CN103862326B - A kind of dual rotary workbench five-axis machine tool rotary cutter point of a knife control method - Google Patents

Abstract

<b> the invention discloses a kind of dual rotary workbench five-axis machine tool rotary cutter point of a knife control method </b>, <b> is on the basis of standard with the digital control system of RTCP function, according to the version of five-axle number control machine tool, write post processing.So-called post processing is exactly the process of numerical control program tool position source file being converted into machine tool control system identification.With RTCP option in control system of the present invention, coordinate transform is calculated by controller, and procedure can remain unchanged, for a collection of part, can not because clamping position change chop and change program.Only need in the write parameters of corresponding coordinate position.Also bring some benefit following: processing work diversity simultaneously; Working (machining) efficiency improves; Machining accuracy height </b>.

Description

A kind of dual rotary workbench five-axis machine tool rotary cutter point of a knife control method

Technical field

The invention belongs to five-axis machine tool processing technique field, particularly relate to five-axis machine tool center cutter point of a knife position error control technology.

Background technology

Digit Control Machine Tool, according to the quantity of coordinate system axis, is divided into three axis numerically controlled machine, four axles and multi-axis NC Machine Tools (more than five axles and five axles).In theory, have the Digit Control Machine Tool of 3 linear axes and 2 gyroaxises, five-axle linkage can realize complex-curved Continuous maching, is commonly referred to as five shaft five linkage Digit Control Machine Tool; If can five axles location but do not link, can processing space arbitrary orientation point, be commonly referred to as five axle positioning numerical control lathes.Five-axle number control machine tool, by version, is divided into double-workbench oscillating-type, two main shaft milling head oscillating-type, worktable rotary and main tapping oscillating-type etc.Controller of digital controlled machine tool divides by functional characteristics, be divided into and be not with RTCP (rotary cutter central point, point of a knife keeps) functional form and band RTCP functional form, early stage digital control system is not generally with RTCP function, carry out five shaft five linkage and add man-hour, require that procedure calculates the processing stand of workpiece, the actual coordinate value after lathe rotates, also will consider the problems such as cutter compensation.If the lathe that band main tapping swings, this problem is particularly outstanding, once when renewing cutter, tool length there occurs change, and programmed value is originally all incorrect, needs to re-start post processing, and this brings very burden to actual use.And working (machining) efficiency is low.

Summary of the invention

In order to overcome the technical problem of above-mentioned existence, the invention provides a kind of dual rotary workbench five-axis machine tool rotary cutter point of a knife control method, the method effectively compensates cutter error in length, improves the working (machining) efficiency of five-axis machine tool.

In order to achieve the above object, the present invention is by the following technical solutions: a kind of dual rotary workbench five-axis machine tool rotary cutter point of a knife control method, described five-axis machine tool processing stand location coordinate comprises 3 linear axes and 2 rotating shafts, wherein 3 linear axes form three-dimensional system of coordinate, a rotating shaft rotates around X-axis in three-dimensional system of coordinate and is set as A axle, another rotating shaft rotates around the Y-axis in three-dimensional system of coordinate and is set as C axle, comprises the following steps:

Step one, basic parameter set, and according to the form below defines and setting value each parameter:

Reference numbers	Setting value	Meaning of parameters
			pr3001	2	Five axis mechanism types: dual rotary workbench
pr3002	3	Cutter is universal: z-axis
			pr3003	0	Cutter angle of inclination
pr3004	0	Cutter angle of inclination
			pr3005	1	Lst rotating shaft: A axle
pr3006	3	2nd rotating shaft: C axle
			pr3007	2	Lst rotating shaft is universal: left in rule
pr3008	2	2nd rotating shaft is universal: left in rule
			Pr3009	250000	Lst rotation shaft angle starting point: 250 degree
pr3010	15000	Lst rotation shaft angle terminal: 15 degree
			Pr3011	0	2nd rotation shaft angle starting point: 0 degree
pr3012	0	2nd rotation shaft angle terminal: 0 degree
			pr3013	0	Tool rest length
pr3031	0	From A axle toward C axle in the side-play amount that X is universal
			Pr3032	Actual amount measured value Yca	From A axle toward C axle in the side-play amount that Y is universal
pr3033	Actual amount measured value Zca	From A axle toward C axle in the side-play amount that z is universal
			Pr3034	Actual amount measured value XO	A axle axle X-axis aligning mechanical coordinate
pr3035	Actual amount measured value YO	A axle axle Y-axis aligning mechanical coordinate
			pr3036	Actual amount measured value	The z-axis machinery coordinate in A axle axle center

