CN117583897B - Main shaft turning mode and milling mode conversion system and control method - Google Patents

Main shaft turning mode and milling mode conversion system and control method Download PDF

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Publication number
CN117583897B
CN117583897B CN202410069079.7A CN202410069079A CN117583897B CN 117583897 B CN117583897 B CN 117583897B CN 202410069079 A CN202410069079 A CN 202410069079A CN 117583897 B CN117583897 B CN 117583897B
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turning
main shaft
milling
spindle
data
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CN117583897A (en
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农乃昌
杨丹群
李存杰
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Aibeike Precision Industry Huizhou Co ltd
Shenzhen Aibeike Precision Industry Co ltd
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Aibeike Precision Industry Huizhou Co ltd
Shenzhen Aibeike Precision Industry Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
    • B23P23/02—Machine tools for performing different machining operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/0009—Energy-transferring means or control lines for movable machine parts; Control panels or boxes; Control parts
    • 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
    • G05B19/406—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 monitoring or safety

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  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Optics & Photonics (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)

Abstract

The application provides a main shaft turning mode and milling mode conversion system and a control method, wherein turning conversion history monitoring data of a main shaft of a machine tool is obtained by starting mode conversion monitoring of the main shaft of the machine tool, then a main shaft turning clearance sequence and a main shaft turning speed sequence are determined, then corresponding conversion error convergence factors are extracted according to a main shaft turning asynchronous stay value set, further a main shaft position deviation steady state coefficient is determined according to the conversion error convergence factors and a main shaft turning synchronous stay value set, turning data and turning rotation data are determined according to the main shaft turning speed sequence, main shaft turning vibration quantity is determined through the turning data and the turning rotation data, further a main shaft turning blade tilting amplitude moving value is determined according to the main shaft turning blade tilting amplitude moving value, and the relative positions of a cutter and a workpiece in main shaft turning and milling mode conversion are dynamically adjusted, so that track tracking during dynamic adjustment of the relative positions in main shaft turning conversion is realized.

Description

Main shaft turning mode and milling mode conversion system and control method
Technical Field
The application relates to the technical field of machine tool spindle control, in particular to a spindle turning mode and milling mode conversion system and a control method.
Background
The main shaft of machine tool is the shaft for driving workpiece or tool to rotate, and is composed of main shaft, bearing and driving part (gear or pulley), etc. it is mainly used to support driving parts such as gear and pulley, and to transfer motion and torque, such as main shaft of machine tool, and some of them are used to clamp workpiece, such as spindle, except for the machine tools whose main motion is linear motion, the motion precision and structural rigidity of main shaft are important factors for determining processing quality and cutting efficiency, and the main shaft control of machine tool is a key technique in manufacturing industry, and the included technical fields include numerical control technique, motion control technique, closed loop feedback system and tool technique, etc. it is involved in accurately, flexibly and controllably operating main shaft of machine tool to implement various processing tasks.
The turning and milling of the main shaft are two common metal processing modes, namely a processing mode for removing materials by rotating a workpiece and using a cutting tool to move on the workpiece, the milling is a processing mode for removing materials by cutting a cutter tooth of the cutter into the surface of the workpiece through a rotating cutter, the switching control of the turning and milling of the main shaft involves the mutual switching of the turning mode and the milling mode of the machine tool through adjusting parameters of the machine tool, a tool cutter, a clamping device and the like, the control of the switching of the turning mode and the milling mode of the machine tool through corresponding switching programs, selecting correct cutter installation, adjusting the clamping device, modifying a numerical control program to adapt to the methods of different processing modes and the like, and in the prior art, when the relative positions of the cutter and the workpiece are shifted in the switching of the turning mode and the milling mode of the main shaft, the position of the cutter is usually adjusted relative to the workpiece through the action track of the main shaft and a feeding shaft, but different frequency vibration is generated between the cutter and the workpiece during the switching, the adjustment interference of the position shift is large, and the track tracking capability during the dynamic adjustment of the relative position of the main shaft is low.
Disclosure of Invention
The application provides a system and a control method for converting a main shaft turning mode and a milling mode, which can realize track tracking during dynamic adjustment of relative positions in main shaft turning and milling conversion.
In order to solve the technical problems, the application adopts the following technical scheme:
in a first aspect, the present application provides a method for controlling conversion between a spindle turning mode and a milling mode, including the steps of:
starting mode conversion monitoring of a machine tool spindle to obtain turning and milling conversion history monitoring data of the machine tool spindle;
determining a main shaft rotation clearance sequence and a main shaft rotation speed sequence according to the turning and milling conversion history monitoring data of the main shaft of the machine tool;
determining a main shaft turning and milling synchronous stay value set and a main shaft turning and milling asynchronous stay value set through the main shaft turning and milling clearance sequence, extracting a corresponding conversion error convergence factor according to the main shaft turning and milling asynchronous stay value set, and further determining a main shaft position deviation steady-state coefficient through the conversion error convergence factor and the main shaft turning and milling synchronous stay value set;
determining turning data and turning data according to the main shaft rotation speed sequence, determining main shaft turning vibration quantity according to the turning data and the turning data, and further determining a main shaft turning blade tilting value according to the main shaft position deviation steady state coefficient and the main shaft turning vibration quantity;
And dynamically adjusting the relative positions of the cutter and the workpiece in the spindle turning and milling mode conversion according to the spindle turning and milling blade tilting amplitude dynamic value.
In some embodiments, determining a spindle turning gap sequence from the turning transition history monitoring data of the machine tool spindle specifically includes:
determining the turning deflection degree of a turning cutting edge according to turning conversion history monitoring data of the machine tool spindle;
determining a main shaft gyration time slot factor in turning-milling conversion;
and determining main shaft revolution gap data according to the turning and milling blade cutting deflection degree and the main shaft revolution time slot factor, and further determining a main shaft revolution gap sequence.
In some embodiments, determining a set of spindle turn-milling synchronous dwell values from the sequence of spindle turning gaps specifically includes:
acquiring the maximum value of the main shaft revolution gap data in the main shaft revolution gap sequence;
determining the main shaft stay abnormality degree during main shaft turning and milling conversion;
and determining a main shaft turning and milling synchronous stay value set according to the maximum value of the main shaft turning gap data and the main shaft stay abnormality during main shaft turning and milling conversion.
In some embodiments, determining a set of spindle turn-milling asynchronous dwell values from the sequence of spindle turning gaps specifically includes:
Obtaining the maximum value of the main shaft rotation gap data;
acquiring the main shaft stay anomaly degree during main shaft turning-milling conversion;
determining a main shaft turning gap concentration degree in the main shaft turning gap sequence;
and determining a main shaft turning asynchronous stay value set according to the maximum value of the main shaft turning clearance data, the main shaft stay abnormality degree during main shaft turning conversion and the main shaft turning clearance concentration degree.
In some embodiments, the set of spindle turn-down asynchronous dwell values includes a positive turn-down dwell flag coefficient and a negative turn-down dwell flag coefficient.
In some embodiments, dynamically adjusting the relative position of the tool to the workpiece in the spindle turning and milling mode transition includes adjusting tool position and operating parameters based on real-time sensor data and predefined rules.
