CN104793563B - The processing method of outer covering piece mould based on Four-axis milling system integral stiffness - Google Patents
The processing method of outer covering piece mould based on Four-axis milling system integral stiffness Download PDFInfo
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- 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
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Abstract
The processing method of outer covering piece mould based on Four-axis milling system integral stiffness.Four-axis milling system is as one of complex-curved lathe of machining high-precision, in the manufacture for being widely applied to the complex profiles such as vehicle exterior cladding element mould.The present invention includes：Specificity analysis is carried out to mould first, secondly model is set up to described Four-axis milling various parts rigidity, model is set up to described Four-axis milling system motion chain again and integral stiffness field model is set up, operation is processed finally according to specificity analysis is carried out to integral stiffness.The present invention is used for four axis processing.
Description
Technical field：
The present invention relates to a kind of processing method of the outer covering piece mould based on Four-axis milling system integral stiffness.
Background technology：
With the development of die industry, people make to complex-curved required precision also more and more higher, Four-axis milling system
For one of complex-curved lathe of machining high-precision, the manufacture of the complex profiles such as vehicle exterior cladding element mould is widely applied to
In.
Four axle lathes are for three traditional axle lathes, and it has greater flexibility, so as to processed complex curved surface,
But difficulty is brought to the Solve problems of tool space pose, and the change of location attitude of the cutter influences whether that the synthesis of whole lathe is firm
The change of performance is spent, kinematic axis also relies primarily on joint to realize translation and rotation, the longer horizontal stroke of such lathe joint, stroke
Beam, handle of a knife-main shaft faying face cutter these parts are for other structures in itself etc., its rigidity is weaker, therefore in alternation
It is processed under the conditions of load, a certain amount of deformation can be produced, and displacement generation of these deformations often to cutter location is larger
Influence brings certain error so as to be processed to mould.Meanwhile, mould surface appearance feature in itself and material property are influences
Another big factor of lathe rigidity property in process.And die surface quality height can directly influence stamped workpieces
Wearability, corrosion resistance and antifatigue damaged ability.So, the global stiffness rapid modeling and performance point of mold machine tool
Analysis is just particularly important.
The content of the invention：
It is an object of the invention to provide a kind of processing of the outer covering piece mould based on Four-axis milling system integral stiffness
Method.
Above-mentioned purpose is realized by following technical scheme：
A kind of processing method of the outer covering piece mould based on Four-axis milling system integral stiffness, is carried out to mould first
Specificity analysis, secondly sets up model, again to described Four-axis milling system to described Four-axis milling various parts rigidity
Kinematic chain sets up model and sets up integral stiffness field model and carry out specificity analysis, and characteristic is carried out finally according to integral stiffness
Analysis is processed operation.
The processing method of the described outer covering piece mould based on Four-axis milling system integral stiffness, described mould is special
Property analysis comprise the following steps：Plane normal vector to be processed is obtained first, and the rigidity of mould is then obtained by finite element method
Matrix.
The processing method of the described outer covering piece mould based on Four-axis milling system integral stiffness, four described axles add
The foundation of work various parts rigidity model includes following content：The transverse beam rigidity model of described Four-axis milling system is built
The foundation of the joint stiffness model of vertical, described Four-axis milling system, cutter-main axis stiffness mould of described Four-axis milling system
The foundation of type.
The processing method of the described outer covering piece mould based on Four-axis milling system integral stiffness, according to described four
The foundation of each part rigidity model of axle system of processing and the foundation of described Four-axis milling system motion chain model, to the comprehensive of system
Rigidity is closed to set up model and carry out specificity analysis.
The processing method of the described outer covering piece mould based on Four-axis milling system integral stiffness, it is described according to right
The method that integral stiffness progress specificity analysis is processed operation is to choose default tool space posture to control point first,
Integral stiffness performance of the lathe under described tool space posture is obtained by introducing non-coplanar force ellipsoid, optimal cutter appearance is chosen
State；The surface characteristic of mould is introduced into described power ellipsoid again, the rigidity property figure of whole mould is obtained, finally by rigidity
Performance Evaluating Indexes, obtain optimal machining path, are processed operation.
