CN104793563A - Machining method for outer covering piece mold based on comprehensive rigid field of four-axis machining system - Google Patents
Machining method for outer covering piece mold based on comprehensive rigid field of four-axis machining system Download PDFInfo
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- CN104793563A CN104793563A CN201510074630.8A CN201510074630A CN104793563A CN 104793563 A CN104793563 A CN 104793563A CN 201510074630 A CN201510074630 A CN 201510074630A CN 104793563 A CN104793563 A CN 104793563A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
Abstract
A machining method for an outer covering piece mold based on a comprehensive rigid field of a four-axis machining system is provided. The four-axis machining system is used as one of high-precision and complicated-curved-surface machine tools and is widely applied to manufacturing of complicated molded surfaces including the automobile outer covering piece molds and the like. The machining method comprises the following steps: firstly, carrying out characteristic analysis on the mold; secondly, establishing a model for the rigidity of each part of the four-axis machining system; thirdly, establishing a model of a movable chain of the four-axis machining system and establishing a comprehensive rigid field model; and finally, carrying out characteristic analysis and machining operation according to the comprehensive rigid field. The machining method is used for four-axis linkage machining.
Description
technical field:
the present invention relates to a kind of job operation of the outer covering piece mould based on Four-axis milling system synthesis rigidity field.
background technology:
along with the development of die industry, people are also more and more higher to complex-curved accuracy requirement, and Four-axis milling system, as one of complex-curved lathe of machining high-precision, is widely applied in the manufacture of the complex profiles such as vehicle exterior cladding element mould.
the three axle lathes that four axle lathes are relative and traditional, it has greater flexibility, so that processed complex curved surface, but difficulty is brought to the Solve problems of cutter spatial pose, and the change of location attitude of the cutter can have influence on the change of the integral stiffness performance of whole lathe, kinematic axis also mainly relies on joint to realize translation and rotation, such lathe joint, the crossbeam that stroke is longer, handle of a knife-main shaft faying face cutter itself wait these parts for other structure, its rigidity is more weak, therefore process under alternating download condition, a certain amount of distortion can be produced, and these distortion often produce larger impact to the displacement of cutter location thus bring certain error to Mould Machining.Meanwhile, the surface appearance feature of mould itself and material behavior are another the large factors affecting lathe rigidity property in process.And die surface quality height directly can have influence on the damaged ability of the wearing quality of stamped workpieces, corrosion stability and antifatigue.So the global stiffness field rapid modeling of mold machine tool and performance evaluation just seem particularly important.
summary of the invention:
the object of this invention is to provide a kind of job operation of the outer covering piece mould based on Four-axis milling system synthesis rigidity field.
above-mentioned object is realized by following technical scheme:
a kind of job operation of the outer covering piece mould based on Four-axis milling system synthesis rigidity field, first specificity analysis is carried out to mould, secondly to described Four-axis milling various parts rigidity Modling model, again described Four-axis milling system motion chain Modling model being set up to integral stiffness field model and carried out specificity analysis, finally carrying out process operation according to carrying out specificity analysis to integral stiffness field.
the job operation of the described outer covering piece mould based on Four-axis milling system synthesis rigidity field, described mould specificity analysis comprises the steps: first to obtain planar process to be processed vector, is then obtained the stiffness matrix of mould by Finite Element Method.
the job operation of the described outer covering piece mould based on Four-axis milling system synthesis rigidity field, the foundation of described Four-axis milling various parts rigidity model comprises following content: the foundation of the foundation of the transverse beam rigidity model of described Four-axis milling system, the foundation of the joint stiffness model of described Four-axis milling system, the cutter-main axis stiffness model of described Four-axis milling system.
the job operation of the described outer covering piece mould based on Four-axis milling system synthesis rigidity field, according to the foundation of described Four-axis milling various parts rigidity model and the foundation of described Four-axis milling system motion chain model, specificity analysis is carried out to the integral stiffness field Modling model of system.