In table, the unit of Pr3009 ~ 3012, Pr3032 ~ Pr3036 is BLU;

Step 2, C axle shaft core position measure

First be located on machine tool chief axis by dial holder, make amesdial probe be down in centre bore, traveling probe makes it touch far-end inside workbench, and after moving left and right the distalmost end that X-axis confirms in Y-direction, fixing X-axis; Then moving Y-axis makes amesdial probe counts make zero, and recording now Y-axis coordinate value is Y1;

Then, rotated by A axle to behind-90 ° of positions, mobile amesdial probe touching work top makes amesdial probe counts make zero, and to record now Y-axis coordinate value be Y2;

Then, mobile amesdial probe makes it touch workbench centre bore lower edge, make amesdial count zero, and to record now Z axis coordinate value is Z2;

Then, rotated to 0 ° of position by A axle, mobile amesdial probe touching work top, makes amesdial count zero, and records now Z axis coordinate value Z1;

Calculate finally by following methods and obtain each parameter value:

A, suppose the negative Y-direction of C axle at A axle, and obtain the input value of Pr3032 and Pr3033 by formula (1) and (2):

$\mathrm{Yca}=\frac{|Y1-Y2|-|Z1-Z2|}{2}---\left(1\right)$

$\mathrm{Zca}=\frac{|Y1-Y2|+|Z1-Z2|}{2}-R---\left(2\right)$

Wherein, R is the radius of workbench centre bore; When Yca is positive number, Zca is the value of Pr3033, and the value of Pr3032 is then-Yca; When Yca is negative, Zca is the value of Pr3033, and the value of Pr3032 is then Yca;

Step 3, A axle shaft core position measure

First, amesdial is fixed on main shaft nose and guarantees that amesdial can rotate with main shaft, then moving Z axis makes amesdial probe be in the height that can touch workbench centre bore inner edge, then moves X-axis and Y-axis makes amesdial probe touch workbench centre bore inner edge;

Then, slow rotating spindle, and progressively adjust X-axis and Y-axis, and until amesdial counting no longer changes, the now center of spindle alignment workbench centre bore, and the coordinate value recording now X-axis and Y-axis is respectively XO and Y0; And XO is inputted Pr3034, and Y0-Pr3032 is as the input value of Pr3035;

Then, to rotate A axle to 0 °, and placing height setting apparatus on the table, and lower Z axis and make main shaft nose touch height setting apparatus, and counting is made zero, recording now Z axis coordinate value is Z0; And using the input value of Z0-(height setting apparatus height)-Pr3033 as Pr3036;

Step 4, RTCP functional test

First, introduce 2 Rbit, be respectively R518 and R519, when mobile linear axis, setting value during the different situation of R518 with R519 and implication are defined as follows table:

Then, measure cutter protruded length, and compensate as cutter is long; After all setting parameters complete, R519 is set as 1, now manual operation rotating shaft revolution is point of a knife point control, and assigns G43.4H instruction in MDI pattern, performs processing process;

Finally, be switched to handwheel pattern, mobile linear axes makes tool nose move to the convenient position identified, then rotates rotating shaft, and the relative position now between tool nose point and workbench immobilizes.

Technique scheme is improved, needs before step 2 to position rotating shaft, eliminate error.

Further improvement, before step 2, tests to A axle levelness: A axle rotates gets back to initial point, and is fixed on main shaft by amesdial, and decline Z axis makes amesdial probe touch workbench by the following method; Then fix X-axis, mobile Y-axis also observes amesdial pointer, if pointer is unchanged, represents workbench level, if pointer changes, then adjusts A axle and is not changing to pointer, and record the angle value of now A axial adjustment.

