CN105234743B - A kind of Five-axis NC Machining Center cutter distortion error compensation method - Google Patents
A kind of Five-axis NC Machining Center cutter distortion error compensation method Download PDFInfo
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- CN105234743B CN105234743B CN201510669726.9A CN201510669726A CN105234743B CN 105234743 B CN105234743 B CN 105234743B CN 201510669726 A CN201510669726 A CN 201510669726A CN 105234743 B CN105234743 B CN 105234743B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
- B23Q15/12—Adaptive control, i.e. adjusting itself to have a performance which is optimum according to a preassigned criterion
Abstract
The invention discloses a kind of Five-axis NC Machining Center cutter distortion error compensation method, methods described includes：Milling Force size is calculated according to the five-axis robot Milling Force Model set up；The benchmark that theoretical cutter location and generating tool axis vector are compensated as mirror image reversible deformation；Calculated according to cutter distortion and obtain the cutter distortion error that current tool position is caused by Milling Force；Mirror image reversible deformation compensation is carried out to current cutter location and generating tool axis vector, is calculated according to cutter distortion error and is obtained new cutter location and generating tool axis vector；New cutter distortion error is calculated according to the cutter spacing point data after compensation, judges whether new error is set up；If meet required, stop computing, preserve cutter location information；Arrange the compensation cutter location data message of cutter path position corresponding to 1 to N, and then the Path after being compensated, the nc program after postpositive disposal Software Create is compensated.
Description
Technical field
The present invention relates to Computerized Numerical Control processing technology field, more particularly to a kind of Five-axis NC Machining Center cutter distortion error compensation side
Method.
Background technology
In actual process, Milling Process system is typically made up of several parts such as lathe, cutter, fixture, workpiece,
The rigidity of wherein lathe and fixture is commonly considered as enough, and deflection is also smaller for workpiece (non-thin-wall part), and cutter is firm
Property is relatively fragile, and the deformation of cutter is a unavoidable problem in milling system, especially with " elongate rod " knife
During tool processing, the deformation of cutter be can not ignore, and it is susceptible to flexural deformation in the presence of cutting force, be to cause processing
The principal element of surface geometry error.5-shaft linkage numerical control technology has unique advantage in the processing of complicated surface, you can
Make the optimal cutting state of cutter holding and avoid cutter interference with by adjusting the pose of cutter, so as to improve adding for part
The work accuracy of manufacture.Therefore cutter distortion, research error compensating method tool are of great significance during analysis five-axis robot.
(1) Rao VS and Rao PVM are by the analysis to cutter distortion in process, it is proposed that one kind is by cutting force
The cutter distortion error compensation method for causing.(referring to Rao VS, Rao PVM (2006) Tool deflection
compensation in peripheral milling of curved geometries.Int J Mach Tools
Manuf 46(15):2036-2043)。
(2) Bera TC, Desai KA and Rao PVM analyze in milling process cutter distortion and thin-wall part deformation pair plus
The combined influence of work error, by changing the cutter path in process, and then compensates to its error, and by laboratory
Demonstrate the feasibility of the method.(referring to Bera TC, Desai KA, Rao PVM (2011) Error compensation in
flexible end milling of tubular geometries.Journal of Materials Processing
Technology 211(1):24-34)。
(3) Zhu S, Ding G, Qin S, Lei J, Zhuang L and Yan K are using ball bar to the geometry of five-axis machine tool
Error is identified, and establishes the mismachining tolerance compensation model caused by machine tool error.(referring to Zhu S, Ding G, Qin S,
Lei J,Zhuang L,Yan K(2012)Integrated geometric error modeling,identification
and compensation of CNC machine tools.Int J Mach Tools Manuf 52(1):24-29)。
Cutter distortion error compensation method proposed in document (1) (2) is mainly also directed to three axis machining, for five axles
The cutter distortion error of processing is compensated and not applied to.
The error compensation model set up in document (3), it is contemplated that the geometric error during machine tool motion, but to five axles
Cutter distortion error during machine tooling is not directed to.
