CN106774144A - A kind of intelligent CNC processing methods based on industrial robot - Google Patents

Abstract

Field is manufactured the present invention relates to industrial production, specifically a kind of intelligent CNC processing methods based on industrial robot, its step is as follows：Need to set up model by three-dimensional graphics software according to manufacturing, layered shaping is carried out according to the depth of milling to allowance, draw every layer of machining locus, generate rough machined analog track, produce the track of finishing, shortest path is drawn by Floyd algorithms, machining simulation is carried out by CAM data, to robot plus engineering be simulated the point set of intersection drawn by AND algorithms, draw the algorithm that the mechanical collision position occurred in process is optimized by the attitude that attitude interpolation algorithm optimizes robot, to reach the amendment of machining locus, G code is changed, CNC client interpretations, processing of robots.The present invention compared with the existing technology, the advantage is that：The automation processing of robot is realized, intellectuality production is processed more accurate；Improve production efficiency, reduces cost of labor.

Description

A kind of intelligent CNC processing methods based on industrial robot

[technical field]

The present invention relates to industrial production manufacture field, specifically a kind of intelligent CNC treatment based on industrial robot Method.

[background technology]

Traditional machining is all operation machine tool operation by hand, and machinery knives cutting is shaken with hands during processing Metal, the precision of product is measured by instruments such as eyes slide calliper rule.At present, what manufacture field had been developed is very ripe, but with The continuous rising of cost of labor and the requirement of production efficiency, the industrial upgrading of automated production turns into a kind of trend.It is modern The lathe that industry is controlled using computer numeral already carries out operation, what Digit Control Machine Tool can in advance be finished according to technical staff Program is directly processed to any product and parts automatically, here it is we " digital control processing " said.Digital control processing is extensive Apply in any field of all machinings, even more the development trend and important and necessary technological means of mould processing.

CNC is the abbreviation of computer digital control machine tool (Computer numerical control), be one kind by journey The automated machine tool of sequence control.CNC system is a special real-time multi-task computer system, is melted in its control software The many advanced technologies in computer nowadays software engineering are closed.

In intelligent CNC system, the treatment of CAM model datas and machining path planning are two main contents.Briefly, The treatment of CAM model datas is exactly that the three-dimensional data model of processing will be needed to judge that generation processing is remaining with the contrast of machining blanks material Amount, and machining path planning is then roughing, the avoidance of finishing and particular point position and the processing work to being related in process The treatment conversion of skill, and verifying and the executable G-cold of generation robot, while client interpretation and importing into robot control System processed realizes that intelligent machining is produced.

[content of the invention]

It is an object of the invention to solve the deficiencies in the prior art, there is provided at a kind of intelligent CNC based on industrial robot Reason method, production, processing, polishing as workpiece, polishing are capable of achieving the treatment and machining path planning of CAM data, realize intelligence Energyization is produced and processed, and helps enterprise's improve production efficiency, reduces cost of labor.

To achieve these goals, a kind of intelligent CNC processing methods based on industrial robot are designed, it is characterised in that side Method is specific as follows：

A. need to set up model by three-dimensional graphics software according to manufacturing, derive multiple format including STL, STP, 3DX, The 3D files of DXF forms, input file is converted into CAM data models, is contrasted with machining blanks material model, by NAND Algorithm calculates unnecessary processing capacity, analyzes the surplus that processing is needed in blank model；

B. layered shaping is carried out according to the depth of milling to allowance, is entered material to be processed according to every layer of depth of cut Row layered shaping has altogether and is divided into N layers；

C. by the tool sharpening amount of feeding, process velocity technological parameter, use with straight line, secondary analytic curve, plane three The build-up curve that secondary multiple knot non-homogeneous B spline curve is constituted, defines the boundary profile of processing object, with boundary profile Primitive is that unit calculates the machining locus that primitive equal space line draws every layer；

D. to first N-1 layers setting roughing technique, according to the corresponding roughing tool of material type Auto-matching and adjust The processing amount of feeding, process velocity, generate rough machined analog track；

E. fine-processing technique is set to n-th layer, correspondence finishing tool is called according to material type and machining accuracy and is adjusted The whole amount of feeding, process velocity, produce the track of finishing；