Beneficial effect：
1. the present invention passes through the locus to cutter in Four-axis milling various parts stiffness parameters, process and appearance
State（Displacement and angle）And the rigidity at processed some control points of die surface is obtained, lathe joint-crossbeam-knife is set up
Have system integral stiffness of the main shaft-workpiece under the spatial pose of this cutter, and carry out A+E and determine processing technology,
Accordingly even when the rigidity property of mold machine tool in process is optimized, also obtain the surface quality of processed mould
Improve.
The present invention has cost low, simple to operate, the features such as measuring speed is fast, precision is high, and energy is notable and effectively improves
The precision and efficiency of work pieces process.
Rigidity modeling is carried out present invention is generally directed to the Four-axis milling system of vehicle exterior cladding element, by Four-axis milling
The analysis of the integral stiffness of system is calculated, to the tool space pose of the mould in various type faces and lathe in milling process（Angle
Degree, displacement）It is high-precision mold process technology and direction of feed is optimized.
Rigidity of the present invention for vehicle exterior cladding element mould in itself, using FInite Element analyze obtaining any control
The stiffness matrix of point；For the mold machine tool integral stiffness matrix computations in process, machine tool motion joint, knife are not only considered
Tool, cutter spindle is combined, the mould common part larger to the rigidity of machine tool performance contribution such as in itself, is also particularly contemplated and is being added
Contribution of the deformation of work process middle cross beam to lathe integral rigidity performance, the integral stiffness matrix obtained with this more conforms to reality
Processing situation, in addition, power ellipsoid is introduced into integral stiffness field by the present invention, can be with using ellipsoid most short axle as rigidity property index
The optimization of location attitude of the cutter is carried out by maximizing ellipsoid short axle, meanwhile, also carry out calculating treating for acquisition mould by software
Finished surface normal vector, and be introduced into power ellipsoid, so that the rigidity property obtained towards processing plane refers to
Mark, has obtained mould integral stiffness performance map in process, thus can be processed path optimization as needed.
Simulation process of the present invention passes through to be carried out with COMET-L3D optical measuring instruments more advanced in currently available technology
Contrast, simple to operate, measuring speed fast, precision high the features such as low with cost, energy is notable and effectively improves work pieces process
Precision and efficiency.
Brief description of the drawings：
Accompanying drawing 1 is the finished surface normal vector schematic diagram of the present invention.
Accompanying drawing 2 is the application schematic diagram of the six direction specific loading of the present invention.
Accompanying drawing 3 is the structural representation of the present invention.
Accompanying drawing 4 is the power ellipsoid schematic diagram of the present invention.
Accompanying drawing 5 is the power ellipsoid schematic diagram of the consideration processing plane of the present invention.
Accompanying drawing 6 is the invention flow chart of the present invention.
Accompanying drawing 7 is the schematic diagram of system force ellipsoid when A Shaft angles of the invention are 0 °.
Accompanying drawing 8 is the schematic diagram of system force ellipsoid when A Shaft angles of the invention are 30 °.
Accompanying drawing 9 is the schematic diagram of system force ellipsoid when A Shaft angles of the invention are 60 °.
Accompanying drawing 10 is the schematic diagram of the elliptical shape that power ellipsoid intersects with processing plane when A Shaft angles of the present invention are 30 °.
Embodiment：
Embodiment 1：
The processing method of outer covering piece mould based on Four-axis milling system integral stiffness, carries out characteristic to mould first
Analysis, secondly sets up model, again to described Four-axis milling system motion to described Four-axis milling various parts rigidity
Chain sets up model and sets up integral stiffness field model and carry out specificity analysis, and specificity analysis is carried out finally according to integral stiffness
It is processed operation.