The content of the invention
The invention provides a kind of Five-axis NC Machining Center cutter distortion error compensation method, the present invention is by five-axis robot
During cutter distortion analysis, it is contemplated that influence of the cutter distortion to processing type face, propose one kind be applied to five-axis robot
Cutter distortion error compensation method, it is described below for high-accuracy processed complex curved surface part provides theory：
A kind of Five-axis NC Machining Center cutter distortion error compensation method, the error compensating method is comprised the following steps：
The Conversion Relations set up between tool coordinate system, workpiece coordinate system and lathe coordinate system three, obtain five axles
The kinematic parameter of lathe in process；
Under tool coordinate system, the deflection of cutter is obtained；The theoretical Path number that reading is automatically generated by CAM softwares
According to file；
Milling Force size is calculated according to the five-axis robot Milling Force Model set up；Using theoretical cutter location and generating tool axis vector as
The benchmark of mirror image reversible deformation compensation；
Calculated according to cutter distortion and obtain the cutter distortion error that current tool position is caused by Milling Force；
Mirror image reversible deformation compensation is carried out to current cutter location and generating tool axis vector, is calculated according to cutter distortion error and is obtained new
Cutter location and generating tool axis vector；
New cutter distortion error is calculated according to the cutter spacing point data after compensation, judges whether new error is set up；If
Meet and require, then stop computing, preserve cutter location information；
Arrange the compensation cutter location data message of cutter path position corresponding to 1 to N, and then the cutter spacing after being compensated
Track, the nc program after postpositive disposal Software Create is compensated.
The beneficial effect of technical scheme that the present invention is provided is：The present invention is based on cantilever beam theory, sets up five-axis robot mistake
Cutter distortion model in journey.Before truly being processed, calculated by the cutter stress deformation model set up and caused
The margin of error of workpiece machining surface, modifies to the Path file that CAM softwares are automatically generated, by theoretical Path
Error compensation is realized along the same margin of error of part to be processed surface offset, is finally used according to amended Path file
In actual process, so as to improve the accuracy of manufacture of five-axis robot, the method is verified finally by cutting experiment
Validity.
Brief description of the drawings
Fig. 1 is Five-axis NC Machining Center movement relation figure；
Fig. 2 is cutter distortion schematic diagram；
Fig. 3 is error compensating method schematic diagram；
Fig. 4 is that generating tool axis vector compensates reference data figure；
Fig. 5 is that cutter location compensates reference data figure；
Fig. 6 is processing part drawing；
Fig. 7 errors profiles versus scheme；
Fig. 8 is a kind of flow chart of Five-axis NC Machining Center cutter distortion error compensation method.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, further is made to embodiment of the present invention below
Ground is described in detail.
Below in conjunction with accompanying drawing, by taking B yaw C turntable five-axis linkage machine tools ball-end millings as an example, describe the present invention in detail and implement
The specific implementation of example.
101：The Conversion Relations set up between tool coordinate system, workpiece coordinate system and lathe coordinate system three, obtain
The kinematic parameter of lathe during five-axis robot；
The embodiment of the present invention is carried out by taking C turntable B yaw structure five-axle number control machine tools as an example kinematic relation between each coordinate
Analysis, sets up the transformational relation of tool coordinate system, workpiece coordinate system and lathe coordinate system.
For the ease of movement locus of the description cutter in five-axis machine tool process, coordinate system as shown in Figure 1 is set up.
During lathe original state, workpiece coordinate system [Ow,Xw,Yw,Zw] and lathe coordinate system [Om,Xm,Ym,Zm] direction is consistent, workpiece coordinate
It is that origin overlaps with lathe coordinate system origin；Tool coordinate [Oc,Xc,Yc,Zc] origin be located at point of a knife point at, its coordinate system direction
It is consistent with lathe coordinate system；[Om1,Xm1,Ym1,Zm1] it is rotating coordinate system, cutter is around axle Ym1The anglec of rotation be θB(it is counterclockwise
Just), its coordinate system direction is consistent with lathe coordinate system；[Om2,Xm2,Ym2,Zm2] it is revolution coordinate system, workpiece is around axle Zm2Revolution
Angle is θC(counterclockwise for just), its coordinate system direction is consistent with lathe coordinate system.Under lathe original state, OcOm1The distance between
It is L, OwOm2The distance between be H, the original state of lathe translation shaft isWhereinDifference table
Show lathe X, Y, the initial position of Z axis.Any point can be switched under workpiece coordinate system in tool coordinate system, transformation matrix of coordinates
T is：
T=T5T4T3T2T1 (1)
In formula (1), T1、T3And T5It is translation matrix, T2With T4It is spin matrix.
