CN103676788B - Smooth processing-oriented numerical control processing track processing method - Google Patents

Smooth processing-oriented numerical control processing track processing method Download PDF

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CN103676788B
CN103676788B CN201310753094.5A CN201310753094A CN103676788B CN 103676788 B CN103676788 B CN 103676788B CN 201310753094 A CN201310753094 A CN 201310753094A CN 103676788 B CN103676788 B CN 103676788B
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line segment
interpolation
little line
sub
range
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CN103676788A (en
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黄河
孙玉娥
徐伟
卜霄菲
李凡长
杨季文
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Suzhou University
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Suzhou University
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Abstract

The invention discloses a smooth processing-oriented numerical control processing track processing method. The method comprises the following steps of step 1, traversing all the small line sections on the whole processing track, and judging interpolation subintervals; step 2, performing interpolation calculation on the small line sections in the interpolation subintervals by an arc interpolation method; step 3, traversing all the small line sections on the whole processing track, and judging smooth filtration subintervals; step 4, performing filtration on each corner required to be subjected to smooth filtration by moving filtration technology. The requirement on real-time property of a numerical control system can be met, and the special requirement of smooth processing on a processed track can be met.

Description

Towards the numerical control processing track disposal route of fairing processing
Technical field
The present invention relates to numerical control processing track processing technology field, particularly relate to a kind of numerical control processing track disposal route towards fairing processing.
Background technology
Different processing types is also different to the requirement of digital control processing, as mostly pursued the fastest process velocity in wood carving processing, lower to the smoothness requirements of machining precision and finished surface; In the processing of exact instrument accessory, then more value machining precision, certain speed can be sacrificed to exchange higher machining precision in the process of processing; But in the process of part module, the smooth finish of finished surface is then its most important evaluation index.Usually, process velocity, precision and surface smoothness are the evaluation indexes of three mutual exclusions.Therefore, in order to improve the performance of wherein certain index, the performance of sacrificing other two indices is often needed.In order to solve this problem, the numerical control machining scheme that existing part is preferential for working (machining) efficiency and machining precision is preferential proposes.But to process the support of preferential cooked mode less for effects on surface smooth finish in existing digital control processing, the guarantee of smooth finish mainly or to have come by the polishing in processing later stage.Obviously, manual polishing velocity is relatively slow, and this has had a strong impact on working (machining) efficiency.
In digital control processing, the surface of module to be processed is generally combined by some planes and free form surface, and numerically-controlled machine can only control the motion that cutter completes point-to-point.Therefore, after complete the modeling treating processing module in CAD, need first to be sent into CAM system, the track to be processed that Surface tessellation becomes digital control system to identify will be treated, namely complete path planning operation, and then complete processing by the machining locus of generation feeding digital control system.
It is wait scallop-height method that CAM system completes the most frequently used method when machining path is planned, its main thought is according to given maximum scallop-height (tolerance) and tool radius, goes to cover whole processing curve with a series of cutter path.When higher to the smoothness requirements of finished surface, generally can arrange less maximum scallop-height, the method improving machining precision improves the smooth finish of finished surface.Under this configuration, the total path length of generation is elongated, and the length of the little line segment of wall scroll shortens.But although the precision improving finished surface contributes to the fairness improving finished surface, fairing and precision are not two concepts of equal value.The machining precision on surface refers to that maximum scallop-height on finished surface, fairing to be then embodied on machining path seamlessly transitting of turning between little line segment more.
Therefore, for above-mentioned technical matters, need to propose a kind of numerical control processing track disposal route towards fairing processing, thus obtain more bright and clean part finished surface.
Summary of the invention
In view of this, in order to solve the existing deficiency to fairing working research, the present invention will not meet this problem of fairing processing conditions for existing Machining Path, the fairing problem of pretreatment of research Machining Path, by introducing circular interpolation technology and glide filter technology, provide a kind of numerical control processing track disposal route towards fairing processing.
To achieve these goals, the technical scheme that provides of the embodiment of the present invention is as follows:
Towards a numerical control processing track disposal route for fairing processing, said method comprising the steps of:
All little line segment on S1, traversal whole piece machining locus, carries out the judgement in interpolation sub-range;
S2, to the little line segment in interpolation sub-range, the method for circular interpolation is adopted to carry out interpolation calculation.