Embodiment 2：
The processing method of the outer covering piece mould based on Four-axis milling system integral stiffness according to embodiment 1,
Described mould specificity analysis comprises the following steps：Plane normal vector to be processed is obtained first, is then obtained by finite element method
Obtain the stiffness matrix of mould.
Embodiment 3;
The processing side of the outer covering piece mould based on Four-axis milling system integral stiffness according to embodiment 1 or 2
Method, the foundation of described Four-axis milling various parts rigidity model includes following content：The horizontal stroke of described Four-axis milling system
The foundation of beam rigidity model, the foundation of the joint stiffness model of described Four-axis milling system, described Four-axis milling system
The foundation of cutter-main axis stiffness model.
Embodiment 4：
The processing of the outer covering piece mould based on Four-axis milling system integral stiffness according to embodiment 1 or 2 or 3
Method, according to the foundation of described Four-axis milling various parts rigidity model and described Four-axis milling system motion chain model
Foundation, model is set up to the integral stiffness of system and specificity analysis is carried out.
Embodiment 5：
The outer covering piece mould based on Four-axis milling system integral stiffness according to embodiment 1 or 2 or 3 or 4
Processing method, the method that described basis is processed operation to integral stiffness progress specificity analysis is that control is clicked first
Default tool space posture is taken, it is firm by introducing synthesis of the non-coplanar force ellipsoid acquisition lathe under described tool space posture
Performance is spent, optimal cutter-orientation is chosen；The surface characteristic of mould is introduced into described power ellipsoid again, the firm of whole mould is obtained
Performance map is spent, finally by rigidity property evaluation index, optimal machining path is obtained, is processed operation.
Embodiment 6：
The outer covering piece mould based on Four-axis milling system integral stiffness according to embodiment 1 or 2 or 3 or 4 or 5
Processing method, the acquisition and analysis of described four axle lathes integral stiffness can be as follows：First, to mould
Surface configuration is made a concrete analysis of, i.e. the die surface in processing, the key point that appropriate selection need to be analyzed, and obtains key point
Space normal vector, then on the premise of workpiece material characteristic and geomery is obtained, the firm of these points is obtained by FInite Element
Spend matrix；Secondly, four axles lathe parameter required in terms of integral stiffness field analysis is measured by mode experiment,
Obtain lathe topological structure and size, joint stiffness, the rigidity of crossbeam, the rigidity of cutter spindle joint portion and cutter in itself
Deng；Again, the kinematic chain model of the lathe is set up, calculates and obtains its rotational transformation matrix and Jacobian matrix, according to many bodies
Small deformation is theoretical, and the integral stiffness of system is modeled by methods such as Jacobian matrix, region transition matrix, finite elements；
Finally, integral stiffness field characteristic analysis is carried out, several default tool space postures are chosen to control point, by introducing space
Power ellipsoid obtains integral stiffness performance of the lathe under the tool space pose, and the choosing of optimal cutter-orientation is carried out by contrasting
Take, then the surface characteristic of mould is introduced into power ellipsoid again, obtain the rigidity property figure of whole mould, commented by rigidity property
Valency index, obtains optimal machining path.