In a second aspect, the present application provides a spindle turning mode and milling mode switching system, including a turning and milling cutter control unit, the turning and milling cutter control unit including:
the acquisition module is used for acquiring turning and milling conversion history monitoring data of the machine tool spindle after the mode conversion monitoring of the machine tool spindle is started;
the conversion module is used for determining a main shaft rotation gap sequence and a main shaft rotation speed sequence according to the turning and milling conversion history monitoring data of the main shaft of the machine tool;
The extraction module is used for determining a main shaft turning and milling synchronous retention value set and a main shaft turning and milling asynchronous retention value set through the main shaft turning and milling gap sequence, extracting a corresponding conversion error convergence factor according to the main shaft turning and milling asynchronous retention value set, and further determining a main shaft position deviation steady-state coefficient through the conversion error convergence factor and the main shaft turning and milling synchronous retention value set;
the determining module is used for determining turning data and turning data according to the main shaft rotation speed sequence, determining main shaft turning vibration quantity according to the turning data and the turning data, and further determining main shaft turning blade tilting amplitude dynamic value according to the main shaft position deviation steady state coefficient and the main shaft turning vibration quantity;
and the control module is used for dynamically adjusting the relative position of the cutter and the workpiece in the spindle turning and milling mode conversion according to the spindle turning and milling blade tilting amplitude dynamic value.
In a third aspect, the present application provides a computer apparatus comprising a memory storing code and a processor configured to obtain the code and to perform the spindle turning mode and milling mode switching control method described above.
In a fourth aspect, the present application provides a computer readable storage medium storing a computer program which when executed by a processor implements the spindle turning mode and milling mode switching control method described above.
The technical scheme provided by the embodiment of the application has the following beneficial effects:
according to the system and the method for converting the main shaft turning mode and the milling mode, the main shaft turning clearance sequence and the main shaft turning speed sequence are determined to predict the dynamic response of the main shaft, so that the recognition of the motion trail of a cutter and a workpiece in the dynamic adjustment process in the main shaft turning mode conversion is facilitated, the accuracy of control parameters for adjusting the turning mode conversion is improved through the determination of the main shaft turning synchronous stay value set and the main shaft turning asynchronous stay value set, the fluctuation degree of the cutter motion trail in the main shaft mode conversion is reduced, the deviation of the inclination angle of the cutter pose in the main shaft turning mode conversion is determined to change the influence of the dynamic adjustment on the cutter motion trail in the main shaft turning mode conversion, the influence of the cutter vibration in the turning mode conversion is reduced, finally the quality and the efficiency of the turning processing are optimized through reducing the vibration of the cutter cutting workpiece surface in the main shaft turning mode conversion and improving the adjustment efficiency of the dynamic change in the cutting process, the relative position between the main shaft turning and the milling cutter is ensured to meet the expected relative position through real-time calculation and adjustment of a dynamic adjustment algorithm by monitoring sensor data in real time, and the relative position between the main shaft turning and the milling cutter can be adapted to different final conditions in the intelligent relative adjustment of the main shaft turning position in the conversion.
Drawings
FIG. 1 is an exemplary flow chart of a spindle turning mode and milling mode transition control method according to some embodiments of the present application;
FIG. 2 is a schematic diagram of an exemplary flow of extracting a conversion error convergence factor according to some embodiments of the application;
FIG. 3 is an exemplary flow chart for determining turn-to-mill data and turn-to-mill data according to some embodiments of the present application;
FIG. 4 is a schematic diagram of exemplary hardware and/or software of an milling cutter control unit shown according to some embodiments of the present application;
fig. 5 is a schematic structural view of a computer apparatus implementing a spindle turning mode and milling mode switching control method according to some embodiments of the present application.
Detailed Description
The method comprises the steps of acquiring turning and milling conversion history monitoring data of a machine tool spindle through starting mode conversion monitoring of the machine tool spindle, determining a spindle turning clearance sequence and a spindle turning speed sequence according to the turning and milling conversion history monitoring data of the machine tool spindle, determining a spindle turning synchronous stay value set and a spindle turning asynchronous stay value set through the spindle turning clearance sequence, extracting corresponding conversion error convergence factors according to the spindle turning asynchronous stay value set, further determining a spindle position deviation steady state coefficient according to the conversion error convergence factors and the spindle turning synchronous stay value set, determining turning and milling data according to the spindle turning speed sequence, determining spindle turning vibration quantity according to the turning and milling fixed cutting data and the turning and milling vibration quantity, further determining a spindle turning edge tilting amplitude value through the spindle position deviation steady state coefficient and the spindle turning vibration quantity, and dynamically adjusting the relative positions of a cutter and a workpiece in spindle turning and milling mode conversion according to the spindle turning edge tilting amplitude value so as to achieve track tracking when the relative positions are dynamically adjusted in spindle turning and milling conversion.
In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments. Referring to fig. 1, which is an exemplary flowchart of a spindle turning mode and milling mode switching control method according to some embodiments of the present application, the spindle turning mode and milling mode switching control method 100 mainly includes the steps of:
in step 101, mode switching monitoring of a machine tool spindle is started, and turning-milling switching history monitoring data of the machine tool spindle is obtained.
In particular, in the present application, the mode conversion monitoring of the machine tool spindle may be a machine tool spindle position feedback monitoring device, which is not limited herein, and in this step, after the mode conversion monitoring of the machine tool spindle is started, the machine tool spindle position feedback monitoring device may collect and record relevant data before and after the turning mode and the milling mode of the machine tool spindle within one month, and use the data as turning-milling conversion history monitoring data and store the turning-milling conversion history monitoring data in the data storage unit, and read the turning-milling conversion history monitoring data by directly accessing the memory address.
It should be noted that, in the present application, the turn-milling conversion history monitoring data includes spindle load data, spindle position data, rotational speed data in a spindle turn-milling mode, vibration data in the spindle turn-milling mode, cutting force data in the spindle turn-milling mode, and the like, and the turn-milling conversion history monitoring data is used for reflecting dynamic track change conditions in spindle turn-milling and turn-milling mode conversion.
In step 102, a spindle turning clearance sequence and a spindle turning speed sequence are determined according to the turning and milling conversion history monitoring data of the machine tool spindle.
In some embodiments, determining a spindle turning gap sequence from the turning transition history monitoring data of the machine tool spindle may be accomplished by:
determining the turning deflection degree of a turning cutting edge according to turning conversion history monitoring data of the machine tool spindle;
determining a main shaft gyration time slot factor in turning-milling conversion;
and determining main shaft revolution gap data according to the turning and milling blade cutting deflection degree and the main shaft revolution time slot factor, and further determining a main shaft revolution gap sequence.
