CN103592888B - The postpositive disposal method of domestic Double swing head five-axis machine tool - Google Patents

Abstract

A kind of postpositive disposal method that cutter spacing source file is converted to domestic Double swing head five-axis machine tool machining code.It is characterized in that making brachium is 0, uses five axle Double swing head cutter center algorithms to calculate, comprising: the α calculated by cutter spacing source file_CAnd extract maximum rotation angle α_Cmax;Relatively lathe maximum anglec of rotation C_maxWith maximum rotation angle α_CmaxSize, then compare cutter spacing source file first trip rotation angle α_C1With secondary row rotation angle α_C2Difference and β_CSize；Corresponding processing mode is used to change according to comparative result；Finally, the NC code changed is returned main program.Its advantage is based on, compared with the preposition limiting angle processing the maximum and lathe self that the cutter spacing source file generated calculates the 5th axle anglec of rotation, then selecting corresponding processing mode, finally giving rational procedure, to improve working (machining) efficiency and machining accuracy.

Description

The postpositive disposal method of domestic Double swing head five-axis machine tool

Technical field

The present invention relates to multiaxis NC maching field, particularly relates to one and cutter location file is converted to domestic five axles connection The postpositive disposal method of the domestic Double swing head five-axis machine tool of dynamic Digit Control Machine Tool machining code.

Background technology

Along with developing rapidly of world today's Computerized Numerical Control processing technology, five-axis robot technology is widely used in Aeronautics and Astronautics Manufacture field.Monoblock type impeller in the compressor of Aero-Space engine, air blast belong to have high accuracy the most complex-curved Part.Therefore the monoblock type impeller in aero-engine generally uses five-axis linkage machine tools to process, according to the structure of five-axis machine tool Difference can be divided into polytype, and due to the difference of five-axis machine tool type, each rotary shaft of lathe has unrestricted and restricted area Between each variant, present invention is generally directed to five axle planer-type Double swing head lathes, the rotary shaft of this lathe is the most restricted, especially Five axles restricted causing causes some region time processing not put in place in reality is processed, and conventional method is first at this by workpiece Ruling in position, uses angel measuring instrument measurement to be rotated to an angle by workpiece and then reprocess, or consider lathe when programming The limit anglec of rotation, its its limit point divide machining area, respectively programming, postpositive disposal go out multiple program processing.But, This conventional method needs frequent mounting or dismounting workpiece, produces position error, or increases programming trouble, and must post-process multiple program, Increase the production time of enterprise, and it cannot be guaranteed that machining accuracy.This has large effect to the productivity effect of enterprise.

Summary of the invention

The purpose of the present invention is exactly mainly for five domestic axle Double swing head lathes, for avoiding this structure machine tool after exploitation When putting process, the anglec of rotation of the 5th rotary shaft exceedes the extreme angles of lathe self, causes the excess of stroke to be reported to the police and some Guo Xian district Between the problem such as cannot process, it is proposed that the rearmounted place of a kind of domestic Double swing head five-axis machine tool being specifically designed for five axle Double swing head lathes Reason method.

The solution of the present invention is such that

The present invention is whether to add brachium according to this domestic five-axis machine tool to provide two kinds of postpositive disposal modes, and according to front Compared with the limiting angle of the maximum and lathe self that the cutter spacing source file putting process generation calculates the 5th axle anglec of rotation, then Select corresponding processing mode.

As a example by Double swing head five axle (A, C axle) linkage machine tool, illustrate how select postpositive disposal mode and how to solve The problems such as lathe the 5th axle rotational angle range transfinites.