Embodiment 7：
The outer covering piece based on Four-axis milling system integral stiffness according to embodiment 1 or 2 or 3 or 4 or 5 or 6
The processing method of mould, described mould specificity analysis includes acquisition planar process vector sum to be processed and obtained by finite element method
The stiffness matrix of mould, under the method for obtaining the space normal vector of described key point is mould coordinate system, according to be processed flat
The surface equation in face, sets up its mathematical modeling, and the work surface according to actual conditions in mould chooses a series of control points, leads to
Cross programming software and obtain the space normal vector made under mould coordinate system CSM a little, as shown in Figure 1；Obtained by FInite Element
The method of the stiffness matrix of these described points is under mould coordinate system CSM, to set up the threedimensional model for being processed mould, then enter
Row finite element analysis, according to selected control point, then applies at each point the specific loading in 6 directions, such as accompanying drawing 2 successively
Shown, i.e. then Fx, Fy, Fz, Mx, My, Mz, control point X under each specific loading is obtained by finite element analysis software,
The deflection in Y, Z, θ x, θ y, θ z totally 6 directions, is constitutedMatrix, matrix column vector is respectively in 6 lists
Under position power and torque, the deformation in 6 directions, finally, according to the mapping relations between external force and control point displacement：S knows, unit
The control point under load effect in the deformation of the direction is exactly its flexibility, therefore, above-mentionedMatrix is exactly flexibility matrix,
Further according to the matrix inversion, you can obtain stiffness matrix of this under mould coordinate system, similarly to other all controls
System point is analyzed, and control point coordinates and control point stiffness matrix is saved as into mold stiffness database, in addition, each analysis site
After obtaining, the stiffness matrix of point of proximity can be obtained by the method for interpolation, to reduce amount of calculation.
Embodiment 8：
The outer covering based on Four-axis milling system integral stiffness according to embodiment 1 or 2 or 3 or 4 or 5 or 6 or 7
The processing method of part mould, four described axle lathes parameter required in terms of integral stiffness field analysis, which measures method, is
By mode experiment, measured content includes lathe topological structure and size, joint stiffness, the rigidity of crossbeam, cutter spindle
The rigidity of joint portion and cutter in itself etc..
Embodiment 9：
According to embodiment 1 or 2 or 3 or 4 or 5 or 6 or 7 or 8 based on the outer of Four-axis milling system integral stiffness
The processing method of cladding member mold, the purpose that described machine tool beam rigidity sets up model is due to processing vehicle exterior cladding element
Particularity, the axle lathe of planer-type four is used in processing mostly, it is characterized in that the stroke of X-axis is that crossbeam length is longer, therefore
The middle cross beam of process has a different degrees of deformation, thus crossbeam influence of the flexible characteristic to lathe integral stiffness not
It can ignore, method is the stiffness matrix that crossbeam is obtained by testing, by differential displacement relation and stress transitive relation by its
It is converted under cutter location coordinate system, is transformed to further according to Jacobian matrix under mould coordinate system：
In formula,Crossbeam end points is represented to the differential displacement relation of cutter location,Represent crossbeam and cutter spacing
The stress transitive relation of point,For Jacobian matrix,It is Rotating Transition of Coordinate matrix, with machine tool motion chain model phase
Close.
Embodiment 10：
According to embodiment 1 or 2 or 3 or 4 or 5 or 6 or 7 or 8 or 9 based on Four-axis milling system integral stiffness
The processing method of outer covering piece mould, the method that described lathe joint stiffness sets up model is by testing four described in obtaining
The joint stiffness of axle system of processing X, Y, Z, A axle, be respectively, lathe joint stiffness matrix under composition lathe joint coordinate system
According to rigidity and the transformation relation of flexibility, and machine tool motion chain model, converted by Jacobian matrix, obtain mould
Has the lathe joint stiffness matrix under coordinate system,, whereinFor Jacobian matrix, it describes under workpiece coordinate system differential displacement relation between cutter location and joint space movable joint,
It is related to machine tool motion chain model.