Beneficial effect: compared with prior art, the present invention has the following advantages: realize RTCP function by carrying out the long error compensation of cutter to dual rotary workbench five-axis machine tool, with RTCP option in control system, coordinate transform is calculated by controller, procedure can remain unchanged, for with a collection of part, can not because clamping position change chop and change program, only need in the write parameters of corresponding coordinate position.Also bring some benefit following: 1: processing work diversity simultaneously.2: working (machining) efficiency improves .3: machining accuracy is high.4: improve cutter rigidity.

Accompanying drawing explanation

Fig. 1 is the walking path schematic diagram of tool nose when not opening RTCP function of the present invention;

The walking path schematic diagram of tool nose when Fig. 2 is unlatching RTCP function of the present invention;

When Fig. 3 is calculating C axle shaft core position of the present invention, each parameters relationship schematic diagram when Yca value is positive number;

When Fig. 4 is technology C axle shaft core position of the present invention, each parameters relationship schematic diagram when Yca value is negative;

Fig. 5 is five axis coordinate system schematic diagrames of five-axis machine tool of the present invention.

Detailed description of the invention

Below in conjunction with the drawings and specific embodiments, illustrate the present invention further, these embodiments should be understood only be not used in for illustration of the present invention and limit the scope of the invention, after having read the present invention, the amendment of those skilled in the art to the various equivalent form of value of the present invention has all fallen within the application's claims limited range.

The tool nose control method of dual rotary workbench five-axis machine tool of the present invention,

Specific implementation method divides following step:

1. board brief introduction

Five axle board types: dual rotary table machine; Rotating shaft is the A axle rotated around X-axis: stroke (-110 ~ ~ 15 degree); C axle around Z axis rotates: 360 degree.Five axles digital control system title used: five-axis machine tool-AC axle sets; Version is SKYCNC2014; Pass through MDI(manualdatainput) pattern, and by the brief instruction of input, start and perform related command.

2. preparation

2.1 axle location

Rotate and add the error relevant with rotating shaft in man-hour, reason is except the skew of axle center, and also may be that rotating shaft location is not good causes, if so first rotating shaft location can be carried out, then when error occurs, and just can first by possible source of error range shorter.The location error compensation mode of rotating shaft, the pitch with linear axis compensates the same, as long as the error of each position is inserted compensation meter (Pr8001 ~ 10000).Carry out rotating shaft location and need use precision instrument, common mechanical factory does not nearly all have this kind equipment, so rotating shaft accurate positioning is a great problem of five-axis machine tool.If do not have measurement equipment in factory, this step can only directly skip over, and has error to occur if follow-up, is just assumed to be axle center skew and causes, and adjust with this.

A axle levelness is checked

Checking procedure:

1.A axle completes Aligning control

2. amesdial is fixed on main shaft

3. decline Z axis can encounter workbench by amesdial probe

4. fixing X-axis, mobile Y-axis, sees that pointer has unchanged

If 5. pointer is unchanged, represent workbench level

If 6. pointer changes, then adjust A axle according to incline direction, until pointer no longer changes, and the angle value of record adjustment

7. by the origin offset (Pr88X) of the angle value of adjustment input A axle, if be toward positive direction adjustment 0.1 degree, then input+100, if toward negative direction adjustment, then input-100.

The unit of points for attention: Pr88X is BLU, and not degree of being should be noted the figure place of setting value, if side-play amount 1 degree, then setting value is 1000.

3. five axle machine system basic parameter settings

3.1 system basic parameter settings

Reference numbers	Setting value	Note
			pr3001	2	Five axis mechanism types: dual rotary workbench
Pr3002	3	Cutter is universal: z-axis
			Pr3003	0	Cutter angle of inclination
pr3004	0	Cutter angle of inclination
			Pr3005	1	Lst rotating shaft: A axle
pr3006	3	2nd rotating shaft: C axle
			Pr3007	2	Lst rotating shaft is universal: left in rule
Pr3008	2	2nd rotating shaft is universal: left in rule
			Pr3009	250000	* lst rotation shaft angle starting point: 250 degree
pr3010	15000	* lst rotation shaft angle terminal: 15 degree
			Pr3011	0	* 2nd rotation shaft angle starting point: 0 degree
pr3012	0	* 2nd rotation shaft angle terminal: 0 degree
			Pr3013	0	* tool rest length

Points for attention: the unit of Pr3009 ~ 3012 is BLU, not degree of being should be noted the figure place of setting value, if angle is 15 degree, is then set as 15000.Angle initialization scope is 0 ~ 360 degree, can not input negative value.Rotating shaft can three-sixth turn time, starting point, terminal all can be set as 0.Have " * " to represent this pre-set parameter before note to change with board difference.