Be a neutral file by the preposition cutter spacing source file generated that processes, including: tool-information (diameter, cutter number, Cutter number picked up), rotating speed, the information such as multiaxis is opened, coolant is opened, the cutter spacing position of cutter location and cutter spacing direction vector, this cutter location All motionless with workpiece, the mode of tool motion obtains, and in this lathe reality is processed, workpiece is also motion, so needing Cutter location information changed by the spatial kinetics model of this type of lathe, to become numerical control code.According to international standard Change tissue (ISO 841) standard, determine each reference axis and the direction of motion of Double swing head five-axis linkage machine tools, according to lathe coordinate system Be lathe coordinate system inherently and cannot change, and workpiece coordinate system be part to be processed programming time used Coordinate system, name coordinate system usually adds the coordinate system and consistent with lathe coordinate system direction of definition in man-hour, wound in this lathe Build lathe coordinate system O_cX_cY_cZ_cWorkpiece coordinate system O_mX_mY_mZ_mName coordinate system O_rX_rY_rZ_rAnd respectively with lathe bed, workpiece, cutter Connect firmly, at workpiece coordinate system O_mX_mY_mZ_mUnder, R_w(w_x,w_y,w_z)、R_v(v_i,v_j,v_k) represent cutter location cutter spacing position and cutter spacing respectively Vector.Each axle of fixing workpiece coordinate system is the most consistent with each direction of principal axis of name coordinate system, now R_w(w_x,w_y,w_z)、R_v(v_i, v_j,v_k) initial position be respectively [0 0 0]^T[0 0 1]^T.Rotary shaft A, the anglec of rotation of C use α respectively_AAnd α_CRepresent.Pendulum Dynamic center [X, Y, Z] is pendulum length L to the distance of main shaft section and is definite value, main shaft end face to cutter location cutter spacing position R_w(w_x,w_y, w_z) distance be the long K of cutter.Because of from oscillation center to the distance value of cutter location cutter spacing position be cutter length and pendulum length sum, therefore Long for cutter K is referred to as brachium H with pendulum length L sum.With reference to " the complex-curved digital control processing correlation technique " of Chen Liangji, become according to coordinate Change relation, derive lathe at workpiece coordinate system O_mX_mY_mZ_mUnder coordinates of motion value X, Y, Z, α_A, α_CMethod be:

α_A=L_Aarccos(v_k) L_A=(1,-1) (1)

α_C=arctan(v_i/v_j)-L_Cπ L_C=(0,1) (2)

$\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]=\left[\begin{array}{c}{w}_x\\ w_y\\ w_z\end{array}\right]+\left[\begin{array}{c}\left(H\right)\sin {\mathrm{\α}}_C\sin {\mathrm{\α}}_A\\ -\left(H\right)\cos {\mathrm{\α}}_C\sin {\mathrm{\α}}_A\\ \left(H\right)\cos {\mathrm{\α}}_A\end{array}\right]---\left(3\right)$

In formula: α_A、α_CIt is respectively rotary shaft A, the anglec of rotation of C；

(w_x,w_y,w_z)、(v_i,v_j,v_k) it is respectively cutter location cutter spacing position and cutter spacing vector；

[X, Y, Z] is oscillation center coordinate；

H is brachium value.

Make α_A=arccos(v_k)=β, α_A1=-β, α_C=arctan(v_i/v_j)=φ, α_C1=φ±π.By α_A,α_CWith α_A1,α_C1Point Do not substitute into formula (3) to launch:

$\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]=\left[\begin{array}{c}{w}_x\\ w_y\\ w_z\end{array}\right]+\left[\begin{array}{c}\left(H\right)\sin \mathrm{\φ}\sin \mathrm{\β}\\ -\left(H\right)\cos \mathrm{\φ}\sin \mathrm{\β}\\ \left(H\right)\cos \mathrm{\β}\end{array}\right]---\left(4\right)$

$\left[\begin{array}{c}{X}_1\\ Y_1\\ Z_1\end{array}\right]=\left[\begin{array}{c}{w}_x\\ w_y\\ w_z\end{array}\right]+\left[\begin{array}{c}\left(H\right)\sin (\mathrm{\φ}\±\mathrm{\π})\mathrm{\α}\sin (-\mathrm{\β})\\ -\left(H\right)\cos (\mathrm{\φ}\±\mathrm{\π})\sin (-\mathrm{\β})\\ \left(H\right)\cos (-\mathrm{\β})\end{array}\right]=\left[\begin{array}{c}{w}_x\\ w_y\\ w_z\end{array}\right]+\left[\begin{array}{c}\left(H\right)\sin \mathrm{\φ}\sin \mathrm{\β}\\ -\left(H\right)\cos \mathrm{\φ}\sin \mathrm{\β}\\ \left(H\right)\cos \mathrm{\β}\end{array}\right]---\left(5\right)$

Formula (4) is equal with formula (5) result as can be seen here.When can illustrate to obtain a pair known angle, by rotation angle α_ABecome Negative value, by rotation angle α_CRotation turnback, cutter location coordinate is constant.When calculating the anglec of rotation accordingly, use whole positive-angle meter Calculate, as the α calculated by cutter spacing source file_CLimiting angle C is rotated more than lathe_maxTime, all α in this program can be made_AValue becomes Negative value, by rotation angle α_CRotation turnback.Just can solve the lathe anglec of rotation and cross limit problem.Special by the structure comparison of this lathe, warp [X, Y, the Z] obtained after calculating^TValue is for oscillation center trajectory coordinates, therefore formula (1), (2), (3) are called five axle Double swing head center of oscillations calculations Method, and oscillation center coordinate is determined by cutter spacing position, brachium, the anglec of rotation.Obviously, as brachium H=0, [X, Y, Z]^TIt is output as cutter Position position coordinates is:

[X,Y,Z]^T=[w_xw_yw_z]^T(6)

Formula (1), (2), (6) are referred to as five axle Double swing head cutter center algorithms, in such a mode, it is necessary in the control system of lathe In system, insertion arm long value calculates, and can process.And brachium is made up of pendulum length and cutter length, pendulum length is certain value, a length of variate of cutter. Thus in production in enormous quantities, cutter will produce length abrasion, and traditional tool length compensation method can be used at lathe Control system in fill into the difference of the cutter length after abrasion and the cutter length of new cutter, it is possible to meet processing request.The method is the most real With, greatly reduce the processing technology time, improve productivity effect for enterprise and there is important practicality meaning.

According to above-mentioned design philosophy, the present invention includes step:

(1), read in and receive data step: read in and at least include that tool-information, rotating speed, multiaxis are opened, coolant is opened, cutter spacing The cutter spacing position of point and the cutter spacing source file of cutter spacing direction vector, receive simultaneously and at least include that brachium H, rotary axis of machine tool are maximum Limiting angle C_maxLathe parameter；

(2), according to the greatest limit angle C of concrete rotary axis of machine tool C axle_max, the rotation of definition Double swing head five-axis machine tool C axle Spacing angle beta_C, its rotary stopper angle is the greatest limit angle C according to concrete rotary axis of machine tool C axle_maxSet, general during setting Allow and make rotary stopper angle beta_CIt is slightly less than greatest limit angle C_max.General β_C∈(180°,360°)。

(3) the spatial kinetics model step of lathe, is set up: be lathe coordinate system inherently according to lathe coordinate system And cannot change, and workpiece coordinate system be part to be processed programming time the coordinate system that used, name coordinate system is usual For adding the coordinate system of definition in man-hour and the feature consistent with lathe coordinate system direction, in lathe, create lathe coordinate system O_cX_cY_cZ_cWorkpiece coordinate system O_mX_mY_mZ_mName coordinate system O_rX_rY_rZ_rAnd connect firmly with lathe bed, workpiece, cutter respectively, sit at workpiece Mark system O_mX_mY_mZ_mUnder, R_w(w_x,w_y,w_z)、R_v(v_i,v_j,v_k) represent cutter location cutter spacing position and cutter spacing vector respectively.Fixing workpiece Each axle of coordinate system is the most consistent with each direction of principal axis of name coordinate system, now R_w(w_x,w_y,w_z)、R_v(v_i,v_j,v_k) initial position It is respectively [0 0 0]^T[0 0 1]^T；Rotary shaft A, the anglec of rotation of C use α respectively_AAnd α_CRepresent；

(4), brachium sets and processes step: set: the distance of oscillation center [X, Y, Z] to main shaft end face is pendulum length L, master Axial end is to cutter location cutter spacing position R_w(w_x,w_y,w_z) distance be the long K of cutter；The setting long K of cutter is added with pendulum length L and obtains brachium H； When automatically loading brachium in machine tool system and calculating, making brachium H=0, the process step of employing includes:

Use five axle Double swing head cutter center algorithm formula:

α_A=L_Aarccos(v_k) L_A=(1,-1)

α_C=arctan(v_i/v_j)-L_Cπ L_C=(0,1)

[X,Y,Z]^T=[w_xw_yw_z]^TCalculate；

In formula: α_A、α_CIt is respectively rotary shaft A, the anglec of rotation of C；

(w_x,w_y,w_z)、(v_i,v_j,v_k) it is respectively cutter location cutter spacing position and cutter spacing vector；

[X, Y, Z] is oscillation center coordinate.

(5), the five axle Double swing head cutter center algorithm formula using step 4 are calculated all C axles in this cutter spacing source file Rotation angle α_C, it is put in an array.Extract a maximum rotation angle α_Cmax；Relatively lathe maximum anglec of rotation C_maxWith cutter location Maximum rotation angle α_Cmax:

If α_Cmax＞ C_max, perform five axle Double swing head cutter center algorithms again, preserve the rotation angle values of first trip cutter location α_C1, in rotation angle values α to site calculating the second row_C2, compare α_C1With α_C2:

If α_C2-α_C1＜ β_CIt processes step: perform again five axle Double swing head cutter center algorithms, after calculating every time α_CProcess.Make α_C=α_C-180 °, α_A=-α_A, the NC code changed is returned main program；

If α_C2-α_C1≥β_C, its process step is: perform again five axle Double swing head cutter center algorithms, after calculating every time α_CNeed to judge.If α_C＞ 180 °, exports α_C=α_C-360 °, otherwise export initial value.α_AIt is worth constant, the NC code changed is returned Return main program；

If α_Cmax＜ C_max, its process step is: by five axle Double swing head cutter center algorithms, all export according to algorithm, will turn The NC code finished changing returns main program.