When the method is specifically implemented, the turning edge cutting deflection degree is determined through the turning conversion history monitoring data of the machine tool spindle, namely spindle position data in the turning conversion history monitoring data of the machine tool spindle is read, an average value of the spindle position data is calculated, the average value is taken as a spindle edge cutting deflection center, and a difference value obtained by subtracting each numerical value in the spindle position data from the spindle edge cutting deflection center is taken as the corresponding turning edge cutting deflection degree; determining a main shaft revolution time slot factor in turning and milling conversion, namely acquiring the time required by converting a main shaft turning mode into a milling mode and the main shaft position angle of a main shaft relative to the main shaft in the turning mode in the milling mode, dividing the main shaft position angle by the time required by converting the main shaft turning mode into the milling mode to obtain the main shaft revolution time slot factor in turning and milling conversion, converting the main shaft revolution time slot factor into 0-1 by normalization, multiplying each edge cutting deflection degree by the main shaft revolution time slot factor in turning and milling conversion to obtain main shaft revolution gap data, repeating the steps to obtain all main shaft revolution gap data, and arranging all the main shaft revolution gap data in a sequence from small to large to obtain a main shaft revolution gap sequence.
In the turning mode conversion process, the turning edge cutting deflection degree refers to an offset angle of a cutting position of a tool on a spindle relative to an ideal track, the ideal position refers to an accurate angle of turning and milling of the tool in the turning process, the spindle edge cutting deflection center refers to an average value of angle differences between the spindle edge cutting angle and the spindle edge cutting angle converted to the milling mode in each turning mode, the spindle rotation time slot factor refers to a centralized trend of the cutting angle of the tool in the spindle edge cutting mode conversion in the turning mode conversion process, the spindle rotation time slot factor refers to factors such as response speed of a control system, inertia, friction and the like in the turning mode conversion process, a certain time lag or delay exists between actual spindle motion and expected spindle motion, the control parameter of the spindle rotation time slot factor is determined, the control parameter of the spindle turning conversion process is adjustable, so that influence of time lag on the turning conversion process is reduced, the spindle rotation clearance sequence refers to clearance or deviation between actual spindle motion and expected motion when the spindle is converted to the turning mode of a machine tool spindle, and the spindle rotation clearance directly influences track tracking of the spindle in the spindle conversion process.
In some embodiments, determining a spindle revolution speed sequence from the turn-to-mill conversion history monitoring data of the machine tool spindle may be accomplished by:
determining turning and milling spindle alternation data according to the turning and milling conversion history monitoring data of the machine tool spindle;
determining a main shaft gyration speed change factor in turning and milling conversion;
and determining spindle rotation speed data according to the turning and milling spindle alternating data and the spindle rotation speed change factor, and further determining a spindle rotation speed sequence.
In specific implementation, the turning and milling spindle alternation data is determined according to the turning and milling conversion history monitoring data of the machine tool spindle, in some embodiments, the relative displacement of the tool and the workpiece can be monitored by a displacement sensor in the prior art, the rotation angle of the one-time turning and milling tool and the rotation angle of the workpiece are measured, the turning and milling tool rotation angle and the workpiece rotation angle are differenced to obtain first turning and milling spindle alternation data, the steps are repeated to obtain all the turning and milling spindle alternation data, and in other embodiments, the turning and milling spindle alternation data can be determined by other methods, and the method is not limited herein; determining a main shaft rotation speed change factor in turning and milling conversion, performing curve fitting according to speed-angle change data of a main shaft rotation tool and a workpiece during mode switching to obtain a main shaft rotation speed change curve, further selecting the speed on the curve corresponding to the angle at equal angle intervals, obtaining the derivative of a speed point corresponding to the angle, and performing normalization processing to obtain the main shaft rotation speed change factor, wherein the main shaft rotation speed change factor is a number between 0.1 and 0.9, and can be determined according to the rotation angle of the turning and milling tool and the rotation angle of the workpiece, for example: in this embodiment, 0.85 is selected as the spindle slewing gear shift factor; multiplying the first turning and milling spindle alternating data by a spindle rotation speed change factor to obtain first spindle rotation speed data, repeating the steps to obtain all spindle rotation speed data, and arranging all spindle rotation speed data from small to large to obtain a spindle rotation speed sequence.
In this step, the turning spindle alternation data refers to a rotation gradual change angle of the turning tool relative to the surface of the workpiece when the turning spindle is turned over, the spindle rotation speed change factor refers to a speed delay adjustment amount generated when the turning mode of the spindle is switched over during turning over, the spindle rotation speed data refers to a hysteresis degree generated between a rotation change angle of the tool and a change angle of the workpiece rotation change and a time required for turning a certain angle when the turning mode of the spindle is switched over, and the greater the spindle rotation speed data, the more difficult is tracking the track during dynamic adjustment during spindle switching.
In addition, the main shaft rotation clearance sequence and the main shaft rotation speed sequence are determined, so that the dynamic response of the main shaft can be predicted more accurately, and the recognition of the motion trail of a cutter and a workpiece during dynamic adjustment in the main shaft turning and milling mode conversion is facilitated.
In step 103, a main shaft turning and milling synchronous retention value set and a main shaft turning and milling asynchronous retention value set are determined through the main shaft turning and milling gap sequence, corresponding conversion error convergence factors are extracted according to the main shaft turning and milling asynchronous retention value set, and then main shaft position deviation steady state coefficients are determined through the conversion error convergence factors and the main shaft turning and milling synchronous retention value set.
In some embodiments, determining the set of spindle turn-milling synchronous dwell values and the set of spindle turn-milling asynchronous dwell values from the sequence of spindle turning gaps may be accomplished by:
acquiring the maximum value of the main shaft revolution gap data in the main shaft revolution gap sequence;
determining the main shaft stay abnormality degree during main shaft turning and milling conversion;
determining a main shaft turning and milling synchronous stay value set according to the maximum value of the main shaft turning and milling gap data and the main shaft stay abnormality during main shaft turning and milling conversion;
determining a main shaft turning gap concentration degree in the main shaft turning gap sequence;
and determining a main shaft turning asynchronous stay value set according to the maximum value of main shaft turning gap data in the main shaft turning gap sequence, the main shaft stay anomaly degree during main shaft turning conversion and the main shaft turning gap concentration degree.
In particular, determining the main shaft stopping anomaly degree during main shaft turning and milling conversion, in some embodiments, calculating the ratio of the average value of all edge cutting angles of a cutter relative to a workpiece in a turning mode to the average value of the edge cutting angles of the cutter relative to the workpiece in a milling mode, taking the obtained result as the main shaft stopping anomaly degree during main shaft turning and milling conversion, dividing the maximum value of main shaft turning gap data by the maximum value of main shaft turning gap data in a main shaft turning gap sequence after making a difference with the main shaft stopping anomaly degree during main shaft turning and milling conversion, dividing by the maximum value of main shaft turning gap data in the main shaft turning gap sequence to obtain a first main shaft turning synchronous stopping value, continuously determining a second main shaft turning synchronous stopping value, repeating the steps to obtain all main shaft turning synchronous stopping values, and determining a main shaft turning synchronous stopping value set by all main shaft turning synchronous stopping values; determining the main shaft turning gap concentration degree in the main shaft turning gap sequence, namely taking the average value of all main shaft turning gap data in the main shaft turning gap sequence as the main shaft turning gap concentration degree in the main shaft turning gap sequence, dividing the result of difference between the maximum value of the main shaft turning gap data and the main shaft stopping anomaly degree by the main shaft turning gap concentration degree in the main shaft turning gap sequence and multiplying the result by the reciprocal of the first main shaft turning gap data in the main shaft turning gap sequence to obtain a first main shaft turning asynchronous stopping value, continuously determining a second main shaft turning asynchronous stopping value, repeating the steps to obtain all main shaft turning asynchronous stopping values, and taking all main shaft turning asynchronous stopping values as a main shaft turning asynchronous stopping value set.