the job operation of the described outer covering piece mould based on Four-axis milling system synthesis rigidity field, the described method according to carrying out specificity analysis to integral stiffness field and carry out process operation first chooses default tool space attitude to reference mark, obtaining the integral stiffness performance of lathe under described tool space pose by introducing non-coplanar force ellipsoid, choosing optimum cutter-orientation; In power ellipsoid described in again the character of surface of mould being introduced, obtain the rigidity property figure of whole mould, finally by rigidity property evaluation index, obtain optimum machining path, carry out process operation.
beneficial effect:
1. the present invention is by obtaining the locus of cutter in Four-axis milling various parts stiffness parameters, process and the rigidity at attitude (displacement and angle) and the some reference mark of processed die surface, set up the system synthesis rigidity field of lathe joint-crossbeam-cutter spindle-workpiece under the spatial pose of this cutter, and carry out A+E determination processing technology, even if the rigidity property of mold machine tool in process is optimized like this, the surface quality of processed mould is also made to be improved.
it is low that the present invention has cost, simple to operate, and measuring speed is fast, precision high, significantly and effectively can improve precision and the efficiency of work pieces process.
the present invention carries out the modeling of rigidity field mainly for the Four-axis milling system of vehicle exterior cladding element, by the analytical calculation of the integral stiffness field to Four-axis milling system, being optimized the mould of profile various in milling process and the tool space pose (angle, displacement) of lathe and direction of feed, is high-precision mold process technology.
the present invention, for the rigidity of vehicle exterior cladding element mould itself, adopts finite element method to carry out analyzing the stiffness matrix obtaining any reference mark, for the mold machine tool integral stiffness matrix computations in process, not only consider machine tool motion joint, cutter, cutter spindle combines, the parts larger to the rigidity of machine tool performance contribution that the own portion of mould etc. are common, also consider that distortion at process middle cross beam is to the contribution of lathe integral rigidity performance especially, the more realistic processing situation of the integral stiffness matrix obtained with this, in addition, power ellipsoid is introduced in integral stiffness field by the present invention, with the most minor axis of ellipsoid for rigidity property index, the optimization of location attitude of the cutter can be carried out by maximizing ellipsoid minor axis, simultaneously, also undertaken calculating the work surface normal vector obtaining mould by software, and be introduced in power ellipsoid, thus the rigidity property index obtained towards processing plane, obtain mould integral stiffness performance map in process, thus machining path optimization can be carried out as required.
simulation process of the present invention, through contrasting with more advanced COMET-L3D optical measuring instrument in currently available technology, has cost low, simple to operate, measuring speed is fast, precision high, significantly and effectively can improve precision and the efficiency of work pieces process.
accompanying drawing illustrates:
accompanying drawing 1 is finished surface normal vector schematic diagram of the present invention.
accompanying drawing 2 is applying schematic diagram of six direction specific loading of the present invention.
accompanying drawing 3 is structural representations of the present invention.
accompanying drawing 4 is power ellipsoid schematic diagram of the present invention.
accompanying drawing 5 is power ellipsoid schematic diagram of consideration processing plane of the present invention.
accompanying drawing 6 is invention process flow diagrams of the present invention.
the schematic diagram of accompanying drawing 7a is A Shaft angle of the present invention when being 0 ° system force ellipsoid.
the schematic diagram of accompanying drawing 7b is A Shaft angle of the present invention when being 30 ° system force ellipsoid.
the schematic diagram of accompanying drawing 7c is A Shaft angle of the present invention when being 60 ° system force ellipsoid.
the schematic diagram of accompanying drawing 8 is A Shaft angles of the present invention when the being 30 ° elliptical shape that power ellipsoid is crossing with processing plane.
embodiment:
embodiment 1:
based on the job operation of the outer covering piece mould of Four-axis milling system synthesis rigidity field, first specificity analysis is carried out to mould, secondly to described Four-axis milling various parts rigidity Modling model, again described Four-axis milling system motion chain Modling model being set up to integral stiffness field model and carried out specificity analysis, finally carrying out process operation according to carrying out specificity analysis to integral stiffness field.