Pass through above-mentioned steps, so that it may the anglec of rotation solving the 5th rotary shaft exceedes the extreme angles of lathe self, causes The excess of stroke is reported to the police and some crosses the problems such as limit interval cannot process.

When the control system of lathe is not loaded with the calculating of brachium value, makes brachium H ≠ 0, use five axle Double swing head center of oscillation algorithms Calculate all rotation angle α in this cutter spacing source file_C, it is put in an array.Extract a maximum rotation angle α_Cmax；Relatively Lathe maximum anglec of rotation C_maxMaximum rotation angle α with cutter location_Cmax；

If α_Cmax＞ C_max, use five axle Double swing head center of oscillation algorithms to calculate again, preserve the rotation of first trip cutter location Corner value α_C1, in rotation angle values α to site calculating the second row_C2, compare α_C1With α_C2；

If α_C2-α_C1＜ β_CIt processes step: use again five axle Double swing head center of oscillation algorithms to calculate, will every time α after calculating_CProcess.Make α_C=α_C-180 °, α_A=-α_A, the NC code changed is returned main program；

If α_C2-α_C1≥β_C, use again five axle Double swing head center of oscillation algorithms to calculate, the α after every time calculating_CNeed Judge.If α_C＞ 180 °, exports α_C=α_C-360 °, otherwise export initial value.α_AIt is worth constant, the NC code changed is returned main Program；

If α_Cmax＜ C_max, use five axle Double swing head center of oscillation algorithms to calculate, all export according to algorithm, will conversion Good NC code returns main program.

It is an advantage of the invention that and calculate the maximum of the 5th axle anglec of rotation according to the preposition cutter spacing source file generated that processes Compared with the limiting angle of lathe self, then select corresponding processing mode, finally give rational procedure, it is possible to Improve working (machining) efficiency and machining accuracy.

Accompanying drawing explanation

Accompanying drawing 1 is the method flow diagram of the present invention.

Accompanying drawing 2 is the cutter spacing source file of the runner of the present embodiment.

Detailed description of the invention

As a example by the XH/2024 five axle Double swing head lathe of Hanchuan Machinery Plant's research and development, this lathe is furnished with Siemens 840 D CNC System The rotation limit of two rotary shafts (A axle, C axle) is (-110 °～110 °) and (-200 °～+200 °) respectively. due to the rotation of lathe Axle C axle can not integral cycle rotating, can be restricted man-hour adding, bring to processing the most constant.Therefore the present invention solves just This problem, it is possible to improve working (machining) efficiency and machining accuracy.The present invention is existing as a example by processing certain Impeller Parts runner, explains in detail State this postpositive disposal method.First programming personnel is according to part feature and processing request, by using CAM software (such as UG) to arrange Corresponding parameter generates cutter rail, finally derives runner cutter spacing source file.

This example makes brachium H=0.And then the five axle Double swing head postpositive disposal methods that combine change.Specifically comprise the following steps that

(1) reading in the cutter spacing source file (such as Fig. 2) of runner, this process includes: obtain total line number of this cutter spacing source file, Utilize buffer stream to read in line by line, and separate the first key-strings of often row and the variable of back.According to obtaining keyword Symbol string (such as TLDATA, LOAD, SPINDL, RAPID/GOTO, GOTO, FEDRAT, PAINT, END-OF-PATH etc.) judges that it contains Justice also stores corresponding information.With this simultaneously, also obtain set in postpositive disposal software parameters (as brachium H, The range of translation shaft, the rotation limiting angle C of rotary shaft_maxDeng)；

(2) according to the greatest limit angle C of this rotary axis of machine tool C axle_max=200 °, definition Double swing head five-axis machine tool C axle Rotary stopper angle beta_C, make its β_C=180°；

(3) the brachium information obtained according to step (), H=0 performs the first postpositive disposal mode, current cutter location Cutter spacing vector is R_v(v_i,v_j,v_k), and call five axle Double swing head cutter center algorithms (use complete on the occasion of algorithm) formula (2) and calculate α_CAngle All values, put into and array found out α_Cmax, following judgment expression (α_Cmax＞ 200 °), IF expression (α_Cmax＞ 200 °) it is true, redirect execution step (four), otherwise perform step (five)；