It should be noted that, in the present application, the set of synchronous stay values of spindle turning indicates the degree of synchronization of the switching change of the tool and the workpiece after the spindle responds to the switching signal in the turning mode switching, the greater the synchronous stay value of spindle turning, the better the coordination capability of the tool and the workpiece in the spindle turning mode switching, i.e. the higher the precision of machining after the turning mode switching, the set of asynchronous stay values of spindle turning indicates the degree of variation of the switching change of the tool and the workpiece after the spindle responds to the switching signal in the turning mode switching, i.e. the switching speed of the tool leads or lags the switching speed of the workpiece in the switching process, the greater the degree of variation indicates the more obvious the switching dyssynchrony of the tool and the workpiece in the spindle turning switching process, the degree of fluctuation generated in the actual motion of the spindle in the turning mode switching process reflects the dynamic stability of the spindle in the switching of the turning mode when the spindle is performed in the turning process when the spindle is performed in the turning mode, and the concentration degree of the spindle turning clearance in the spindle turning clearance sequence indicates the dynamic stability and the consistency when the spindle is switched in the turning mode.
Preferably, in some embodiments, reference is made to fig. 2, which is a schematic flow chart illustrating an exemplary process for extracting a conversion error convergence factor according to some embodiments of the present application, where the extraction of the conversion error convergence factor may be implemented by the following steps:
In step 1031, determining a corresponding transition delay amount by the spindle revolution gap sequence;
in step 1032, determining a positive turn-milling stop-marking coefficient and a negative turn-milling stop-marking coefficient according to the set of spindle turn-milling asynchronous stop values;
in step 1033, determining a dwell error amount from the set of spindle turn-milling asynchronous dwell values;
in step 1034, a conversion error convergence factor is determined according to the conversion delay amount corresponding to the main shaft turning gap sequence, the positive turn-milling stop flag coefficient, the negative turn-milling stop flag coefficient, and the stop error amount of the main shaft turn-milling asynchronous stop value set.
In particular, when the method is implemented, the corresponding conversion delay amount is determined through the main shaft rotation gap sequence, in some embodiments, the average number of all main shaft rotation gap data in the main shaft rotation gap sequence is used as conversion delay center data, the conversion delay center is a data center in the main shaft rotation gap sequence, all the main shaft rotation gap data are traversed, the ratio, namely the duty ratio, of the main shaft rotation gap data which is greater than or equal to the conversion delay center data to the sum of the data in the main shaft rotation gap sequence is calculated, and the duty ratio is used as the conversion delay amount corresponding to the main shaft rotation gap sequence; determining a positive turn-milling retention mark coefficient and a negative turn-milling retention mark coefficient according to the main shaft turn-milling asynchronous retention value set, wherein in some embodiments, all data of which main shaft turn-milling asynchronous retention value set is smaller than a main shaft turn-milling asynchronous retention value set average value are used as negative turn-milling retention data, a result of dividing corresponding average value and standard deviation in the negative turn-milling retention data is used as a negative turn-milling retention mark coefficient, all data of which main shaft turn-milling asynchronous retention value set is larger than the main shaft turn-milling asynchronous retention value set average value are used as positive turn-milling retention data, a result of dividing corresponding average value and standard deviation in the positive turn-milling retention data is used as a positive turn-milling retention mark coefficient, and in other embodiments, positive turn-milling retention mark coefficient and negative turn-milling retention mark coefficient can be determined by other methods without limitation; determining a stay error amount by the main shaft turning and milling asynchronous stay value set, namely taking the reciprocal of the average number of main shaft turning and milling asynchronous stay values in the main shaft turning and milling asynchronous stay value set as the stay error amount, and determining a conversion error convergence factor according to the conversion delay amount corresponding to the main shaft turning and milling clearance sequence, the positive turning and milling stay mark coefficient, the negative turning and milling stay mark coefficient and the stay error amount of the main shaft turning and milling asynchronous stay value set, wherein the conversion error convergence factor can be determined by the following formula:
Wherein,representing the conversion error convergence factor, +.>Indicating the amount of dwell error for the main shaft milling asynchronous dwell value set +.>Indicating the corresponding transition delay amount of the main shaft revolution gap sequence, < >>Indicating the forward turn-milling dwell index +.>Indicating the negative turn-milling stop sign coefficient, +.>The average value of the spindle revolution gap data is shown.
It should be noted that, in the present application, the conversion error convergence factor refers to a parameter for measuring static deformation of the cutting edge in the cutting region during the milling and turning conversion, the smaller the conversion error convergence factor is, the smaller the deformation of the cutting edge in the cutting region is, otherwise, the larger the deformation is, the larger the conversion delay amount corresponding to the spindle turning gap sequence in this step is, the greater the conversion delay amount is, the greater the gap in the spindle conversion is, the greater the swing amplitude of the spindle tool motion track is, the more unstable the spindle turning is, the stay error amount of the spindle turning asynchronous stay value set is, the average level of the stay angle difference between the tool and the workpiece after the turning mode conversion is completed, the positive turning stay mark coefficient and the negative turning stay mark coefficient are, the difference value between the workpiece rotation angle and the tool rotation angle in the spindle turning asynchronous stay is, and the smaller the difference value is, the dynamic adjustment of the spindle turning conversion tends to be forward, that is, the greater the accuracy is, and the lower the accuracy is.
In some embodiments, determining the spindle offset steady state coefficient from the conversion error convergence factor and the spindle turn-milling synchronous dwell value set may be accomplished by:
determining synchronous stay polymerization amount of the main shaft turning and milling synchronous stay value set;
determining the milling cutting bit deviation according to the synchronous stay polymerization amount;
determining a spindle bit offset steady state coefficient according to the conversion error convergence factor and the milling bit offset, wherein the spindle bit offset steady state coefficient can be determined by the following formula:
wherein,representing the steady state coefficient of the spindle head +.>Indicate->The corresponding +.>Turning milling cutting bit deviation of synchronous stay value of turning milling of each main shaft, < >>Representing the conversion error convergence factor, +.>Indicate->Main shaft vehicleMilling synchronization dwell value corresponding to ∈th>And (5) rotating time of the main shaft.
In the specific implementation, the result of adding all the spindle turning synchronous stay values in the spindle turning synchronous stay value set is used as synchronous stay polymerization amount, the first spindle turning synchronous stay value in the spindle turning synchronous stay value set is multiplied by the variance of the spindle turning synchronous stay value and divided by the first spindle turning clearance data, the obtained result is used as first turning cutting clearance deviation, the second spindle turning synchronous stay value in the spindle turning synchronous stay value set is multiplied by the variance of the spindle turning synchronous stay value and divided by the second spindle turning clearance data, the obtained result is used as second turning cutting clearance deviation, the steps are repeated to obtain all the turning cutting clearance deviations, and each spindle turning synchronous stay value corresponds to the time of one spindle turning, namely, the time difference between the beginning and the end of each spindle turning.