3.2C axle shaft core position measures

Reference numbers	Setting value	Note
			Pr3031	0	From A axle toward C axle in the side-play amount that X is universal
Pr3032	Need actual measurement	From A axle toward C axle in the side-play amount that Y is universal
			pr3033	Need actual measurement	From A axle toward C axle in the side-play amount that z is universal

Measurement step: first dial holder is located on main shaft, then following operation:

1. drop in centre bore by probe, traveling probe goes to touch that end from away from user, then

2. move left and right X-axis, to find out in Y-direction farthest that

3. moving Y-axis allows probe counts make zero, and records now Y-axis mechanical block and is designated as Y1.(find in Y-direction after farthest that, subsequent step does not all move X-axis).

4. A axle is forwarded to-90 degree, note not bumping against amesdial.

5. traveling probe goes to touch work top, and allow counting make zero, recording now Y-axis mechanical block table is Y2.

6. traveling probe goes to touch centre bore lower edge, and allows counting make zero, and records now Z axis mechanical block and is designated as Z2

7. A axle is gone back to 0 degree, note not bumping against amesdial

8. traveling probe goes to touch work top, and allows counting make zero, and records now Z axis machinery coordinate Z1.

9. please refer to figure below, suppose the negative Y-direction of C axle at A axle, when we are on the left of board, when namely looking toward positive X-direction, the relation of Y1, Y2, Z1, Z2 can arrange as figure below, and R is then the radius (25mm) of centre bore, according to these relations, can formula be obtained as follows:

∣Y1－Y2∣＝P

∣Z1－Z2∣＝Q

Yca＝（Q－P）/2

Zca＝（P＋Q）/2－R

10.Yca should be on the occasion of, Zca directly can input Pr3033, and Yca then needs to add a negative sign, then inputs Pr3032.

If 11. Yca are negative, representative hypothesis mistake, please skip to next step.

12. if the Yca Chu Now negative value of steps 9., representative hypothesis mistake, that is, C axle is actually the positive Y-direction at A axle, and at this time relation circle just becomes lower circle, and formula then becomes:

∣Y1－Y2∣＝P

∣Z1－Z2∣＝Q

Yca＝（P－Q）/2

Zca＝（P＋Q）/2－R

13.Zca directly can input Pr3033, and Yca directly can input Pr3032.

Wherein, Pr3032,3033 unit be BLU, be not mm, should be noted the figure place of setting value, if Yca is 10, be then set as 10000.

3.3A shaft position measures

Reference numbers	If value	Note
			Pr3034	Need actual measurement	A axle axle X-axis aligning mechanical coordinate
Pr3035	Need actual measurement	A axle axle Y-axis aligning mechanical coordinate

Measurement step

1. amesdial is contained in main shaft nose, amesdial can be rotated along with main shaft, mobile Z axis,

2. probe arrives and can measure the height of centre bore inner edge, then moves X, Y-axis allows probe encounter centre bore inner edge,

3. with the slow rotating spindle of hand, progressively adjust X, Y-axis, until amesdial allows several constant, the now center of spindle alignment centre bore, mechanical block scale value is X0, Y0

4. X0 is inputted Pr3034

5.Y direction must be taken into account the departure of A axle, C axle, after therefore Y0 must cut Pr3032, just can input Pr3035.Suppose that Y0 equals 150, and Pr3032 is 20, then Pr3035 is set as 149980

Wherein, Pr3034,3035 unit be BLU, be not mm, should be noted the figure place of setting value, if coordinate values is 10, be then set as 10000.