As a further improvement on the present invention, described step S1 specifically comprises:
Little line segment on S11, traversal whole piece machining locus;
S12, the little line segment length of the shortest interpolation of setting;
S13, judge whether current traversed little line segment length is greater than the set little line segment length of the shortest interpolation, if so, then performs S14; Otherwise, perform S18;
S14, set maximum turning;
S15, judge whether the turning size of little line segment destination county is less than set maximum turning, if so, then performs S16; Otherwise, perform S18;
S16, this little line segment is joined in interpolation sub-range;
S17, obtain the little line segment aggregate needing interpolation calculation;
S18, do not needed the little line segment aggregate of interpolation calculation.
As a further improvement on the present invention, described step S2 specifically comprises:
S21, the little line segment obtained in interpolation sub-range;
S22, with one section of original little line segment of circular approximation;
S23, judge the direction of circular arc;
S24, obtain the expression formula of circular arc;
S25, obtain the expression formula of interpolation circular arc;
S26, to calculate at the enterprising row interpolation of circular arc, obtain interpolation point.
As a further improvement on the present invention, also comprise after described step S2:
All little line segment on S3, traversal whole piece machining locus, carries out the judgement in fairing filtering sub-range;
S4, glide filter technology is adopted to carry out filtering to each turning needing to carry out fairing filtering.
As a further improvement on the present invention, described step S3 is specially:
S31, the tracing point traveled through on every paths;
S32, conforming principle should be met according to the direction change between little line segment whole piece machining locus is divided into several sub-ranges;
S33, to judge in sub-range that whether at least the turning existed between two adjacent little line segments is less than preset value, if so, then performs S34; Otherwise, perform S35;
S34, obtain the set in the sub-range needing fairing filtering;
S35, do not needed the set in the sub-range of fairing filtering.
As a further improvement on the present invention, described step S4 is specially:
S41, moving window N is set w;
S42, obtain this cycle glide filter result export;
S43, moving average filter is adopted to carry out filtering to the change of little line segment angle.
As a further improvement on the present invention, for the little line segment of i-th on filtering sub-range in described step S42, Output rusults is: and N jmeet N j=min (i+N w, N), wherein, N is the number of little line segment.
Numerical control processing track disposal route towards fairing processing of the present invention, glide filter technology and interpolation technique are incorporated in the fairing processing problem of Machining Path, do not fitting on the basis of curve by the machining path that little line segment forms, design one to realize on machining path pre-service mechanism in continually varying fairing path, turning between adjacent little line segment.For the machining locus with different characteristics, adopt different preprocess methods.Such as, for the machining locus that the little line segment of wall scroll is longer, adopt the mode of interpolation, and for the shorter machining locus of the little line segment of wall scroll, then adopt the mode of glide filter to reduce low-angle tracing point transition further, meet the requirement of digital control system real-time, strengthen the adaptability of fairing processing function.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, the accompanying drawing that the following describes is only some embodiments recorded in the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the process flow diagram towards the numerical control processing track disposal route of fairing processing in the embodiment of the invention;
Fig. 2 is the particular flow sheet of step S1 interpolation sub-range decision method in first embodiment of the invention;
Fig. 3 is the particular flow sheet of step S2 interpolation calculation process in first embodiment of the invention;
Fig. 4 is the process flow diagram towards the numerical control processing track disposal route of fairing processing in the present invention two embodiment;
Fig. 5 is the particular flow sheet of step S3 fairing filtering sub-range decision method in second embodiment of the invention;
Fig. 6 is the particular flow sheet of step S4 fairing filtering in second embodiment of the invention;
Fig. 7 is the schematic diagram of two kinds of possibilities in circular arc direction, and wherein, Fig. 7 (a) is the schematic diagram of upper circular arc, and Fig. 7 (b) is the schematic diagram of lower circular arc;
Fig. 8 is the boost line schematic diagram calculating interpolation circular arc expression formula;
Fig. 9 be on circular arc interpolation calculation, obtain the schematic diagram of interpolation point;
Figure 10 is the module diagram of moving average filter.
