caused. Therefore, it is necessary to provide an elliptical head perforating and notching method based on high-pressure water jet.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a method for performing high-quality punching and cutting on an elliptical seal head by using a numerical control five-axis water cutting system, which can effectively avoid the problem of cutting quality caused by uneven surface of a workpiece.
The technical scheme is as follows: the invention relates to a high-pressure water jet based elliptical head perforating and notching method, which comprises the following steps:
(1) a height sensing device is arranged near the five-axis cutter head;
(2) fitting the hole and the split plane track to the surface of the end socket according to an elliptical end socket equation to form a curved track;
(3) combining the curved surface track of the specified thickness layer of the elliptical seal head with the curved surface track of the inner side to obtain the space attitude of the interpolation point and converting the space attitude into an AC rotating shaft angle;
(4) lifting the track along the direction of the spatial attitude, adjusting the distance between the tool bit and the uneven surface of the elliptical seal head by using a height detection device, and feeding the error back to the numerical control system;
(5) the path is modified and compensation is added based on the feedback error.
Further, the method for obtaining the theoretical cutting path in the step (2) comprises the following steps: setting the center of the bottom of the end socket to be (0, 0, 0), assuming that the circle center O of the hole to be cut and the section is (X, y, z), the radius of the hole is R, the radius of the section is L and the thickness of the section is d, rotating the projection of the connecting line of the circle center and the center of the bottom of the end socket on an XY plane to an X axis, and rotating the circle center O1The coordinates are
I.e. a point of the circle on the X-axis after rotation is
Rotating the point by 360 degrees by taking the rotated circle center as the circle center and the Z-axis direction as a normal vector, and interpolating to obtain n points (the larger n is, the more accurate the graph is), wherein the component of each point on the X axis is obtained by calculation:
wherein Vn is the coordinate of the interpolation point, and the range of theta is 0-360 degrees.
Substituting the component into an ellipse standard equation of the end socket to obtain the component of each point on the Z axis; finally, rotating the component of each point on the X axis and the component of each point on the Y axis for a degrees (a is an included angle between the initial circle center and the rotated circle center) along the Z axis to obtain a curved surface path of the hole to be cut and the cut on the surface of the end socket; and obtaining the curved surface track of the hole to be cut at the inner side of the opening and the curved surface track of the opening at the layer with the appointed thickness of the end socket in the same way.
Further, the method for obtaining the spatial attitude of the tool by preprocessing in the step (3) comprises the following steps: and subtracting corresponding positions of the upper-layer track and the lower-layer track according to the obtained surface track and the inner-layer track to obtain a space vector of the cutter head:
T＝(x1-x，y1-y，z1-z)
wherein x1, y1 and z1 are corresponding interpolation points at the upper layer, and x, y and z are corresponding interpolation points at the lower layer;
the rotation angles of the A axis and the C axis at the corresponding points can be obtained through conversion, and the specific method is as follows: firstly, the length of a projection of a connecting line of one interpolation point on the surface and the corresponding interpolation point inside or inside on an XY plane is calculated to be L, the height difference of the two points is compared with the L and subjected to arcsine to obtain an included angle between the cutter body and the XY plane, and then the included angle is converted into a rotation angle of an A axis according to a mathematical model of an AC type cutter head.
The deduced relation between the included angle ang of the cutter body and the XY surface and the rotation angle of the A axis is as follows:
and finally, combining the A-axis rotation angle and the tool nose track to obtain a C-axis rotation angle according to a mathematical model of the AC tool bit, and corresponding each pair of interpolation points to the rotation angle of the AC axis to obtain a theoretical cutting track.
Further, the method for obtaining the deviation between the theoretical cutting point and the actual cutting point on the workpiece in the step (4) comprises the following steps: respectively increasing tx x k/tz, ty x k/tz and k in the direction X, Y, Z of an original cutting path, wherein k is a set safety height; then the numerical control machine tool walks in the air along the raised cutting path, the safety height h between the tool nose and the end enclosure is set, according to the feedback of the height detector, when the horizontal distance between the tool nose point and the plane where the interpolation point is located is less than h, the tool nose rises along the direction of the spatial posture of the tool body, otherwise, the tool nose falls, and the error delta is fed back to the numerical control system.