F. shortest path is drawn by Floyd algorithms, so as to obtain most short milling track；

G. carry out machining simulation by CAM data, to robot plus engineering be simulated；The institute occurred on track is a little It is compared with part model, the point set of intersection is drawn by AND algorithms, draws the mechanical collision occurred in process Position；

H. the Descartes of corresponding robot pose and reference axis is found out according to the point on machining locus in simulation process Coordinate value XYZABC, and evaded according to the axle angular range and the point of impingement of robot software and hardware restriction, inserted by attitude Mend algorithm：The algorithm that the attitude of spherical linear interpolation optimization robot is optimized, to reach the amendment of machining locus；

Interpolation procedure

1. two differences of value are calculated：The angular displacement of q0 to q1 is given by Δ q=q0-1q1

2. a poor part is calculated.Quaternary number exponentiation can be accomplished.A poor part is given by Δ qt

3. plus a part for difference on initial value, with quaternary number multiplicative combination angular displacement q0 Δs qt

So can be obtained by slerp formula：

I. machinable CAM model datas are planned, the track data of production is converted into G by M code G code instruction catalogues Code；

J. imported by CNC client interpretations and code, realize the automation processing of robot, intellectuality production.

Described step d specific methods are as follows：

In formula, T0 is the array of length, diameter and the rigidity of the cutter used comprising roughing, and r (t) is the half of cutter t Footpath, t is the array of the length, diameter and rigidity of the candidate's cutter used comprising roughing, and P is every layer of cutter path, x (P_k) It is coordinate values of the machining locus P on the x directions of k points, y (P_k) it is coordinate values of the machining locus P on the y directions of k points, λ₀It is A coefficient being specified by programming personnel, for Tuning function, FO is the roughing amount of feeding, and l, i, j, k are subscript numberings, this Body has no implication, and lower first numbering of P is the sequence number of the interpolation point of cutter path, and second numbering represents adding residing for the track The sequence number of work layer, such as P_i,kRefer to i-th interpolation point of kth layer roughing track, when second subscript is omitted, be defaulted as Current machined layer, P_i,kIt is one and includes point x, y, the array of z coordinate value, ε (M) is toughness of material, and rHRC (M) is scene The material hardness actually measured, SO is roughing process velocity, and δ is the allowance of finishing, and r is the half of used cutter Footpath, PO is roughing tool track,K (M) is material stiffness.

Described step e specific methods are as follows：

T1=ar gmin_t([r(t)-min_k(||P_k+1-P_k||₂))]²-λ₁r(t)²)

P1=P+0.5sign (P) r

In formula, T1 is the array of the length, diameter and rigidity of the cutter used comprising finishing, λ₁It is by compiling

A coefficient that Cheng personnel specify, for Tuning function.

The computational methods of T0, T1 are：

I=1

V0=200

LOOP

I=i+1

IFv ＜ v0 D0 v0=v

UNTIL i=cardinality (Tinfo)

In formula, i represents cutter sequence number herein, and it is the cutter of i that ti represents numbering, and v is the finger for evaluating cutter appropriate level Mark, v0 is synonymous with v, and in the calculation for iteration, Tinfo is the value assigned according to tool-information.

The present invention compared with the existing technology, the advantage is that：

1. the automation processing of robot is realized, intellectuality production is processed more accurate；

2. improve production efficiency, reduces cost of labor.

[brief description of the drawings]

Fig. 1 is the flow chart of the inventive method.

[specific embodiment]

The invention will be further described below in conjunction with the accompanying drawings, is very for the principle of this method people professional to this Clearly.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.

Referring to Fig. 1, described systems soft ware is embedded into robot control system, and start machine people intelligent CNC System of processing, the image collection processing system presses column processing step process：Input need processing CAM data models, with plus Work material model is contrasted, and unnecessary processing capacity is conversed to come, the go forward side by side planning in walking along the street footpath and the adjustment of processing technology；It is logical Crossing CAM data carries out the modification that machining simulation is limited the mechanical collision for occurring, the limitation of locus scope and shaft angle degree simultaneously And correction, machinable CAM model datas of planning department again, by CAM data conversions into G code, and by CNC client interpretations Imported with code, realize the automation processing of robot, intellectuality production.