Reference numbers	Setting value	Note
			Pr3036	Need actual measurement	The z-axis machinery coordinate in A axle axle center

Measurement step:

1.A axle goes to 0 degree, and main shaft does not fill cutter

2. height setting apparatus is put on the table

3. decline Z axis, goes to touch height setting apparatus by the minimum point of main shaft nose, and makes to allow number zero, records now Z axis machinery coordinate Z0

4.Pr3036 equals Z0-(height setting apparatus height)-(Pr3033).The unit of Pr3036 is BLU, is not mm, should be noted the figure place of setting value, if coordinate values is 10, is then set as 10000.

4.RTCP functional test

4.1RTCP manual function is arranged

R518 and R519 two Rbit are added in Ladder archives.

0,1 R518 setting value:, 2(is when moving linear axis, corresponding mechanical coordinate, formula coordinate, cutter coordinate respectively); R519 setting value: 0,1(RTCP function is closed and opened, 0: close, 1: open)

4.2 cuttves are long to be measured

It is long that the cutter length that five s functions use is compensated for as positive cutter, namely actual cutter protruded length, measurement mode is for first to go to touch a reference point with main shaft nose, record mechanical coordinate, then install cutter, go to touch with a reference point with point of a knife, record second mechanical coordinate, two coordinate values are subtracted each other, and then taking absolute value is exactly that positive cutter is long, after calculating cutter length, numerical value are inserted the long compensation meter of cutter.

4.3RTCP manual function is tested

Testing procedure: please determine that setting parameter completes

R519 is set as 1, now manual operation rotating shaft, point of a knife point control can be transferred to; MDI pattern assign G43.4H_(H argument corresponding be cutter number); MDI performs processing; Be switched to handwheel motion of defect modes linear axes, point of a knife is moved on to the convenient place identified, Z-direction is then about 100mm from workbench center from general 50mm, the XY direction of workbench; Rotate rotating shaft, now the relative position of point of a knife point and workbench can immobilize.

4.4 use as follows in formula:

Program Machining Instruction form: G43.4H_;

G49;

G43.4: open RTCP function

G49: cancel RTCP function

H: cutter number

Use restriction: 1.G41G42 cutter radius compensation function can not use together

2.G43G44 tool length compensation function can not use together

3. to be required to be positive cutter long for the long setting of cutter

4., before using G53G28G29G30, G49 be assigned and cancel RTCP pattern, avoid board to occur abnormal action.Specifically detailed step is introduced below by way of use case:

When following two sections of programmings can illustrate RTCP with or without unlatching, the difference of board action, first paragraph instruction does not add G43.4 instruction, and RTCP function is then opened in the first row by second segment.

Do not open the formula of RTCP:

G00X0Z0B0C0

G01X50.Y0Z0B-45.C0

When Fig. 1 is not for opening RTCP, the mode of board action.Open the formula of RTCP:

G43.4H1

G00X0Y0Z0B0C0

G01X50.Y0Z0B-45.C0

Fig. 2 is after opening RTCP, the mode of the action of board.

Claims (3)

1. a dual rotary workbench five-axis machine tool rotary cutter point of a knife control method, described five-axis machine tool processing stand location coordinate comprises 3 linear axes and 2 rotating shafts, wherein 3 linear axes form three-dimensional system of coordinate, a rotating shaft rotates around X-axis in three-dimensional system of coordinate and is set as A axle, another rotating shaft rotates around the Y-axis in three-dimensional system of coordinate and is set as C axle, it is characterized in that comprising the following steps:

Step one, basic parameter set, and according to the form below defines and setting value each parameter:

Reference numbers Setting value Meaning of parameters Pr 3001 2 Five axis mechanism types: dual rotary workbench Pr 3002 3 Tool orientation: Z axis Pr 3003 0 Cutter angle of inclination Pr 3004 0 Cutter angle of inclination Pr 3005 1 1st rotating shaft: A axle Pr 3006 3 2nd rotating shaft: C axle Pr 3007 2 1st rotating shaft direction: left hand rule Pr 3008 2 2nd rotating shaft direction: left hand rule Pr 3009 250000 1st rotation shaft angle starting point: 250 degree Pr 3010 15000 1st rotation shaft angle terminal: 15 degree Pr 3011 0 2nd rotation shaft angle starting point: 0 degree Pr 3012 0 2nd rotation shaft angle terminal: 0 degree Pr 3013 0 Tool rest length Pr 3031 0 Side-play amount from A axle toward C axle in X-direction Pr 3032 Actual amount measured value Yca From A axle toward C axle side-play amount in the Y direction Pr 3033 Actual amount measured value Zca Side-play amount from A axle toward C axle in Z-direction Pr 3034 Actual amount measured value X0 A axle axle X-axis aligning mechanical coordinate Pr 3035 Actual amount measured value YO A axle axle Y-axis aligning mechanical coordinate Pr 3036 Actual amount measured value The Z axis machinery coordinate in A axle axle center