It should be noted that, in the present application, the spindle bias steady state coefficient refers to a parameter of static cutting stability in spindle turning mode conversion, and is used for dynamically adjusting the feeding static stability of a cutter in the turning mode conversion, the synchronous stay and aggregation amount of the spindle turning synchronous stay value set in this step refers to the sum of all spindle turning synchronous stay values, reflects the total length of spindle rotation time in spindle turning synchronous rotation, and the turning cutting bias refers to the deviation of the angle of the inclined pose of the cutter in the turning mode conversion process, and the smaller the deviation of the angle of the inclined pose of the cutter is, the smaller the fluctuation of the movement track of the cutter after the turning mode is switched.
In addition, it should be noted that, the determination of the main shaft turning and milling synchronous stay value set and the main shaft turning and milling asynchronous stay value set is helpful for adjusting the control parameters of turning and milling mode conversion, improving the response speed and stability of the system, reducing the processing error, reducing the fluctuation degree of the tool motion track during the main shaft mode conversion, and determining the main shaft position deviation steady state coefficient can adjust the deviation of the tool pose inclination angle during the main shaft turning and milling mode conversion, so as to change the influence of dynamic adjustment on the tool motion track during the main shaft conversion.
In step 104, turning data and turning data are determined according to the spindle rotation speed sequence, spindle turning vibration quantity is determined according to the turning data and the turning data, and spindle turning blade tilting amplitude value is determined according to the spindle position deviation steady state coefficient and the spindle turning vibration quantity.
Preferably, in some embodiments, reference is made to fig. 3, which is an exemplary flowchart for determining turn-to-mill data and turn-to-mill data in some embodiments of the present application, where determining turn-to-mill data and turn-to-mill data may be accomplished using the following steps:
in step 1041, spindle revolution speed data in the spindle revolution speed sequence is obtained;
in step 1042, determining a main shaft rotation fixing point according to the main shaft rotation speed data;
in step 1043, determining a turning and turning fixed cutting sequence and a turning and turning cutting sequence according to the spindle rotation speed data in the spindle rotation speed sequence and the spindle rotation position;
in step 1044, determining a main shaft revolution step-in coefficient;
in step 1045, determining turning data according to the turning sequence and the spindle turning step coefficient;
In step 1046, turning and turning data is determined from the turning and turning sequence and the spindle turning step coefficient.
When the method is specifically implemented, a main shaft rotation position is determined according to the main shaft rotation speed data, namely, a main shaft rotation speed sequence is divided into a plurality of subsequences, the median value of the main shaft rotation speed data in each subsequence is used as the main shaft rotation position in the subsequence, main shaft rotation speed data higher than the main shaft rotation position in the first subsequence is used as turning-milling rotation cutting data, main shaft rotation speed data lower than the main shaft rotation position is used as turning-milling rotation cutting data, the second subsequence is used for determining the turning-milling rotation cutting data and the turning-milling rotation cutting data, the steps are repeated, the turning-milling rotation cutting data and the turning-milling rotation cutting data of all the subsequences are obtained, the turning-milling rotation cutting data and the turning-milling rotation cutting data are arranged according to an increasing sequence, and the turning-milling rotation cutting sequence is obtained; determining a spindle rotation step factor, in some embodiments by mapping the spindle rotation step speed data and the change angle data into a Cartesian coordinate system, determining a spindle rotation step factor by finding a maximum value of a curve slope in the coordinate system, in this embodiment, the spindle rotation step factor is typically a number between 0.15 and 0.65, for example, setting the spindle rotation step factor to 0.55; and multiplying each turning and turning fixed cutting data in the turning and turning fixed cutting sequence by a main shaft turning step coefficient respectively, wherein the obtained result is used as turning and milling fixed cutting data, and all turning and turning fixed cutting sequences are multiplied by the main shaft turning step coefficient respectively, and the obtained result is used as turning and milling fixed cutting data.
In this step, the turning and turning data refers to a cutting speed of the workpiece by the cutting tool when the position of the cutting tool relative to the workpiece is relatively fixed during the spindle turning and milling, the turning and turning data refers to a cutting speed of the workpiece by the cutting tool when the position of the cutting tool relative to the workpiece is moving during the spindle turning and milling, the spindle fixed rotation point is data for distinguishing a spindle fixed cutting and a turning tool feeding speed, a machining mode of the workpiece which does not move during the machining is fixed cutting, a machining mode of the workpiece which does not move during the machining is turning, a turning and milling fixed cutting sequence is used for reflecting the fluctuation of the cutting flatness of the tool in the spindle fixed cutting mode, and a turning and turning fixed cutting sequence is used for reflecting the fluctuation of the cutting flatness of the tool in the spindle turning mode, and the spindle turning step feeding coefficient refers to a dynamic adjustment parameter of the feeding track change of the cutting speed of the tool during the spindle turning and milling mode conversion.
In some embodiments, determining the spindle turn-milling vibration amount from the turn-milling data and the turn-milling rotation data may be accomplished by:
determining the waviness of the turning and milling data ；
Determining the fluctuation degree of the turning, milling and turning data；
Acquiring the rotation concentration quantity of the main shaft rotation speed sequence；
Obtaining a conversion delay amount corresponding to the main shaft rotation gap sequence；
Acquiring the firstThe corresponding +.>Turning cutting bit deviation of turning milling synchronous stay value of each main shaft>；
Determining a main shaft fixed rotation vibration factor according to the main shaft rotation speed data；
According to the fluctuation degree of the turning and milling dataThe degree of fluctuation of the turning/milling data +.>Rotation concentration amount of the spindle rotation speed sequence +.>Conversion delay amount corresponding to the main shaft revolution gap sequence +.>Said->The corresponding +.>Turning cutting bit deviation of turning milling synchronous stay value of each main shaft>And said spindle revolution speed data determining a spindle fixed spin vibration factor +.>Determining a spindle turning vibration quantity, wherein the spindle turning vibration quantity can be determined by the following formula:
wherein,representing the milling vibration quantity of the main shaft, < >>And the total number of spindle position deviation steady-state coefficients of the spindle turning and milling synchronous residence value set is represented.
Specifically, the inverse of the average value of the turning data is used as the fluctuation degree of the turning data, the standard deviation of the spindle rotation speed data in the spindle rotation speed sequence is used as the rotation concentration amount of the spindle rotation speed sequence, and the result obtained after the inverse of the average value of the spindle rotation speed data is square is used as the spindle rotation vibration factor.