Embodiment
Technical scheme in the present invention is understood better in order to make those skilled in the art person, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, should belong to the scope of protection of the invention.
In order to solve the existing deficiency to fairing working research, fairing is processed in the factors of the impact caused above-mentioned, the present invention will focus on to consider that wall scroll machining path does not meet this problem of fairing processing conditions, the fairing problem of pretreatment of research Machining Path, provides a kind of numerical control movement locus disposal route towards fairing processing.
Shown in ginseng Fig. 1, in first embodiment of the invention, the numerical control processing track disposal route towards fairing processing comprises the following steps:
All little line segment on S1, traversal whole piece machining locus, carries out the judgement in interpolation sub-range;
S2, to the little line segment in interpolation sub-range, the method for circular interpolation is adopted to carry out interpolation calculation.
First the method that a kind of interpolation sub-range provided embodiment of the present invention step S1 below judges is introduced.
When processing the machining locus adopted represented by nurbs curve, there is the change of machine direction in each interpolation cycle, the turning angle of each flex point in the reinforcing track represented by little line segment has just comparatively been evenly distributed in multiple interpolation cycle by this.Thus, nurbs curve interpolation technique has higher process velocity, precision and better finished surface fairness.
According to These characteristics, in order to the demand making the machining locus represented by little line segment can be suitable for fairing processing better, the present invention adopts circular interpolation technology, be the little line segment of multistage by satisfactory one section little line segment interpolation, thus the change of the angle of former flex point is shared in multiple flex point comparatively equably, make finished surface have better fairness.
Designed interpolation calculation algorithm is the low-angle flex point transition in order to reduce on machining locus, so algorithm needs first to judge which little line segment needs to carry out interpolation arithmetic, and is joined in the middle of interpolation sub-range.
Shown in ginseng Fig. 2, step S1 specifically comprises:
Little line segment on S11, traversal whole piece machining locus;
S12, the little line segment length of the shortest interpolation of setting;
S13, judge whether current traversed little line segment length is greater than the set little line segment length of the shortest interpolation, if so, then performs S14; Otherwise, perform S18;
S14, set maximum turning;
S15, judge whether the turning size of little line segment destination county is less than set maximum turning, if so, then performs S16; Otherwise, perform S18;
S16, this little line segment is joined in interpolation sub-range;
S17, obtain the little line segment aggregate needing interpolation calculation;
S18, do not needed the little line segment aggregate of interpolation calculation.
Below the process of the interpolation calculation that embodiment of the present invention step S2 provides is introduced.
For all little line segments joined in interpolation sub-range, the method for circular interpolation is adopted to carry out interpolation calculation to it.Obviously, if the little line segment obtained after interpolation is too short, the little line segment length after interpolation may be made to be less than the actual actual step size adding each interpolation cycle in man-hour, thus to affect working (machining) efficiency.In order to avoid this situation occurs, setting an interpolation minimum step, the little line segment length namely obtained after interpolation should not be less than this minimum step, suppose permission interpolation after minimum step L minrepresent.
Shown in ginseng Fig. 3, step S2 specifically comprises:
S21, the little line segment obtained in interpolation sub-range;
Here given little line segment needs any one section of little line segment in the set of mathematic interpolation after being through the judgement of interpolation sub-range.
S22, with one section of original little line segment of circular approximation;
S23, judge the direction of circular arc;
In order to ensure to ensure machining precision as much as possible when line segment little of circular approximation, wish that the direction of circular arc is identical with the direction of a curve on original processing curve.By Track Pick-up principle and the observation discovery of CAM, by the tracing point adjacent with little line segment, the interpolation circular arc direction making circular arc closer to original processing curve can be obtained.Meanwhile, if build circular arc in the direction in which, not only can not lose machining precision, the part precision of losing when also generating machining locus to CAM has compensating action.
As shown in Figure 7, get two terminal A and the B of this little line segment, and next tracing point C of terminal B, take A as true origin, line segment AB direction is X-direction, if some C is above X-axis, then interpolation circular arc should be lower circular arc, shown in ginseng Fig. 7 (b); Otherwise some C is below X-axis, and interpolation circular arc is upper circular arc, shown in ginseng Fig. 7 (a).