Embodiment 11：
According to embodiment 1 or 2 or 3 or 4 or 5 or 6 or 7 or 8 or 9 or 10 based on Four-axis milling system integral stiffness
Outer covering piece mould processing method, the method that described cutter-main axis stiffness sets up model is
The deformation of cutter-main shaft is believed that comprising two parts：The deformation and the deformation of cutter of cutter-main shaft joint portion, it is right
Deformation in cutter-main shaft junction, it is believed that there may be and reversed around axle the deformation of four direction, i.e., tied under cutter location coordinate system
The flexibility matrix in conjunction portion；For the deformation of cutter in itself, it is believed that exist along under three degree of freedom translation and torque
Coupling Deformation, the flexibility matrix for obtaining cutter in cutter location coordinate system is calculated by classical rigidity formula, consider knife
Tool-flexibility matrix of the deformation of main shaft joint portion and cutter under cutter location coordinate system in itself：
Converted further according to machine tool motion chain model and Jacobian matrix, obtain the cutter spindle stiffness matrix under mould coordinate system：
Embodiment 12：
Being integrated based on Four-axis milling system 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 processing method of the outer covering piece mould of rigidity, the foundation of four described axle machine tool motion chain models is to obtain it to calculate
Rotational transformation matrix and Jacobian matrix, it is theoretical according to many body small deformations, by Jacobian matrix, region transition matrix, limited
The methods such as member carry out setting up model to the integral stiffness of four axle lathes；The method that four described axle machine tool motion chains set up model
It is first, the threedimensional model of the axle lathe of target four to be built according to realistic model, as shown in Figure 3, then according to three-dimension modeling
The kinematic chain model of lathe, the lathe has four universal driving shafts, X, Y, Z, A is designated as respectively, wherein X, Y, Z is shifting axle, and A is rotation
Rotating shaft,（X-axis：Knife rest ram is moved left and right；Y-axis：Workbench is moved forward and backward；Z axis：Knife rest ram is vertical
It is mobile；A axles：Milling head is swung around X-axis）, move 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 axles correspondence
Coordinate system CSA, tool coordinate system CSD, analysis lathe is from processed mould to the motion transform relation of cutter whole piece kinematic chain, root
Transformation matrix of coordinates and Jacobian matrix needed for being calculated according to kinematic chain model.
Embodiment 13：
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 based on Four-axis milling system
The processing method of the outer covering piece mould of integral stiffness, described lathe integral stiffness matrix computational approach is small by elasticity
Deformation and the principle of virtual displacement, the stiffness matrix of mold stiffness matrix and machine tool motion joint, crossbeam, cutter spindle is folded
Plus, obtain manufacturing process system global stiffness matrix under mould coordinate system,
The integral stiffness matrix is 6 × 6 rank stiffness matrix.
Embodiment 14：
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 based on Four-axis milling
The processing method of the outer covering piece mould of system integral stiffness, it is excellent that described integral stiffness field characteristic analysis includes location attitude of the cutter
Change and chip path optimization, when described location attitude of the cutter optimization is the interaction in cutter and mould, stress is to cutter location position
The contribution of shifting is much larger than torque, therefore stiffness matrix K is decoupled to obtain into displacement rigidity matrix, it is further assumed that；Pass through positive definite symmetric matrices
Its three eigenvalue λs 1, λ 2, λ 3, and characteristic vector draw characterization control point the rigidity of machine tool performance power ellipsoid, its distinguish
Characterize half main axis length and half major axes orientation of power ellipsoid, as shown in Figure 4, most short axle λ (λ=min (λ 1, the λ 2 of power ellipsoid
, λ 3)) reflect minimum rigidity of the lathe at the control point, can as location attitude of the cutter evaluation index, by adjusting cutter
Pose maximizes λ to obtain optimal location attitude of the cutter when processing this control point；Described machining path optimization is by mould
Surface characteristics introduces power ellipsoid, calculates the normal vector obtained at die surface control point, its section is processing plane, and it is passed through
The center of exertin ellipsoid is intersected with power ellipsoid, and intersection is an ellipse, as shown in Figure 5,For the oval semi-minor axis,For the oval major semiaxis,For along the ellipsoid Semi in processing curve normal vector direction,、、It is control
The rigidity property index of point.In the case where direction of feed is unknown,With isotropic degreeIt is bigger to represent to add
The flat in-plane stiffness of work is bigger, is conducive to improving feed speed, bigger expression lathe is good in the rigidity of normal direction, and machining deformation is small, can
Machining accuracy is improved, when considering machining path,For along the oval half in machining path direction, in order to more intuitively describe
Integral stiffness performance of the lathe when processing specific mould, the control point according to selected by programming software calculating is eachLength,
, will using color as variableIt is mapped on all control points of mould work surface, sets up the integral stiffness performance of mould
Figure, according to this rigidity property figure, path optimization is processed to the weak place of rigidity, due toValue is bigger, and control point is adding
The rigidity property of work path direction is better, thus the weak place of rigidity as far as possible according toNumerical values recited feed.