embodiment 2:
the job operation of the outer covering piece mould based on Four-axis milling system synthesis rigidity field according to embodiment 1, described mould specificity analysis comprises the steps: first to obtain planar process to be processed vector, is then obtained the stiffness matrix of mould by Finite Element Method.
embodiment 3;
the job operation of the outer covering piece mould based on Four-axis milling system synthesis rigidity field according to embodiment 1 or 2, the foundation of described Four-axis milling various parts rigidity model comprises following content: the foundation of the foundation of the transverse beam rigidity model of described Four-axis milling system, the foundation of the joint stiffness model of described Four-axis milling system, the cutter-main axis stiffness model of described Four-axis milling system.
embodiment 4:
the job operation of the outer covering piece mould based on Four-axis milling system synthesis rigidity field according to embodiment 1 or 2 or 3, according to the foundation of described Four-axis milling various parts rigidity model and the foundation of described Four-axis milling system motion chain model, specificity analysis is carried out to the integral stiffness field Modling model of system.
embodiment 5:
the job operation of the outer covering piece mould based on Four-axis milling system synthesis rigidity field according to embodiment 1 or 2 or 3 or 4, the described method according to carrying out specificity analysis to integral stiffness field and carry out process operation first chooses default tool space attitude to reference mark, obtaining the integral stiffness performance of lathe under described tool space pose by introducing non-coplanar force ellipsoid, choosing optimum cutter-orientation; In power ellipsoid described in again the character of surface of mould being introduced, obtain the rigidity property figure of whole mould, finally by rigidity property evaluation index, obtain optimum machining path, carry out process operation.
embodiment 6:
the job operation of the outer covering piece mould based on Four-axis milling system synthesis rigidity field according to embodiment 1 or 2 or 3 or 4 or 5, the acquisition of four described axle lathe integral stiffness fields and analyze can as follows: first, the surface configuration of mould is made a concrete analysis of, namely at the die surface of processing, suitable chooses the key point that need analyze, obtain the space law vector of key point, again under the prerequisite obtaining workpiece material characteristic and geomery, obtained the stiffness matrix of these points by finite element method; Secondly, by mode experiment, the parameter required for this four axles lathe is in integral stiffness field analysis is measured, obtain the rigidity etc. of lathe topological structure and size, joint stiffness, the rigidity of crossbeam, cutter spindle joint portion and cutter itself; Again, set up the kinematic chain model of this lathe, calculate and obtain its rotational transformation matrix and Jacobian matrix, theoretical according to many bodies small deformation, carry out modeling by the integral stiffness field of method to system such as Jacobian matrix, region transition matrix, finite elements; Finally, carry out the analysis of integral stiffness field characteristic, several default tool space attitudes are chosen to reference mark, the integral stiffness performance of lathe under this tool space pose is obtained by introducing non-coplanar force ellipsoid, carry out choosing of optimum cutter-orientation by contrast, and then the character of surface of mould is introduced in power ellipsoid, obtain the rigidity property figure of whole mould, by rigidity property evaluation index, obtain optimum machining path.
embodiment 7:
the job operation of the outer covering piece mould based on Four-axis milling system synthesis rigidity field according to embodiment 1 or 2 or 3 or 4 or 5 or 6, described mould specificity analysis comprises acquisition planar process vector sum to be processed obtains mould stiffness matrix by Finite Element Method, the method of the space law vector of the key point described in acquisition is under mould coordinate system, according to the surface equation of plane to be processed, set up its mathematical model, choose a series of reference mark according to actual conditions at the work surface of mould, under obtaining mould coordinate system CSM by programming software, make space law vector a little
, as shown in Figure 1; The method of the stiffness matrix of these points described in being obtained by finite element method is under mould coordinate system CSM, sets up the three-dimensional model of processed mould, then carries out finite element analysis, according to selected reference mark, the specific loading in 6 directions is applied again successively at each some place, as shown in Figure 2, i.e. Fx, Fy, Fz, Mx, My, Mz, then, obtains reference mark X under each specific loading by finite element analysis software, Y, Z, θ x, the deflection in θ y, θ z totally 6 directions, is formed
matrix, this matrix column vector is respectively under 6 unit force and moments, in the distortion in 6 directions, finally, the mapping relations according between external force and reference mark displacement: S knows, this reference mark under specific loading effect is exactly its flexibility in the distortion in this direction, therefore, above-mentioned
matrix is exactly flexibility matrix, then according to this matrix inversion, can obtain this stiffness matrix under mould coordinate system
, in like manner other all reference mark are analyzed, reference mark coordinate and reference mark stiffness matrix are saved as mold stiffness database, in addition, after each analysis site obtains, the stiffness matrix of point of proximity can be obtained by the method for interpolation, to reduce calculated amount.