S24, obtain the expression formula of circular arc;
Next suppose that maximum mismachining tolerance is ε, just according to two extreme coordinates of the direction of circular arc, maximum mismachining tolerance ε and the little line segment of interpolation, the expression formula of this circular arc can be obtained.When the direction of circular arc is known, the expression formula of this circular arc is uniquely determined by two end points of circular arc and arc radius.In required interpolation circular arc, two end points of circular arc are two end points of the little line segment of wanted interpolation.So only need to obtain a bit on circular arc again, just can obtain the expression formula of this circular arc according to formula (1).
（x-a) 2+(y-b) 2＝R 2（1）
S25, obtain the expression formula of interpolation circular arc;
As shown in Figure 8, little line segment AB can be regarded as the string of circular arc place circle, gets the mid point of AB, is denoted as an O, then do the vertical line of AB from O point, be denoted as OE.Then line taking section OF on OE, makes the length of OF equal maximum mismachining tolerance, namely bends high level error ε.Finally, the coordinate figure of a F is obtained.Like this, certainly exist a circle, simultaneously mistake A, F, B tri-point.According to formula (1), can parameter a be obtained, the concrete value of b, R, thus obtain the expression formula of this interpolation circular arc.
S26, to calculate at the enterprising row interpolation of circular arc, obtain interpolation point.
When interpolation calculation, after utilizing previously defined interpolation, minimum step goes to approach this interpolation circular arc, and specific practice is as follows:
From circular arc starting point (former little line segment starting point), with minimum interpolation step-length L mingo to approach interpolation circular arc as chord length.Suppose that circular arc starting point is A, as shown in Figure 9, first interpolation point obtained after interpolation is B, and their coordinate uses (x respectively a, y a) and (x b, y b) represent.Obviously, B is a bit on circular arc, and is L to the distance of A point min.So according to formula (2) below, the coordinate figure obtaining B point can be easy to.
( x B - a ) 2 + ( y B - b ) 2 = R 2 ( x B - x A ) 2 + ( y B - y A ) 2 = L min 2 - - - ( 2 )
Next, from B point, the interpolation point below solving according to the method described above is continued, till to the last an interpolation point coordinate exceeds the scope of circular arc.
If the distance dropped on from circular arc terminal to last interpolation point in circular arc is less than minimum interpolation step-length, then last interpolation point before circular arc terminal is deleted, and using circular arc terminal as last interpolation point.
The interpolation point generated after interpolation too redundancy, algorithm also needs the maximum turning θ of setting one maxif the angle between two sections that generate after interpolation new little line segments is greater than maximum turning θ max, then two interpolation points being merged into an interpolation point, is new starting point with the starting point of the little line segment of first paragraph, with the terminal of the little line segment of second segment for terminal.
Shown in ginseng Fig. 4, in second embodiment of the invention, the numerical control processing track disposal route towards fairing processing comprises the following steps:
All little line segment on S1, traversal whole piece machining locus, carries out the judgement in interpolation sub-range;
S2, to the little line segment in interpolation sub-range, the method for circular interpolation is adopted to carry out interpolation calculation;
All little line segment on S3, traversal whole piece machining locus, carries out the judgement in fairing filtering sub-range;
S4, glide filter technology is adopted to carry out filtering to each turning needing to carry out fairing filtering.
Wherein step S1 is identical with the first embodiment with S2, no longer repeats at this.In order to obtain the machining locus of more fairing, the transition energy even variation of angle between flex point on machining locus.Therefore, after completing interpolation, also need traversal whole piece machining locus, carry out the judgement in fairing filtering sub-range, then to needing each turning of carrying out fairing filtering to adopt glide filter technology to carry out filtering, thus the change of angle between flex point can not be undergone mutation.
The method that the fairing filtering sub-range provided embodiment of the present invention step S3 below judges is introduced.
The interpolation technique of little line segment is mainly applicable to there is little flex point and the longer situation of the little line segment of wall scroll.In order to obtain the machining locus of more fairing, also wish the transition energy even variation of angle between flex point on machining locus.Therefore, after completing interpolation, also need traversal whole piece machining locus, adopt glide filter technology to carry out filtering to each turning on track, thus the change of angle between flex point can not be undergone mutation.