If the theoretical cut point is P1(x, y, z, c, a), the safe height is z1, and z1> z, the spatial pose at the P1 point is: t ═ (tx, ty, tz), the error P of the modified cut point coordinates P2 from P1 is (tx (z1-z)/tz, ty (z1-z)/tz, z1-z, 0, 0).
Further, the method for modifying the path and adding the compensation according to the feedback error in the step (5) comprises the following steps: according to the feedback error delta, tx delta/tz, ty delta/tz and delta are respectively added in the X, Y, Z direction of each interpolation point of the curved path of the seal head surface; the AC axis is not changed, so that processing is not needed, the final cutting path can be obtained by adding the rotation angles of the cutting path after feedback correction to the original A axis and C axis, and the cutting size is kept unchanged by adding corresponding compensation according to the width of a waterline; corrected coordinates P2(x1, y1, z1, c1, a1) ═ P1(x, y, z, c, a) + P (tx × (z1-z)/tz, ty × (z1-z)/tz, z1-z, 0, 0); compensation is added according to the width of the water line, and the compensated coordinate P3 is P2(x1, y1, z1, c1, a1) + k (tx, ty, tz, 0, 0), wherein tx, ty and tz are space vectors of the knife edge at corresponding points.
Has the advantages that: compared with the prior art, the invention has the following remarkable advantages: the high-quality punching and the cutting of the opening are carried out on the elliptical seal head by utilizing the numerical control five-axis water cutting system, so that the surface smoothness of a workpiece can be ensured, and the cutting quality is ensured.
Drawings
FIG. 1 is a schematic view of the present invention;
FIG. 2 is a schematic view of the present invention showing a partial elliptical head perforation cut.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings.
As shown in fig. 1 to 2, the standard end socket with a nominal diameter of 350mm, a curved surface height of 88mm, a straight edge height of 25mm and a thickness of 6mm is adopted for the elliptical end socket, the surface where AB is located is the outer surface of the end socket, the surface where CD is located is the inner surface of the end socket, the surface where CD is located is the surface of a specified thickness layer, wherein the horizontal distance of the punching diameter AB is D, the widths xA and Bb of the slits are K, the reserved thicknesses cC and dD of the slits are L, and the center of the bottom surface of the end socket is arranged at the zero point of a workpiece of a numerical control machine tool, and the coordinate of the center of the circle is assumed to be.
Calculating the projection length of a connecting line of the circle center and the workpiece origin on the XY plane:
and rotating the point to the positive direction of the X axis, taking the point (len, 0, 0) as the center of a circle, the point (len + D/2, 0, 0) as a point on a circle, and taking the positive direction of the Z axis as a normal vector to rotate, so that an interpolation point can be obtained:
Vn＝(Vnx，Vny，Vnz)＝(len+D/2*cosθ，D/2*sinθ，0)；
where θ is in the range of 0-360 °, Vnz is adjusted to the head surface.
Wherein a and b are respectively the major axis and the minor axis of the outer ellipse.
Then the interpolation point is rotated back to the initial circle center to obtain:
and finally, calculating each interpolation point to obtain the curved surface track of the hole on the surface of the end socket.
And similarly, taking the point (len, 0, 0) as the center of a circle, taking the point (len + D/2+ K, 0, 0) as a point on a circle, taking the positive direction of the Z axis as a normal vector to rotate, and calculating according to the method to obtain the curved surface track of the opening on the surface of the end socket.
Similarly, a point (len, 0, 0) is taken as the center of a circle, a point (len + D/2, 0, 0) is taken as a point on a circle, the rotation is carried out by taking the positive direction of the Z axis as a normal vector, and the rotation is carried out on the point
Wherein a and b are respectively changed into a1 and b1, wherein a1 and b1 are respectively the major axis and the minor axis of the inner ellipse, and the curved surface track of the hole on the inner side surface of the seal head can be obtained by calculation according to the method.