embodiment 8:
the job operation of the outer covering piece mould based on Four-axis milling system synthesis rigidity field according to embodiment 1 or 2 or 3 or 4 or 5 or 6 or 7, it is by mode experiment that the described parameter of four axle lathes required in integral stiffness field analysis carries out measuring method, and measured content comprises the rigidity etc. of lathe topological structure and size, joint stiffness, the rigidity of crossbeam, cutter spindle joint portion and cutter itself.
embodiment 9:
the job operation of the outer covering piece mould based on Four-axis milling system synthesis rigidity field according to embodiment 1 or 2 or 3 or 4 or 5 or 6 or 7 or 8, the object of described machine tool beam rigidity Modling model is the singularity due to processing automobile outer covering piece, mostly adopt planer-type four axle lathe man-hour adding, it is characterized in that stroke and the crossbeam length of X-axis are longer, therefore distortion is in various degree had at the middle cross beam of process, therefore the impact of flexible characteristic on lathe integral stiffness field of crossbeam is very important, and method is the stiffness matrix obtaining crossbeam by experiment
, under converting it to cutter location coordinate system by differential displacement relation and stressed transitive relation, then under being transformed to mould coordinate system according to Jacobian matrix:
in formula,
represent the differential displacement relation of crossbeam end points to cutter location,
represent the stressed transitive relation of crossbeam and cutter location,
for Jacobian matrix,
rotating Transition of Coordinate matrix, all relevant to machine tool motion chain model.
embodiment 10:
the job operation of the outer covering piece mould based on Four-axis milling system synthesis rigidity field according to embodiment 1 or 2 or 3 or 4 or 5 or 6 or 7 or 8 or 9, the method of described lathe joint stiffness Modling model obtains described Four-axis milling system X by experiment, Y, Z, the joint stiffness of A axle, be respectively, lathe joint stiffness matrix under composition lathe joint coordinate system
according to the transformation relation of rigidity and flexibility, and machine tool motion chain model, converted by Jacobian matrix, obtain the lathe joint stiffness matrix under mould coordinate system , ,
wherein for Jacobian matrix, it to describe under workpiece coordinate system differential displacement relation between cutter location and joint space movable joint, relevant to machine tool motion chain model.