Digital control system is a real-time system, obviously, if the time of all carrying out spent by filtering process whole piece curve is longer, is difficult to the real-time of guarantee system.Further, carrying out filtering to angle can bring certain impact to the shape of track, might not be adapted to whole piece Processing Curve.Therefore, before carrying out fairing filtering to machining locus, first designed algorithm needs on whole piece machining locus, find the sub-range needing fairing filtering.
Shown in ginseng Fig. 5, step S3 is specially:
S31, the tracing point traveled through on every paths;
S32, conforming principle should be met according to the direction change between little line segment whole piece machining locus is divided into several sub-ranges;
The principle of glide filter technology is that the value within the scope of current glide filter is changed comparatively equably, therefore when carrying out filtering to the turning (namely the direction change of little line segment) in track, can change the shape of original machining locus to a certain extent.Particularly when the direction change of line segment little within the scope of glide filter is inconsistent, even there is the shape errors that filtering causes.Therefore, only changing consistent sub-range to the direction between little line segment adopts sliding filter to carry out fairing filtering.
S33, to judge in sub-range that whether at least the turning existed between two adjacent little line segments is less than preset value, if so, then performs S34; Otherwise, perform S35;
S34, obtain the set in the sub-range needing fairing filtering;
S35, do not needed the set in the sub-range of fairing filtering.
Fairing filtering algorithm carries out fairing filtering by the machining locus sub-range meeting above two conditions simultaneously.Be implemented as follows:
Little line segment larger than terminal for the Y-axis coordinate of little line segment starting point is defined as the little line segment that declines; Otherwise, be defined as the little line segment that rises.Traversal whole piece machining locus, classified by all little line segments, and little line segment type just changed is defined as the beginning or end in a track sub-range according to above-mentioned definition.Such whole piece machining locus is just divided in order to several sub-ranges, and in each sub-range, the direction change of little line segment is consistent.Meanwhile, the maximum turning defining filtering is θ max, when traveling through machining locus, find all turnings to be less than θ maxall flex points, and to be marked.
Travel through all sub-ranges, if there is at least one turning in current traveled through sub-range to be less than θ maxflex point, then this sub-range needs fairing filtering, is added fairing filtering buffer zone; Otherwise current sub-range does not need fairing filtering.
For the sub-range needing fairing filtering, also need the size revising sub-range further, to ensure not produce excessive impact to original machining locus.Because the direction change of line segment little in sub-range is consistent, therefore can change according to the direction of the little line segment of head-end sections in sub-range, the size at average each turning after obtaining glide filter.If judge the maximum turning θ being greater than defined filtering at average each turning, current sub-range max, then one section little line segment relatively far away for the little flex point of head and the tail place, sub-range apart from mark is deleted, shortens the size in sub-range.Then said method is adopted to continue judge and shorten sub-range, until the size at average each turning is less than maximum turning θ after filtering maxtime till.The sub-range now obtained is exactly real filtering sub-range.
Below the process of the fairing filtering that embodiment of the present invention step S4 provides is introduced.
What fairing filtering algorithm adopted is moving average filter, and its structural drawing as shown in Figure 10.
Shown in ginseng Fig. 6, step S4 is specially:
S41, moving window N is set w;
The glide filter defining this sliding filter is interval, i.e. the size of moving window.
S42, obtain this cycle glide filter result export;
Each glide filter first values all in moving window is sued for peace, and then divided by moving window size, obtain the average of all values, and the result as this cycle glide filter exports.
Need each section little line segment from the beginning traveled through in filtering sub-range.Be not general, for the little line segment of i-th on filtering sub-range, its fairing wave filter exports and is:
Δ θ i ‾ = Σ j = i N i Δθ j .
S43, moving average filter is adopted to carry out filtering to the change of little line segment angle.
Suppose a total little line segment of N bar on this filtering sub-range, the N so in above formula jshould following formula be met:
N j＝min(i+N w,N)，
Length and the starting point coordinate of maintenance i-th little line segment are constant, by the output of fairing wave filter, can calculate the terminal point coordinate of this little line segment.Then using the starting point of tried to achieve terminal as next little line segment, continue to adopt next little line segment of said method process, until whole filtering sub-range has all been processed.