(4) five axle Double swing head cutter center algorithms, the α calculated are performed again_CValue be on the occasion of.Preserve first trip cutter location Rotation angle values α_C1, in rotation angle values α to site calculating the second row_C2, compare α_C1With α_C2:

If 1 | α_C2-α_C1| ＜ 180 °, perform again five axle Double swing head cutter center algorithms, the α after every time calculating_CDo and locate Reason.Make α_C=α_C-180 °, α_A=-α_A.The NC code changed is returned main program.Redirect execution step (six)；

If 2 α_C2-α_C1>=180 °, perform again five axle Double swing head cutter center algorithms, the α after every time calculating_CNeeds are sentenced Disconnected.If α_C＞ 180 °, exports α_C=α_C-360 °, otherwise export initial value.α_AIt is worth constant.The NC code changed is returned main journey Sequence, redirects execution step (six)；

(5) performing five axle Double swing head cutter center algorithms, all export according to algorithm.Redirect execution step (six)；(6) receive The NC code changed, the NC code write specified file that will have changed, export NC code.

Claims (1)

1. a postpositive disposal method for domestic Double swing head five-axis machine tool, including step:

(1), read in and receive data step: read at least include that tool-information, rotating speed, multiaxis are opened, coolant is opened, cutter location The cutter spacing source file of cutter spacing position and cutter spacing direction vector, receives simultaneously and at least includes brachium H, rotary axis of machine tool greatest limit Angle C_maxLathe parameter；

(2), according to the greatest limit angle C of concrete rotary axis of machine tool C axle_max, the rotary stopper of definition Double swing head five-axis machine tool C axle Angle beta_C, make rotary stopper angle beta_CLess than greatest limit angle C_max, β_C∈(180°,360°)；

(3) the spatial kinetics model step of lathe, is set up: in lathe, create lathe coordinate system O_cX_cY_cZ_cWorkpiece coordinate system O_mX_mY_mZ_mName coordinate system O_rX_rY_rZ_rAnd connect firmly with lathe bed, workpiece, cutter respectively, at workpiece coordinate system O_mX_mY_mZ_mUnder, R_w (w_x,w_y,w_z)、R_v(v_i,v_j,v_k) represent cutter location cutter spacing position and cutter spacing vector respectively；Each axle of fixing workpiece coordinate system with Each direction of principal axis of name coordinate system is all consistent, now R_w(w_x,w_y,w_z)、R_v(v_i,v_j,v_k) initial position be respectively [0 0 0]^T [0 0 1]^T；Rotary shaft A, the anglec of rotation of C use α respectively_AAnd α_CRepresent；

(4), brachium sets and processes step: set: the distance of oscillation center [X, Y, Z] to main shaft end face is pendulum length L, spindle end Face is to cutter location cutter spacing position R_w(w_x,w_y,w_z) distance be the long K of cutter；The setting long K of cutter is added with pendulum length L and obtains brachium H；Work as machine When loading brachium calculating in bed system, making brachium H=0, the process step of employing includes:

Use five axle Double swing head cutter center algorithm formula:

α_A=L_Aarccos(v_k) L_A=(1 ,-1)

α_C=arctan (v_i/v_j)-L_Cπ L_C=(0,1)

[X,Y,Z]^T=[w_x w_y w_z]^TCalculate, it is characterised in that: five axle Double swing head cutter center algorithms public affairs of step 4 will be used Formula calculates all C axle rotation angle α in this cutter spacing source file_C, it is put in an array；Extract a maximum rotation angle α_Cmax； Relatively lathe maximum anglec of rotation C_maxMaximum rotation angle α with cutter location_Cmax:

If α_Cmax＞ C_max, perform five axle Double swing head cutter center algorithms again, preserve rotation angle values α of first trip cutter location_C1, Calculate rotation angle values α of the cutter location of the second row_C2, compare α_C1With α_C2:

If | α_C2-α_C1| ＜ β_CIt processes step: perform again five axle Double swing head cutter center algorithms, the α after every time calculating_C Process；Make α_C=α_C-180 °, α_A=-α_A, the NC code changed is returned main program；

If | α_C2-α_C1|≥β_C, its process step is: perform again five axle Double swing head cutter center algorithms, the α C after every time calculating Need to judge；If α_C＞ 180 °, exports α_C=α_C-360 °, otherwise export initial value；α_AIt is worth constant, the NC code that will have changed Return main program；

If α_Cmax＜ C_max, its process step is: by five axle Double swing head cutter center algorithms, all export according to algorithm, by conversion well NC code return main program.