embodiment 11:
the job operation of the outer covering piece mould based on Four-axis milling system synthesis rigidity field according to embodiment 1 or 2 or 3 or 4 or 5 or 6 or 7 or 8 or 9 or 10, the method of described cutter-main axis stiffness Modling model is that the distortion of cutter-main shaft can be thought and comprises two parts: the cutter-distortion of main shaft joint portion and the distortion of cutter, for the distortion of cutter-main shaft junction, think may exist, and reverse the distortion of four direction around axle, i.e. the flexibility matrix of joint portion under cutter location coordinate system
; For the distortion of cutter itself, think and exist along the Coupling Deformation under three degree of freedom translation and torque, obtained the flexibility matrix of cutter in cutter location coordinate system by classical rigidity formulae discovery
, consider the flexibility matrix of distortion under cutter location coordinate system of cutter-main shaft joint portion and cutter itself:
again according to machine tool motion chain model and Jacobian matrix conversion, obtain the cutter spindle stiffness matrix under mould coordinate system:
embodiment 12:
the job operation of the outer covering piece mould based on Four-axis milling system synthesis rigidity field according to embodiment 1 or 2 or 3 or 4 or 5 or 6 or 7 or 8 or 9 or 10 or 11, the foundation of four described axle machine tool motion chain models obtains its rotational transformation matrix and Jacobian matrix to calculate, theoretical according to many bodies small deformation, carry out Modling model by the integral stiffness field of method to four axle lathes such as Jacobian matrix, region transition matrix, finite elements; The method of four described axle machine tool motion chain Modling model is, first, the three-dimensional model of target four axle lathe is built according to realistic model, as shown in Figure 3, then according to the kinematic chain model of three-dimension modeling lathe, this lathe has four universal driving shafts, be designated as X, Y, Z, A respectively, wherein X, Y, Z are shifting axle, and A is turning axle, (X-axis: knife rest ram moves left and right; Y-axis: worktable moves forward and backward; Z axis: knife rest ram vertically movement; A axle: milling head swings around X-axis), kinematic chain relation: CSM → CSY → CSX → CSZ → CSA → CSD, wherein mould coordinate system CSM, X-axis respective coordinates system CSX, Y-axis respective coordinates system CSY, Z axis respective coordinates system CSZ, A axle respective coordinates system CSA, tool coordinate system CSD, analyzes lathe from processed mould to the motion transform relation of cutter whole piece kinematic chain, the transformation matrix of coordinates needed for calculating according to kinematic chain model and Jacobian matrix.
embodiment 13:
the job operation of the outer covering piece mould based on Four-axis milling system synthesis rigidity field according to embodiment 1 or 2 or 3 or 4 or 5 or 6 or 7 or 8 or 9 or 10 or 11 or 12, described lathe integral stiffness matrix computational approach is by elasticity small deformation and the principle of virtual displacement, the stiffness matrix of mold stiffness matrix with machine tool motion joint, crossbeam, cutter spindle is superposed, manufacturing process system global stiffness matrix under acquisition mould coordinate system
, this integral stiffness matrix
6 × 6 rank stiffness matrix.
embodiment 14:
the job operation of the outer covering piece mould based on Four-axis milling system synthesis rigidity field according to embodiment 1 or 2 or 3 or 4 or 5 or 6 or 7 or 8 or 9 or 10 or 11 or 12 or 13, described integral stiffness field characteristic analysis comprises location attitude of the cutter optimization and chip path optimization, described location attitude of the cutter optimization is when the interaction of cutting tools and mould, the stressed contribution to cutter location displacement is much larger than moment, therefore stiffness matrix K decoupling zero is obtained displacement rigidity matrix, then suppose; By its three eigenvalue λ 1, λ 2, λ 3 of positive definite symmetric matrices, the power ellipsoid of the rigidity of machine tool performance of characterization control point is drawn with proper vector, it characterizes half main axis length and half major axes orientation of power ellipsoid respectively, as shown in Figure 4, the most minor axis λ (λ=min (λ 1, λ 2, λ 3)) of power ellipsoid reflects the minimum rigidity of lathe at this reference mark place, can be used as the evaluation index of location attitude of the cutter, make λ maximize with the best location attitude of the cutter obtained during this reference mark of processing by adjustment location attitude of the cutter; Described machining path optimization is that the surface characteristics of mould is introduced power ellipsoid, calculates the normal vector obtaining die surface reference mark place
, its section and processing plane, it is crossing with power ellipsoid through the center of exertin ellipsoid, and intersection is an ellipse, as shown in Figure 5,
for the minor semi-axis of this ellipse,
for the major semi-axis of this ellipse,
for the ellipsoid Semi along processing curve normal vector direction,
,
,
be the rigidity property index at reference mark.When direction of feed the unknown,
with isotropic degree
in larger expression processing plane, rigidity is larger, is conducive to improving speed of feed,
larger expression lathe is at the good rigidly of normal direction, and machining deformation is little, can improve machining precision, when considering machining path,
for the oval half along machining path direction, in order to describe the integral stiffness performance of lathe when adding body of tool mould more intuitively, reference mark selected by each according to programming software calculating
length, take color as variable, will
be mapped on all reference mark of mould work surface, set up the integral stiffness performance map of mould, according to this rigidity property figure, machining path optimization is carried out to the place of rigidity weakness, due to
be worth larger, the rigidity property of reference mark in machining path direction is better, therefore in the place of rigidity weakness as far as possible according to
numerical values recited feed.