Similarly, a point (len, 0, 0) is taken as the center of a circle, a point (len + D/2, 0, 0) is taken as a point on a circle, the rotation is carried out by taking the positive direction of the Z axis as a normal vector, and the rotation is carried out on the point
Wherein a and b are respectively changed into a1+ L and b1+ L, wherein a1 and b1 are respectively the major axis and the minor axis of the inner ellipse, and the curved surface track of the section of the layer with the appointed thickness of the seal head can be obtained by calculation according to the method.
The punching of the end socket does not need to calculate the space vector of the interpolation point, so that the end socket only needs to be lifted by 10mm of safe height along the positive direction of the Z axis; subtracting the interpolation points (x, y, z) of the section track of the specified thickness layer of the end socket from the interpolation points (x1, y1, z1) in the section track of the surface of the end socket to obtain a space vector of the tool bit at each interpolation point as follows:
T＝(Tx，Ty，Tz)＝(x1-x，y1-y，z1-z)；
and (3) calculating an included angle between the tool bit and the XY plane:
obtaining the rotation angle of the A axis according to the AC tool bit model as follows:
the C-axis rotation angle obtained from the AC tool bit model is:
C＝arccos(ax*ex+ay*ey)*180/π；
wherein ax and ay are respectively unit components in the X-axis direction and the Y-axis direction of a space coordinate where the axle center of the A-axis rotating shaft is located before C-axis rotation, and ex and ey are respectively unit components in the X-axis direction and the Y-axis direction of the space coordinate where the axle center of the A-axis rotating shaft is located after C-axis rotation.
And processing each interpolation point to obtain a curved path of the section as (x1, y1, z1, C, A), and raising the curved path by a safety distance of 10mm along the space vector direction of the cutter head at the corresponding interpolation point, wherein the processed path is (x1+ Tx 10/Tz, y1+ Ty 10/Tz, z1+10, C, A).
And sending the processed cutting path to a numerical control machine tool for simulation, opening a height detection device, feeding back a difference value d between the concave-convex height of each interpolation point on the surface of the end socket and the set safety height to the numerical control system by the numerical control machine tool, processing the paths of the corresponding interpolation points in the X direction-Tx X d/Tz, the Y direction-Ty X d/Tz, the Z direction-d and the CA rotating shaft without processing, and finally compensating the paths according to the width of a waterline to obtain the final real cutting path.
Claims (5)
1. An elliptical seal head punching and splitting method based on high-pressure water jet is characterized by comprising the following steps:
(1) mounting a height sensing device on the five-axis tool bit;
(2) fitting the hole and the split plane track to the surface of the end socket according to an elliptical end socket equation to form a curved track;
(3) combining the curved surface track of the specified thickness layer of the elliptical seal head with the curved surface track of the inner side to obtain the space attitude of the interpolation point and converting the space attitude into an AC rotating shaft angle;
(4) lifting the track along the direction of the spatial attitude, adjusting the distance between the tool bit and the uneven surface of the elliptical seal head by using a height detection device, and feeding the error back to the numerical control system;
(5) the path is modified and compensation is added based on the feedback error.
2. The elliptical head perforating and notching method based on high-pressure water jet as claimed in claim 1, wherein the method for obtaining the theoretical cutting path in the step (2) is as follows: setting the center of the bottom of the end socket to be (0, 0, 0), assuming that the circle center O of the hole to be cut and the section is (X, y, z), the radius of the hole is R, the radius of the section is L and the thickness of the section is d, rotating the projection of the connecting line of the circle center and the center of the bottom of the end socket on an XY plane to an X axis, and rotating the circle center O1The coordinates are
I.e. a point of the circle on the X-axis after rotation is
Rotating the point by 360 degrees by taking the rotated circle center as the circle center and the Z-axis direction as a normal vector, and interpolating to obtain n points (the larger n is, the more accurate the graph is), wherein the component of each point on the X axis is obtained by calculation:
wherein Vn is the coordinate of the interpolation point, and theta ranges from 0 degree to 360 degrees;
substituting the component into an ellipse standard equation of the end socket to obtain the component of each point on the Z axis; finally, rotating the component of each point on the X axis and the component of each point on the Y axis for a degrees (a is an included angle between the initial circle center and the rotated circle center) along the Z axis to obtain a curved surface path of the hole to be cut and the cut on the surface of the end socket; and obtaining the curved surface track of the hole to be cut at the inner side of the opening and the curved surface track of the opening at the layer with the appointed thickness of the end socket in the same way.