Embodiment 15：
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 based on four axles
The processing method of the outer covering piece mould of system of processing integral stiffness, four described axle lathes obtain lathe by mode experiment
Each part（X-axis Y-axis Z axis A axis joints, crossbeam, cutter）Stiffness matrix, for the vehicle exterior cladding element in specific process
For mould, any control is taken a bit in mould work surface, turn of its flexibility matrix, only A axles is obtained by FInite Element
Angle is changed, and remaining parameter is fixed, and calculates point P integral stiffness matrix, generative power ellipsoid, then treat by calculating acquisition mould
It is (1.5,0.5,1) that plane, which is processed, in the normal vector of P points, and vector does processing plane of this in different A Shaft angles in this way,
As shown in accompanying drawing 7, accompanying drawing 8, accompanying drawing 9, calculating acquisition most semi-minor axis of ellipsoid when A Shaft angles are 0 °, 30 °, 60 ° is respectively
0.09,0.13,0.02, represent that lathe integral rigidity performance is preferably when A Shaft angles are 30 ° at this point, then obtain when A Shaft angles
For 30 ° when, the oval X-Y scheme that point P processing plane intersects with ellipsoid, as shown in Figure 10, solid line direction is elliptical cross section in figure
The semi-major axis direction in face, represents that the rigidity property processed under this location attitude of the cutter along this direction is best, is computed semi-major axis and y in figure
Axle clamp angle is about 14.9 °, i.e., when the A Shaft angles of lathe are 30 °, the synthesis for being about 14.9 ° of directions processing P points along y-axis angle is firm
Spend performance best.
Claims (1)
1. a kind of processing method of the outer covering piece mould based on Four-axis milling system integral stiffness, it is characterized in that：It is right first
Mould carries out specificity analysis, secondly model is set up to described Four-axis milling various parts rigidity, again to four described axles
System of processing kinematic chain sets up model and sets up integral stiffness field model and carry out specificity analysis, finally according to integral stiffness
Carry out specificity analysis and be processed operation；
Described mould specificity analysis comprises the following steps：Plane normal vector to be processed is obtained first, then by finite element side
Method obtains the stiffness matrix of mould；
The foundation of described Four-axis milling various parts rigidity model includes following content：The horizontal stroke of described Four-axis milling system
The foundation of beam rigidity model, the foundation of the joint stiffness model of described Four-axis milling system, described Four-axis milling system
The foundation of cutter-main axis stiffness model；
According to the foundation of described Four-axis milling various parts rigidity model and described Four-axis milling system motion chain model
Foundation, model is set up to the integral stiffness of system and specificity analysis is carried out；
The method that described basis is processed operation to integral stiffness progress specificity analysis is to choose pre- to control point first
If tool space posture, obtain integral stiffness of the lathe under described tool space posture by introducing non-coplanar force ellipsoid
Can, choose optimal cutter-orientation；The surface characteristic of mould is introduced into described power ellipsoid again, the rigidity of whole mould is obtained
It can scheme, finally by rigidity property evaluation index, obtain optimal machining path, be processed operation；
Locus and posture and processed mould to cutter in Four-axis milling various parts stiffness parameters, process
The rigidity at some control points in surface is obtained, and sets up space bit of the lathe joint-crossbeam-cutter spindle-workpiece in this cutter
System integral stiffness under appearance, and carry out A+E and determine processing technology.
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