It should be noted that, in the present application, the spindle turning vibration amount refers to the degree of change of the tool path of the spindle vibrating during turning conversion, the fluctuation degree of turning cutting data refers to the degree of stability of the cutting speed during turning conversion, the smaller the fluctuation degree is, the higher the cutting precision of the tool after the spindle turning mode is switched, the smoother the motion path of the tool after the tool is affected by vibration is, the fluctuation degree of turning cutting data refers to the degree of stability of the cutting during turning conversion, the rotation concentration amount of the spindle rotation speed sequence refers to the concentration level of the hysteresis degree generated between the rotation change angle of the tool and the change of the rotation change angle of the workpiece and the time required for rotating by a certain angle when the machine tool performs spindle turning mode conversion, the cutting delay degree during turning mode conversion is reflected, and the spindle rotation setting vibration factor refers to the vibration characteristic parameter of the cutting speed of the tool in a specific rotation setting state of the spindle of the machine tool, and the stability of the cutting workpiece of the spindle tool is represented.
In some embodiments, determining the spindle turning edge tilting amplitude value from the spindle bit offset steady state coefficient and the spindle turning vibration amount may be implemented by:
obtaining the steady state coefficient of the spindle bit offset ；
Obtaining the turning and milling vibration quantity of the main shaft；
Acquiring the first in the main shaft rotation gap sequenceIndividual spindle revolution gap data->；
Acquiring the first rotation speed sequence of the main shaftData of the rotational speed of the individual spindles->；
Acquiring the stay error amount of the main shaft turning and milling asynchronous stay value set；
Acquiring the first in the turn-milling rotary fixed cutting sequencePersonal turn milling turning fixed cutting data +.>；
Acquiring the first in the turn-milling rotary turning sequencePersonal turn milling turning data +.>；
Acquiring the firstThe corresponding spindle turning and milling synchronous stay value is +.>Spindle revolution time->；
According to the main shaft bit offset steady state coefficientThe main shaft turning vibration quantity +.>The>Individual spindle revolution gap data->The>Data of the rotational speed of the individual spindles->The dwell error amount of the spindle milling asynchronous dwell value set +.>The turning and milling rotation cutting sequence is +.>Personal turn milling turning fixed cutting data +.>The turning and milling rotary turning sequence +.>Personal turn milling turning data +.>And said->The corresponding spindle turning and milling synchronous stay value is +.>Spindle revolution time->For determining the spindle turning edge tilting amplitude, as a preferred embodiment, the following formula may be used to determine the spindle turning edge tilting amplitude, namely:
Wherein,representing the tilting amplitude of the spindle turning and milling blade, < + >>Representing spindle returns in all spindle return gap sequencesThe number of data after corresponding summation of spindle revolution speed data in the revolution gap data and spindle revolution speed sequence, < >>Representing the number of spindle turning and milling asynchronous stay values, < + >>，/>Representing the number of synchronous stay values of the spindle turning and milling, < + >>，Indicating the forward turn-milling dwell index +.>Indicating the negative turn-milling stop sign coefficient, +.>Expressed as natural number +.>An exponential function of the base.
In particular, in the above、/>、/>And->The traversing value can be used for determining the tilting amplitude value of the spindle turning and milling blade in the corresponding interval range, different spindle turning and milling blade tilting amplitude values are obtained, the average value of the tilting amplitude values of the spindle turning and milling blade is taken as the final spindle turning and milling tilting amplitude value, and the final spindle turning and milling is realizedThe blade tilting amplitude value reflects the average characteristics of different spindle turning and milling blade tilting amplitude values, so that the relative positions of the cutter and the workpiece in spindle turning and milling mode conversion can be adjusted according to the finally determined spindle turning and milling blade tilting amplitude value.
In some preferred embodiments of the present application, a simplified example is illustrated, e.g., in the above formula、/>、/>And->Randomly selecting a suitable value within its corresponding interval for determining the spindle turning edge tilting amplitude, e.g., +. >The value range of (2) is +.>Wherein->Sequence length representing the sequence of the spindle revolution gap, +.>The value range of (2) is +.>，Representing the number of spindle revolution speed data in the sequence of spindle revolution speeds, said +.>The corresponding spindle turning and milling synchronous stay value is +.>Spindle revolution time->In (I)>The value range of (2) is +.>，/>Indicating the total number of synchronous stay values of the spindle turning and milling, < >>The value range of (2) is +.>，/>Representing the total number of spindle revolution times, the random number generator may generate +.>、/>、/>And->Is a value of (2).
In particular, random generation can be continued for a plurality of times within respective interval、/>、/>And->The method comprises the steps of determining a plurality of spindle turning edge amplitude-tilting values, drawing a scatter diagram of the plurality of spindle turning edge amplitude-tilting values, determining a variance value of normal distribution of the plurality of spindle turning edge amplitude-tilting values in the scatter diagram based on normal distribution characteristics of the plurality of spindle turning edge amplitude-tilting values, for example, according to the scatter diagram, when the variance value is lower than a preset variance threshold, indicating that the obtained distribution of the plurality of spindle turning edge amplitude-tilting values is concentrated, wherein the number of abnormal points is lower, namely, the determined plurality of spindle turning edge amplitude-tilting values are in a credible range of data, determining an average value of the plurality of spindle turning edge amplitude-tilting values as a final spindle turning edge amplitude-tilting value, and adjusting the relative positions of a cutter and a workpiece in spindle turning and milling mode conversion according to the spindle turning edge amplitude-tilting value.
In addition, it should be noted that the spindle turning and milling blade tilting value in the present application is a parameter describing dynamic offset or tilting of the tool blade caused by spindle vibration in the turning and milling conversion process, and indicates the degree of the spindle that causes the tool blade to swing and tilt relative to the machining surface in the turning and milling process, and by using the spindle turning and milling blade tilting value, the relative motion track can be adjusted when the relative position of the spindle tool is dynamically adjusted, so that track tracking of the relative position of the tool motion can be realized, and further smoothness of the tool motion during dynamic adjustment in the spindle turning and milling conversion process can be improved.
In addition, it should be noted that, in the present application, by determining the steady-state coefficient of spindle position deviation and the spindle turning vibration amount to reduce the influence of the vibration of the tool in the turning mode conversion, the smoothness of the contact surface of the workpiece and the tool is improved, and further the smoothness of the motion track of the tool relative to the workpiece is reduced, and further the efficiency of the vibration generated by cutting the surface of the workpiece by the tool in the spindle turning mode conversion and the adjustment of the dynamic change in the cutting process are reduced, so that the quality and the efficiency of the turning processing are optimized, and finally the track tracking during the dynamic adjustment of the relative position in the spindle turning mode conversion is realized.
In step 105, the relative position of the tool and the workpiece in the mode conversion of spindle turning and milling is dynamically adjusted according to the spindle turning and milling blade tilting amplitude.
In particular, in the conversion of the spindle turning and milling modes, the relative positions of the tool and the workpiece in the conversion of the spindle turning and milling modes are dynamically adjusted through the tilting amplitude of the spindle turning blade, in some embodiments, the position data of the tool relative to the workpiece is acquired by using a sensor, the deviation of the relative positions is calculated through data processing and analysis, a dynamic adjustment algorithm is adopted, the positions and working parameters of the tool to be adjusted are calculated according to the real-time sensor data and a predefined rule, the adjustment is integrated into the motion control of the spindle turning through a real-time control system, the machining track is re-planned, the relative positions of the tool and the workpiece are ensured to meet the requirements, namely, the accurate correspondence between the tilting angle of the tool and the position to be cut of the workpiece is kept at all times in the conversion of the turning and milling modes, the whole process strictly carries out real-time monitoring and feedback to ensure the accuracy of adjustment, and track tracking during the dynamic adjustment of the relative positions in the conversion of the spindle turning is realized.