In table, the unit of Pr3009 ~ 3012, Pr3032 ~ Pr3036 is BLU;

Step 2, C axle shaft core position measure

First be located on machine tool chief axis by dial holder, make amesdial probe be down in centre bore, traveling probe makes it touch far-end inside workbench, and after moving left and right the distalmost end that X-axis confirms in Y-direction, fixing X-axis; Then moving Y-axis makes amesdial probe counts make zero, and recording now Y-axis coordinate value is Y1;

Then, rotated by A axle to behind-90 ° of positions, mobile amesdial probe touching work top makes amesdial probe counts make zero, and to record now Y-axis coordinate value be Y2;

Then, mobile amesdial probe makes it touch workbench centre bore lower edge, make amesdial count zero, and to record now Z axis coordinate value is Z2;

Then, rotated to 0 ° of position by A axle, mobile amesdial probe touching work top, makes amesdial count zero, and records now Z axis coordinate value Z1;

Calculate finally by following methods and obtain each parameter value:

A, suppose the negative Y-direction of C axle at A axle, and obtain the input value of Pr3032 and Pr3033 by formula (1) and (2):

Wherein, R is the radius of workbench centre bore; When Yca is positive number, Zca is the value of Pr3033, and the value of Pr3032 is then-Yca; When Yca is negative, Zca is the value of Pr3033, and the value of Pr3032 is then Yca;

Step 3, A axle shaft core position measure

First, amesdial is fixed on main shaft nose and guarantees that amesdial can rotate with main shaft, then moving Z axis makes amesdial probe be in the height that can touch workbench centre bore inner edge, then moves X-axis and Y-axis makes amesdial probe touch workbench centre bore inner edge;

Then, slow rotating spindle, and progressively adjust X-axis and Y-axis, and until amesdial counting no longer changes, the now center of spindle alignment workbench centre bore, and the coordinate value recording now X-axis and Y-axis is respectively XO and Y0; And XO is inputted Pr3034, and Y0-Pr3032 is as the input value of Pr3035;

Then, to rotate A axle to 0 °, and placing height setting apparatus on the table, and lower Z axis and make main shaft nose touch height setting apparatus, and counting is made zero, recording now Z axis coordinate value is Z0; And using the input value of Z0-(height setting apparatus height)-Pr3033 as Pr3036;

Step 4, RTCP functional test

First, introduce 2 Rbit, be respectively R518 and R519, when mobile linear axis, setting value during the different situation of R518 with R519 and implication are defined as follows table:

Then, measure cutter protruded length, and compensate as cutter is long; After all setting parameters complete, R519 is set as 1, now manual operation rotating shaft revolution is point of a knife point control, and assigns G43.4H instruction in MDI pattern, performs processing process;

Finally, be switched to handwheel pattern, mobile linear axes makes tool nose move to the convenient position identified, then rotates rotating shaft, and the relative position now between tool nose point and workbench immobilizes.

2. dual rotary workbench five-axis machine tool rotary cutter point of a knife control method according to claim 1, is characterized in that: need before step 2 to position rotating shaft, eliminates error.

3. dual rotary workbench five-axis machine tool rotary cutter point of a knife control method according to claim 2, is characterized in that: before step 2, tests by the following method to A axle levelness:

A axle rotates gets back to initial point, and is fixed on main shaft by amesdial, and decline Z axis makes amesdial probe touch workbench; Then fix X-axis, mobile Y-axis also observes amesdial pointer, if pointer is unchanged, represents workbench level, if pointer changes, then adjusts A axle and is not changing to pointer, and record the angle value of now A axial adjustment.