Compared with prior art, numerical control processing track disposal route towards fairing processing of the present invention, glide filter technology and interpolation technique are incorporated in the fairing processing problem of Machining Path, do not fitting on the basis of curve by the machining path that little line segment forms, design one to realize on machining path pre-service mechanism in continually varying fairing path, turning between adjacent little line segment.For the machining locus with different characteristics, adopt different preprocess methods.Such as, for the machining locus that the little line segment of wall scroll is longer, adopt the mode of interpolation, and for the shorter machining locus of the little line segment of wall scroll, then adopt the mode of glide filter to reduce low-angle tracing point transition further, meet the requirement of digital control system real-time, strengthen the adaptability of fairing processing function.
To those skilled in the art, obviously the invention is not restricted to the details of above-mentioned one exemplary embodiment, and when not deviating from spirit of the present invention or essential characteristic, the present invention can be realized in other specific forms.Therefore, no matter from which point, all should embodiment be regarded as exemplary, and be nonrestrictive, scope of the present invention is limited by claims instead of above-mentioned explanation, and all changes be therefore intended in the implication of the equivalency by dropping on claim and scope are included in the present invention.Any Reference numeral in claim should be considered as the claim involved by limiting.
In addition, be to be understood that, although this instructions is described according to embodiment, but not each embodiment only comprises an independently technical scheme, this narrating mode of instructions is only for clarity sake, those skilled in the art should by instructions integrally, and the technical scheme in each embodiment also through appropriately combined, can form other embodiments that it will be appreciated by those skilled in the art that.

Claims (6)

1., towards a numerical control processing track disposal route for fairing processing, it is characterized in that, said method comprising the steps of:
All little line segment on S1, traversal whole piece machining locus, carries out the judgement in interpolation sub-range;
S2, to the little line segment in interpolation sub-range, the method for circular interpolation is adopted to carry out interpolation calculation;
All little line segment on S3, traversal whole piece machining locus, carries out the judgement in fairing filtering sub-range;
S4, glide filter technology is adopted to carry out filtering to each turning needing to carry out fairing filtering.
2. method according to claim 1, is characterized in that, described step S1 specifically comprises:
Little line segment on S11, traversal whole piece machining locus;
S12, the little line segment length of the shortest interpolation of setting;
S13, judge whether current traversed little line segment length is greater than the set little line segment length of the shortest interpolation, if so, then performs S14; Otherwise, perform S18;
S14, set maximum turning;
S15, judge whether the turning size of little line segment destination county is less than set maximum turning, if so, then performs S16; Otherwise, perform S18;
S16, this little line segment is joined in interpolation sub-range;
S17, obtain the little line segment aggregate needing interpolation calculation;
S18, do not needed the little line segment aggregate of interpolation calculation.
3. method according to claim 1, is characterized in that, described step S2 specifically comprises:
S21, the little line segment obtained in interpolation sub-range;
S22, with one section of original little line segment of circular approximation;
S23, judge the direction of circular arc;
S24, obtain the expression formula of circular arc;
S25, obtain the expression formula of interpolation circular arc;
S26, to calculate at the enterprising row interpolation of circular arc, obtain interpolation point.
4. method according to claim 1, is characterized in that, described step S3 is specially:
S31, the tracing point traveled through on every paths;
S32, conforming principle should be met according to the direction change between little line segment whole piece machining locus is divided into several sub-ranges;
S33, to judge in sub-range that whether at least the turning existed between two adjacent little line segments is less than preset value, if so, then performs S34; Otherwise, perform S35;
S34, obtain the set in the sub-range needing fairing filtering;
S35, do not needed the set in the sub-range of fairing filtering.
5. method according to claim 4, is characterized in that, described step S4 is specially:
S41, moving window N is set w;
S42, obtain this cycle glide filter result export;
S43, moving average filter is adopted to carry out filtering to the change of little line segment angle.
6. method according to claim 5, is characterized in that, for the little line segment of i-th on filtering sub-range in described step S42, Output rusults is: and N jmeet N j=mini (+N wn ,) wherein, N is the number of little line segment.
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