embodiment 15:
the job operation of the outer covering piece mould based on Four-axis milling system synthesis rigidity field according to embodiment 1 or 2 or 3 or 4 or 5 or 6 or 7 or 8 or 9 or 10 or 11 or 12 or 13 or 14, four described axle lathes obtain each parts of lathe (X-axis Y-axis Z axis A axle joint by mode experiment, crossbeam, cutter) stiffness matrix, for the vehicle exterior cladding element mould in specific process, get at mould work surface and control a bit arbitrarily
, its flexibility matrix is obtained by finite element method, only the corner of A axle changes, all the other parameters are fixed, integral stiffness matrix is calculated to a P, generative power ellipsoid, obtaining mould plane to be processed by calculating is again (1.5 at the normal vector of P point, 0.5, 1), vector does this processing plane when different A Shaft angle in this way, as accompanying drawing 7a, accompanying drawing 7b, shown in accompanying drawing 7c, calculating acquisition is 0 ° at A Shaft angle, 30 °, when 60 °, the most minor semi-axis of ellipsoid is respectively 0.09, 0.13, 0.02, represent this some place A Shaft angle be 30 ° opportunity bed ensemble rigidity property best, reentry when A Shaft angle is 30 °, put the oval X-Y scheme that the processing plane of P is crossing with ellipsoid, as shown in Figure 8, in figure, solid line direction is the semi-major axis direction of oval cross section, the rigidity property processed along this direction under representing this location attitude of the cutter is best, in figure, semi-major axis and y-axis angle are about 14.9 ° as calculated, namely when the A Shaft angle of lathe is 30 °, the integral stiffness performance being about 14.9 ° of direction processing P points along y-axis angle is best.
Claims (5)
1. the job operation based on the outer covering piece mould of Four-axis milling system synthesis rigidity field, it is characterized in that: first specificity analysis is carried out to mould, secondly to described Four-axis milling various parts rigidity Modling model, again described Four-axis milling system motion chain Modling model being set up to integral stiffness field model and carried out specificity analysis, finally carrying out process operation according to carrying out specificity analysis to integral stiffness field.
2. the job operation of the outer covering piece mould based on Four-axis milling system synthesis rigidity field according to claim 1, it is characterized in that: described mould specificity analysis comprises the steps: first to obtain planar process to be processed vector, is then obtained the stiffness matrix of mould by Finite Element Method.
3. the job operation of the outer covering piece mould based on Four-axis milling system synthesis rigidity field according to claim 1 and 2, is characterized in that: the foundation of described Four-axis milling various parts rigidity model comprises following content: the foundation of the foundation of the transverse beam rigidity model of described Four-axis milling system, the foundation of the joint stiffness model of described Four-axis milling system, the cutter-main axis stiffness model of described Four-axis milling system.
4. the job operation of the outer covering piece mould based on Four-axis milling system synthesis rigidity field according to claim 1 or 2 or 3, it is characterized in that: according to the foundation of described Four-axis milling various parts rigidity model and the foundation of described Four-axis milling system motion chain model, specificity analysis is carried out to the integral stiffness field Modling model of system.
5. the job operation of the outer covering piece mould based on Four-axis milling system synthesis rigidity field according to claim 1 or 2 or 3 or 4, it is characterized in that: the described method according to carrying out specificity analysis to integral stiffness field and carry out process operation first chooses default tool space attitude to reference mark, obtaining the integral stiffness performance of lathe under described tool space pose by introducing non-coplanar force ellipsoid, choosing optimum cutter-orientation; In power ellipsoid described in again the character of surface of mould being introduced, obtain the rigidity property figure of whole mould, finally by rigidity property evaluation index, obtain optimum machining path, carry out process operation.
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