3. The elliptical head perforating and notching method based on high-pressure water jet as claimed in claim 1, characterized in that the method for obtaining the spatial attitude of the cutter by preprocessing in the step (3) is: and subtracting corresponding positions of the upper-layer track and the lower-layer track according to the obtained surface track and the inner-layer track to obtain a space vector of the cutter head:
T＝(x1-x，y1-y，z1-z)
wherein x1, y1 and z1 are corresponding interpolation points at the upper layer, and x, y and z are corresponding interpolation points at the lower layer;
the rotation angles of the A axis and the C axis at the corresponding points can be obtained through conversion, and the specific method is as follows: firstly, solving the projection length of a connecting line of an interpolation point on the surface and a corresponding interpolation point inside or inside on an XY plane as L, comparing the height difference of the two points with the L and performing arcsine to obtain the included angle between the cutter body and the XY plane, and converting the included angle into the rotation angle of an A axis according to a mathematical model of an AC type cutter head;
the deduced relation between the included angle ang of the cutter body and the XY surface and the rotation angle of the A axis is as follows:
and finally, combining the A-axis rotation angle and the tool nose track to obtain a C-axis rotation angle according to a mathematical model of the AC tool bit, and corresponding each pair of interpolation points to the rotation angle of the AC axis to obtain a theoretical cutting track.
4. The elliptical head perforating and notching method based on high-pressure water jet as claimed in claim 1, characterized in that the method for obtaining the deviation of the theoretical cutting point and the actual cutting point on the workpiece in the step (4) is: respectively increasing tx x k/tz, ty x k/tz and k in the direction X, Y, Z of an original cutting path, wherein k is a set safety height; then the numerical control machine tool walks in the air along the lifted cutting path, the safety height h between the tool nose and the end enclosure is set, according to the feedback of the height detector, when the horizontal distance between the tool nose point and the plane where the interpolation point is located is less than h, the tool nose rises along the direction of the spatial posture of the tool body, otherwise, the tool nose falls, and the error delta is fed back to the numerical control system;
if the theoretical cut point is P1(x, y, z, c, a), the safe height is z1, and z1> z, the spatial pose at the P1 point is: t ═ (tx, ty, tz), the error P of the modified cut point coordinates P2 from P1 is (tx (z1-z)/tz, ty (z1-z)/tz, z1-z, 0, 0).
5. The elliptical head perforating and notching method based on high-pressure water jet as claimed in claim 1, wherein the method of modifying the path and adding compensation according to the feedback error in the step (5) is: according to the feedback error delta, tx delta/tz, ty delta/tz and delta are respectively added in the X, Y, Z direction of each interpolation point of the curved path of the seal head surface; the AC axis is not changed, so that processing is not needed, the final cutting path can be obtained by adding the rotation angles of the cutting path after feedback correction to the original A axis and C axis, and the cutting size is kept unchanged by adding corresponding compensation according to the width of a waterline; corrected coordinates P2(x1, y1, z1, c1, a1) ═ P1(x, y, z, c, a) + P (tx × (z1-z)/tz, ty × (z1-z)/tz, z1-z, 0, 0); compensation is added according to the width of the water line, and the compensated coordinate P3 is P2(x1, y1, z1, c1, a1) + k (tx, ty, tz, 0, 0), wherein tx, ty and tz are space vectors of the knife edge at corresponding points.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114131093A (en) * | 2021-12-21 | 2022-03-04 | 一重集团大连核电石化有限公司 | Numerical control machining method for multi-type large-diameter hollow indirect pipe hole in ultra-large end socket |
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| CN114131093A (en) * | 2021-12-21 | 2022-03-04 | 一重集团大连核电石化有限公司 | Numerical control machining method for multi-type large-diameter hollow indirect pipe hole in ultra-large end socket |
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