A kind of described intelligent CNC processing methods based on industrial robot are specific as follows：

A. need to set up model by three-dimensional graphics software according to manufacturing, derive multiple format including STL,

The 3D files of STP, 3DX, DXF form, input file is converted into CAM data models, with processing hair

Base material model is contrasted, and unnecessary processing capacity is calculated by NAND algorithms, is analyzed and need in blank model The surplus to be processed；

B. layered shaping is carried out according to the depth of milling to allowance, is entered material to be processed according to every layer of depth of cut Row layered shaping has altogether and is divided into N layers；

C. by the tool sharpening amount of feeding, process velocity technological parameter, use with straight line, secondary analytic curve, plane three The build-up curve that secondary multiple knot non-homogeneous B spline curve is constituted, defines the boundary profile of processing object, with boundary profile Primitive is that unit calculates the machining locus that primitive equal space line draws every layer；

D. to first N-1 layers setting roughing technique, according to the corresponding roughing tool of material type Auto-matching and adjust The processing amount of feeding, process velocity, generate rough machined analog track；

E. fine-processing technique is set to n-th layer, correspondence finishing tool is called according to material type and machining accuracy and is adjusted The whole amount of feeding, process velocity, produce the track of finishing；

F. shortest path is drawn by Floyd algorithms, so as to obtain most short milling track；

G. carry out machining simulation by CAM data, to robot plus engineering be simulated；The institute occurred on track is a little It is compared with part model, the point set of intersection is drawn by AND algorithms, draws the mechanical collision occurred in process Position；

H. the Descartes of corresponding robot pose and reference axis is found out according to the point on machining locus in simulation process Coordinate value XYZABC, and evaded according to the axle angular range and the point of impingement of robot software and hardware restriction, inserted by attitude Mend algorithm：The algorithm that the attitude of spherical linear interpolation optimization robot is optimized, to reach the amendment of machining locus；

Interpolation procedure：

1. two differences of value are calculated：The angular displacement of q0 to q1 is given by Δ q=q0-1q1

2. a poor part is calculated.Quaternary number exponentiation can be accomplished.A poor part is given by qt

3. plus a part for difference on initial value, with quaternary number multiplicative combination angular displacement q0 Δs qt

Sleerp formula can thus be obtained：

I. machinable CAM model datas are planned, the track data of production is converted into G by M code G code instruction catalogues Code；

J. imported by CNC client interpretations and code, realize the automation processing of robot, intellectuality production.

Wherein, NAND algorithms have referred to as with non-algorithm, be a kind of logical algorithm, often in a computer with the shape of non-conjunction Formula is present, i.e., after first making an AND operation, try again NOT operation.

Floyd algorithms are also called interpolation point method, are a kind of for finding in given weighted graph shortest path between many source points Algorithm, since weighted adjacency matrix A=[a (i, j)] n × n of figure, recursively carry out n times renewal, i.e., by matrix D (0)= A, by a formula, constructs matrix D (1)；D (2) is constructed by D (1) with similarly formula again；……；It is last to use same again Formula matrix D (n) is constructed by D (n-1).The i row j column elements of matrix D (n) are shortest path of the i summits to j summits Electrical path length, D (n) is called the distance matrix of figure, while can also introduce a descendant node matrix to record the shortest path of point-to-point transmission Footpath.

AND operation, it is a kind of basic logical operation mode in computer to be also called with computing, is exactly two operand tables It is simultaneously true up to formula, is as a result just a kind of genuine binary operation.

Attitude interpolation algorithm refers to that the machining locus of the part requirements processed in digital control system are various：Have circular arc, Straight line, ellipse, parabola etc..But the moving direction of the processing stand of equipment is limited, general device workbench only has X, Y Both direction.The curve of permission by mistake is namely fitted with broken line in the range of Processing Curve precision.