In some specific embodiments of the present application, the relative position of the tool and the workpiece in the mode conversion of spindle turning and milling may be dynamically adjusted by using an integral proportional differential PID controller, for example, a deviation between the tilting amplitude value of the spindle turning and milling blade and a preset standard tilting amplitude value of the spindle turning and milling blade is used as an input parameter of the PID controller, so as to dynamically adjust the relative position of the tool and the workpiece in the mode conversion of spindle turning and milling.
It should be noted that, the corresponding error between the cutting angle of the cutter and the position coordinate of the workpiece to be cut after the position data turning and milling mode conversion of the cutter relative to the workpiece, the predefined rule indicates that the motion track of the cutter before and after the machining mode conversion is consistent with the motion track of the workpiece in the spindle turning and milling process, so as to ensure the precision of machining after the machining mode conversion, and further, the track tracking during the dynamic adjustment of the relative position in the spindle turning and milling conversion is required to be studied.
In addition, it should be noted that the effect of realizing the track tracking when the relative position is dynamically adjusted in the turning and milling conversion of the spindle is to optimize the processing process, ensure that the relative position of the tool and the workpiece is adapted to change in real time, so as to improve the processing precision, reduce the rejection rate, prolong the service life of the tool, reduce the equipment wear, real-time calculate and adjust the position of the tool by real-time monitoring sensor data, and apply a dynamic adjustment algorithm to ensure that the relative position between the spindle car and the milling cutter accords with the expectation, so that the spindle car and the milling cutter can be intelligently adapted to different processing conditions, thereby realizing accurate track tracking, and improving the production efficiency and the processing quality.
Additionally, in another aspect of the present application, in some embodiments, the present application provides a spindle turning mode and milling mode switching system including a turning cutter control unit, referring to fig. 4, which is a schematic diagram of exemplary hardware and/or software of the turning cutter control unit according to some embodiments of the present application, the turning cutter control unit 400 includes: the acquisition module 401, the conversion module 402, the extraction module 403, the determination module 404, and the control module 405 are respectively described as follows:
The acquisition module 401, in this application, is mainly used for acquiring turning and milling conversion history monitoring data of a machine tool spindle after starting mode conversion monitoring of the machine tool spindle;
the conversion module 402 is mainly used for determining a main shaft rotation clearance sequence and a main shaft rotation speed sequence according to the turning and milling conversion history monitoring data of the main shaft of the machine tool;
the extraction module 403, where the extraction module 403 is mainly configured to determine a main shaft turning synchronous retention value set and a main shaft turning asynchronous retention value set according to the main shaft turning synchronous retention value set, extract a corresponding conversion error convergence factor according to the main shaft turning asynchronous retention value set, and determine a main shaft position offset steady-state coefficient according to the conversion error convergence factor and the main shaft turning synchronous retention value set;
the determining module 404, herein the determining module 404 is mainly configured to determine turning data and turning data according to the spindle rotation speed sequence, determine spindle turning vibration amount according to the turning data and the turning data, and further determine a spindle turning blade tilting value according to the spindle deviation steady state coefficient and the spindle turning vibration amount;
The control module 405, in this application, is mainly configured to dynamically adjust a relative position between a tool and a workpiece in a spindle turning and milling mode conversion according to the spindle turning and milling blade tilting value.
In addition, the application also provides a computer device, which comprises a memory and a processor, wherein the memory stores codes, and the processor is configured to acquire the codes and execute the main shaft turning mode and milling mode conversion control method.
In some embodiments, reference is made to fig. 5, which is a schematic structural diagram of a computer apparatus implementing a spindle turning mode and milling mode switching control method according to some embodiments of the present application. The spindle turning mode and milling mode switching control method in the above-described embodiment may be implemented by a computer apparatus shown in fig. 5, the computer apparatus 500 including at least one processor 501, a communication bus 502, a memory 503, and at least one communication interface 504.
The processor 501 may be a general purpose central processing unit (central processing unit, CPU), application-specific integrated circuit (ASIC), or one or more of the execution of the spindle car machining mode and milling mode switching control methods used in the present application.
Communication bus 502 may include a path to transfer information between the aforementioned components.
The Memory 503 may be, but is not limited to, a read-only Memory (ROM) or other type of static storage device that can store static information and instructions, a random access Memory (random access Memory, RAM) or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable read-only Memory (electrically erasable programmable read-only Memory, EEPROM), a compact disc (compact disc read-only Memory) or other optical disk storage, optical disk storage (including compact disc, laser disc, optical disc, digital versatile disc, blu-ray disc, etc.), magnetic disk or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory 503 may be separate and coupled to the processor 501 via a communication bus 502. Memory 503 may also be integrated with processor 501.
The memory 503 is used to store program codes for executing the embodiments of the present application, and is controlled by the processor 501 to execute the program codes. The processor 501 is configured to execute program code stored in the memory 503. One or more software modules may be included in the program code. The spindle turning mode and milling mode switching control method in the above-described embodiment may be implemented by one or more software modules in program codes in the processor 501 and the memory 503.
Communication interface 504, using any transceiver-like device for communicating with other devices or communication networks, such as ethernet, radio access network (radio access network, RAN), wireless local area network (wireless local area networks, WLAN), etc.
In a specific implementation, as an embodiment, a computer device may include a plurality of processors, where each of the processors may be a single-core (single-CPU) processor or may be a multi-core (multi-CPU) processor. A processor herein may refer to one or more devices, circuits, and/or processing cores for processing data (e.g., computer program instructions).
The computer device may be a general purpose computer device or a special purpose computer device. In particular implementations, the computer device may be a desktop, laptop, web server, palmtop (personal digital assistant, PDA), mobile handset, tablet, wireless terminal device, communication device, or embedded device. Embodiments of the present application are not limited in the type of computer device.
In addition, the application further provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program realizes the main shaft turning mode and milling mode conversion control method when being executed by a processor.
In summary, in the spindle turning mode and milling mode conversion system and control method disclosed in the embodiments of the present application, first, a spindle rotation clearance sequence and a spindle rotation speed sequence are determined to predict dynamic response of a spindle, so as to facilitate identification of a motion track of a tool and a workpiece during dynamic adjustment in spindle turning mode conversion, accuracy of control parameters for adjusting the turning mode conversion is improved by determining a spindle turning synchronous dwell value set and a spindle turning asynchronous dwell value set, fluctuation degree of the tool motion track during spindle mode conversion is reduced, then a spindle position deviation steady state coefficient is determined, deviation of a tool pose inclination angle during spindle turning mode conversion can be adjusted to change influence of dynamic adjustment on the tool motion track during spindle conversion, thereby reducing influence of tool vibration during turning mode conversion, finally, quality and efficiency of adjustment of dynamic change during cutting of a workpiece are improved by cutting the surface of the tool during cutting in spindle turning mode conversion are optimized, real-time calculation and adjustment of a tool position is ensured by real-time monitoring sensor data, and the relative position between a spindle and a spindle is ensured to conform to the expected position of the tool is enabled to be capable of realizing intelligent relative position adjustment in the final state when the spindle is adapted to different conditions of dynamic tracking.