Described step d specific methods are as follows：

In formula, T0 is the array of length, diameter and the rigidity of the cutter used comprising roughing, and r (t) is the half of cutter t Footpath, t is the array of the length, diameter and rigidity of the candidate's cutter used comprising roughing, and P is every layer of cutter path, x (P_k) It is coordinate values of the machining locus P on the x directions of k points, y (P_k) it is coordinate values of the machining locus P on the y directions of k points, λ₀It is A coefficient being specified by programming personnel, for Tuning function, FO is the roughing amount of feeding, and l, i, j, k are subscript numberings, this Body has no implication, and lower first numbering of P is the sequence number of the interpolation point of cutter path, and second numbering represents adding residing for the track The sequence number of work layer, such as P_i,kRefer to i-th interpolation point of kth layer roughing track, when second subscript is omitted, be defaulted as Current machined layer, P_i,kIt is one and includes point x, y, the array of z coordinate value, ε (M) is toughness of material, and rHRC (M) is scene The material hardness actually measured, SO is roughing process velocity, and δ is the allowance of finishing, and r is the half of used cutter Footpath, PO is roughing tool track,K (M) is material stiffness.

Described step e specific methods are as follows：

T1=ar gmin_t([r(t)-mink(||P_k+1-P_k||₂))]²-λ₁r(t)²)

P1=P+0.5sign (P) r

In formula, T1 is the array of the length, diameter and rigidity of the cutter used comprising finishing, λ₁It is by compiling

A coefficient that Cheng personnel specify, for Tuning function.

The computational methods of T0, T1 are：

I=1

V0=200

LOOP

I=i+1

IF v ＜ v0 DO v0=v

UNTILi=cardinality (Tinfo)

In formula, i represents cutter sequence number herein, and it is the cutter of i that ti represents numbering, and v is the finger for evaluating cutter appropriate level Mark, v0 is synonymous with v, and in the calculation for iteration, Tinfo is the value assigned according to tool-information.

Embodiment

It is the specific implementation step of the inventive method referring to table 1.

The implementation steps of table 1.

Claims (4)

1. a kind of intelligent CNC processing methods based on industrial robot, it is characterised in that method is specific as follows：

A. need to set up model by three-dimensional graphics software according to the manufacturing, deriving multiple format includes STL, STP, 3DX, DXF The 3D files of form, input file is converted into CAM data models, is contrasted with machining blanks material model, is calculated by NAND Method calculates unnecessary processing capacity, analyzes the surplus that processing is needed in blank model；

B. layered shaping is carried out according to the depth of milling to allowance, is divided material to be processed according to every layer of depth of cut Layer treatment is divided into N layers altogether；

C. by the tool sharpening amount of feeding, process velocity technological parameter, use with straight line, secondary analytic curve, three weights of plane The build-up curve that node non-homogeneous B spline curve is constituted, defines the boundary profile of processing object, with the primitive of boundary profile For unit calculates the machining locus that primitive equal space line draws every layer；

D. to first N-1 layers setting roughing technique, according to the corresponding roughing tool of material type Auto-matching and processing is adjusted The amount of feeding, process velocity, generate rough machined analog track；

E. to n-th layer set fine-processing technique, according to material type and machining accuracy call correspondence finishing tool and adjust into To amount, process velocity, the track of finishing is produced；

F. shortest path is drawn by Floyd algorithms, so as to obtain most short milling track；

G. carry out machining simulation by CAM data, to robot plus engineering be simulated；On track occur institute a little with work Part model is compared, and the point set of intersection is drawn by AND algorithms, draws the mechanical collision position occurred in process Put；

H. the cartesian coordinate of corresponding robot pose and reference axis is found out according to the point on machining locus in simulation process Value XYZABC, and evaded according to the axle angular range and the point of impingement of robot software and hardware restriction, calculated by attitude interpolation The algorithm that the attitude of method optimization robot is optimized, to reach the amendment of machining locus；

I. machinable CAM model datas are planned, the track data of production is converted into G generations by M code G code instruction catalogues Code；

J. imported by CNC client interpretations and code, realize the automation processing of robot, intellectuality production.

2. a kind of intelligent CNC processing methods based on industrial robot as claimed in claim 1, it is characterised in that described step Rapid d specific methods are as follows：

$T0={\mathrm{argmin}}_t({\[r\left(t\right)-{\min }_k\left(\sqrt{{\[x\left(P_{k+1}\right)-x\left(P_k\right)\]}^2+{\[y\left(P_{k+1}\right)-y\left(P_k\right)\]}^2}\right)\]}^2-{\mathrm{\λ}}_{0}r{\left(t\right)}^2)$

$F{0}_i=min(\frac{1366\left({\min }_{k,j=i\±1}\right(\left|\right|P_{k,i}-P_{k,j}\left|{|}_2\right)-2.1\×{10}^{-7}\∈\left(M\right)+0.2)}{rHRC\left(M\right)/20+rHRC\left(M\right)},H-\mathrm{\δ})$

$S{0}_k=\frac{1.366{\min }_{l=k\±1,2,3}\left(\right||P_l-P_k|{|}_2)+1}{rHRC\left(M\right)/20+rHRC\left(M\right)}$

$P0=P+0.5sign\left(P\right)\sqrt{r^2-\mathrm{\α}/k\left(M\right)}$

In formula, T0 is the array of length, diameter and the rigidity of the cutter used comprising roughing, and r (t) is the radius of cutter t, t It is the array of the length, diameter and rigidity of the candidate's cutter used comprising roughing, P is every layer of cutter path, and x (Pk) is to add Coordinate values of the work track P on the x directions of k points, y (Pk) is coordinate values of the machining locus P on the y directions of k points, and λ 0 is by compiling A coefficient that Cheng personnel specify, for Tuning function, FO is the roughing amount of feeding, and l, i, j, k are subscript numberings, and itself is simultaneously Without implication, lower first numbering of P is the sequence number of the interpolation point of cutter path, and second is numbered the machined layer represented residing for the track Sequence number, such as Pi, k refer to i-th interpolation point of kth layer roughing track, when second subscript is omitted, are defaulted as current Machined layer, Pi, k be one and include point x, y, and the array of z coordinate value, ε (M) is toughness of material, and rHRC (M) is actual for scene The material hardness measured, SO is roughing process velocity, and δ is the allowance of finishing, and r is the radius of used cutter, PO It is roughing tool track,K (M) is material stiffness.

3. a kind of intelligent CNC processing methods based on industrial robot as claimed in claim 1, it is characterised in that described step Rapid e specific methods are as follows：

T1=ar gmin_t([r(t)-min_k(||P_k+1-P_k||₂))]²-λ₁r(t)²)

$F{1}_i=\frac{0.389\left({\min }_{k,j=i\±1}\right(\left|\right|P_{k,i}-P_{k,j}\left|{|}_2\right)-1.48\×{10}^{-8}\∈\left(M\right)+0.2)}{rHRC\left(M\right)/20+rHRC\left(M\right)}$

$S{1}_k=\frac{0.386{\min }_{l=k\±1,2,3}\left(\right||P_l-P_k|{|}_2)+1}{rHRC\left(M\right)/20+rHRC\left(M\right)}$

P1=P+0.5sign (P) r

In formula, T1 is the array of the length, diameter and rigidity of the cutter used comprising finishing, and λ 1 is specified by programming personnel , a coefficient for Tuning function.

4. as claimed in claim 2 or claim 3 a kind of intelligent CNC processing methods based on industrial robot, it is characterised in that T0, T1 Computational methods be：

T=1

V0=200

LOOP

I=i+1

$v={\[r\left(t_i\right)-{\min }_k\left(\sqrt{{\[x\left(P_{h+1}\right)-x\left(P_k\right)\]}^2+{\[y\left(P_{k+1}\right)-y\left(P_k\right)\]}^2}\right)\]}^2-{\mathrm{\λ}}_{0}r{\left(t_i\right)}^2$

IF v ＜ v0 DO v0=v

UNTIL i=car dinality (Tinfo)

In formula, i represents cutter sequence number herein, and it is the cutter of i that ti represents numbering, and v is the index for evaluating cutter appropriate level, V0 is synonymous with v, and in the calculation for iteration, Tinfo is the value assigned according to tool-information.