While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the spirit or scope of the invention. Thus, if such modifications and variations of the present application fall within the scope of the claims and the equivalents thereof, the present application is intended to cover such modifications and variations.

Claims (9)

1. The main shaft turning mode and milling mode conversion control method is characterized by comprising the following steps of:
starting mode conversion monitoring of a machine tool spindle to obtain turning and milling conversion history monitoring data of the machine tool spindle;
determining a main shaft rotation clearance sequence and a main shaft rotation speed sequence according to the turning and milling conversion history monitoring data of the main shaft of the machine tool;
determining a main shaft turning and milling synchronous stay value set and a main shaft turning and milling asynchronous stay value set through the main shaft turning and milling clearance sequence, extracting a corresponding conversion error convergence factor according to the main shaft turning and milling asynchronous stay value set, and further determining a main shaft position deviation steady-state coefficient through the conversion error convergence factor and the main shaft turning and milling synchronous stay value set;
Determining turning data and turning data according to the main shaft rotation speed sequence, determining main shaft turning vibration quantity according to the turning data and the turning data, and further determining a main shaft turning blade tilting value according to the main shaft position deviation steady state coefficient and the main shaft turning vibration quantity;
and dynamically adjusting the relative positions of the cutter and the workpiece in the spindle turning and milling mode conversion according to the spindle turning and milling blade tilting amplitude dynamic value.
2. The method of claim 1, wherein determining a spindle turning gap sequence from the machine tool spindle turn-down history monitoring data comprises:
determining the turning deflection degree of a turning cutting edge according to turning conversion history monitoring data of the machine tool spindle;
determining a main shaft gyration time slot factor in turning-milling conversion;
and determining main shaft revolution gap data according to the turning and milling blade cutting deflection degree and the main shaft revolution time slot factor, and further determining a main shaft revolution gap sequence.
3. The method of claim 1, wherein determining a set of spindle turn-milling synchronous residence values from the sequence of spindle turning gaps comprises:
acquiring the maximum value of the main shaft revolution gap data in the main shaft revolution gap sequence;
Determining the main shaft stay abnormality degree during main shaft turning and milling conversion;
and determining a main shaft turning and milling synchronous stay value set according to the maximum value of the main shaft turning gap data and the main shaft stay abnormality during main shaft turning and milling conversion.
4. The method of claim 1, wherein determining a set of spindle turn-milling asynchronous dwell values from the sequence of spindle turning gaps comprises:
obtaining the maximum value of the main shaft rotation gap data;
acquiring the main shaft stay anomaly degree during main shaft turning-milling conversion;
determining a main shaft turning gap concentration degree in the main shaft turning gap sequence;
and determining a main shaft turning asynchronous stay value set according to the maximum value of the main shaft turning clearance data, the main shaft stay abnormality degree during main shaft turning conversion and the main shaft turning clearance concentration degree.
5. The method of claim 1, wherein the set of spindle turn-down asynchronous dwell values includes a positive turn-down dwell flag coefficient and a negative turn-down dwell flag coefficient.
6. The method of claim 1, wherein dynamically adjusting the relative position of the tool and the workpiece in the spindle turning and milling mode transition comprises adjusting tool position and operating parameters based on real-time sensor data and predefined rules.
7. The system for converting the main shaft turning mode and the milling mode is characterized by comprising a turning milling cutter control unit, wherein the turning milling cutter control unit comprises:
the acquisition module is used for acquiring turning and milling conversion history monitoring data of the machine tool spindle after the mode conversion monitoring of the machine tool spindle is started;
the conversion module is used for determining a main shaft rotation gap sequence and a main shaft rotation speed sequence according to the turning and milling conversion history monitoring data of the main shaft of the machine tool;
the extraction module is used for determining a main shaft turning and milling synchronous retention value set and a main shaft turning and milling asynchronous retention value set through the main shaft turning and milling gap sequence, extracting a corresponding conversion error convergence factor according to the main shaft turning and milling asynchronous retention value set, and further determining a main shaft position deviation steady-state coefficient through the conversion error convergence factor and the main shaft turning and milling synchronous retention value set;
the determining module is used for determining turning data and turning data according to the main shaft rotation speed sequence, determining main shaft turning vibration quantity according to the turning data and the turning data, and further determining main shaft turning blade tilting amplitude dynamic value according to the main shaft position deviation steady state coefficient and the main shaft turning vibration quantity;
And the control module is used for dynamically adjusting the relative position of the cutter and the workpiece in the spindle turning and milling mode conversion according to the spindle turning and milling blade tilting amplitude dynamic value.
8. A computer apparatus, characterized in that the computer apparatus includes a memory storing a code and a processor configured to acquire the code and execute the spindle car machining mode and milling mode switching control method according to any one of claims 1 to 6.
9. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the spindle turning mode and milling mode switching control method according to any one of claims 1 to 6.
CN202410069079.7A 2024-01-17 2024-01-17 Main shaft turning mode and milling mode conversion system and control method Active CN117583897B (en)

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Publication number Priority date Publication date Assignee Title
CN101025624A (en) * 2006-02-24 2007-08-29 同济大学 Numerical control milling intelligent optimazed control system based on embedded platform
JP2008009637A (en) * 2006-06-28 2008-01-17 Okuma Corp Display method of nc program
CN103760820A (en) * 2014-02-15 2014-04-30 华中科技大学 Evaluation device of state information of machining process of numerical control milling machine
CN105904272A (en) * 2016-06-02 2016-08-31 林志贺 Radial sliding table compact movement mechanism for multi-spindle numerical control lathe
CN110842566A (en) * 2019-11-23 2020-02-28 深圳市爱贝科精密机械有限公司 Turning and milling switching mechanism and method for main shaft
CN116859821A (en) * 2023-07-14 2023-10-10 太原重工股份有限公司 Post-treatment method for optimizing four-axis turning and milling composite machining track

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101025624A (en) * 2006-02-24 2007-08-29 同济大学 Numerical control milling intelligent optimazed control system based on embedded platform
JP2008009637A (en) * 2006-06-28 2008-01-17 Okuma Corp Display method of nc program
CN103760820A (en) * 2014-02-15 2014-04-30 华中科技大学 Evaluation device of state information of machining process of numerical control milling machine
CN105904272A (en) * 2016-06-02 2016-08-31 林志贺 Radial sliding table compact movement mechanism for multi-spindle numerical control lathe
CN110842566A (en) * 2019-11-23 2020-02-28 深圳市爱贝科精密机械有限公司 Turning and milling switching mechanism and method for main shaft
CN116859821A (en) * 2023-07-14 2023-10-10 太原重工股份有限公司 Post-treatment method for optimizing four-axis turning and milling composite machining track

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