Under tool coordinate system, the position vector of any point q can be expressed asQ points are sat with cutter
The direction vector that mark origin constitutes directed line segment can be expressed asUnder workpiece coordinate system, corresponding q points
Position vector can be expressed asThe direction vector that q points constitute directed line segment with workpiece coordinate origin can be represented
IntoTherefore, any point is relative to the transformational relation of workpiece coordinate system under tool coordinate system：
Formula (2), (3) are launched to obtain：
When five-shaft numerical control is programmed, by the cutter path of CAD/CAM Software Creates, usually according to the CAD model of workpiece
Calculate and obtain position vector and direction vector of the point of a knife point relative to workpiece.Therefore, position of the point of a knife point under tool coordinate system
Vector direction vector can be expressed asWithBring formula (4) into
Can obtain：
During five-axis robot being can be calculated by (5) formula, the kinematic parameter of lathe.
102：Under tool coordinate system, cutter is obtained in Xc,YcDeflection δ x on directionC,δyC；
Cutter distortion is calculated according to cantilever beam theory, as shown in Figure 2.Under tool coordinate system, due to acting on axle
To ZcCutting force make cutter produce stretching or compress, in Xc,YcThe cutting force in direction makes it produce flexural deformation, and typically
Think cutter in ZcThe rigidity in direction is larger, and the error on milling type face influences very little, is typically ignored, therefore mainly
Consider Xc,YcThe bending deformation quantity that direction cutter is produced.Under tool coordinate system, in Xc,YcDeflection δ x on directionC,δyCCan
It is expressed as：
In formula,It is illustrated respectively in Xc,YcComponent on direction；D is knife bar cantilevered length；apIt is cutting depth；E
It is the elastic modelling quantity of cutter material；I is the moment of inertia of cutter；Z0It is deflection measurement location.
The compensation of five-axis robot cutter distortion error is broadly divided into two contents of aspect：Cutter location is compensated and generating tool axis vector is mended
Repay.As shown in Figure 3.
103：The theoretical cutter location data file automatically generated by CAM softwares is read, i-th cutter spacing point coordinates isGenerating tool axis vector isI ∈ (1, N), N are cutter location number；
104：Loop initialization starts, i=1；Milling Force size is calculated according to the five-axis robot Milling Force Model set up；
105：The benchmark that theoretical cutter location and generating tool axis vector are compensated as mirror image reversible deformation；
106：Calculated according to cutter distortion and obtain the cutter distortion error E that current tool position is caused by Milling Force1；
107：Mirror image reversible deformation compensation is carried out to current cutter location and generating tool axis vector, according to cutter distortion error E1Calculating is obtained
Obtain cutter location newly and generating tool axis vector；
108：New cutter distortion error E is calculated according to the cutter spacing point data after compensation2, judge new error E2＜ ε are (public
Difference) whether set up；
If meet required, stop computing, preserve cutter location information, perform step 109；Otherwise, step 106 is gone to,
Until meet requiring；
109：Arrange the compensation cutter location data message of cutter path position corresponding to 1 to N, and then after being compensated
Path, the nc program after postpositive disposal Software Create is compensated.
From cantilever beam Deformation Theory, cutter is a camber line in the deformation of axis direction.Therefore, if error compensation
It is unreasonable that reference data is selected, it will causes the situation for occurring " cross and cut " or " owing to cut " in compensation process, especially exists
During Flank machining, compensation effect can be influenceed by serious, before causing the mismachining tolerance after having compensated than not compensating
It is bigger.For this reason, it may be necessary to from rational generating tool axis vector and the error compensation reference data of cutter location.
As shown in figure 4, the position vector and direction vector of any point P are in theoretical Path
WithIn Digit Control Machine Tool process, due to the effect of Milling Force, cutter stress deformation forms new knife
Site and generating tool axis vectorWithAs shown in Figure 4, when generating tool axis vector is changed, vectorParallel to vectorTherefore, the error compensation reference data of generating tool axis vector may be defined as byPoint is arrivedPoint constitutes oriented
The direction vector of line segmentCan represent turns into：
Wherein
As shown in figure 5, the error compensation reference data of cutter locationIt is represented by：
Wherein
In formula,WithMinimum and maximum cutter stress deformation amount under tool coordinate system is represented respectively.
Experimental verification
Be checking this programme feasibility, to the part shown in Fig. 6 respectively using do not compensate cutter path and compensation cutter
Track processing type face 1 and type face 2, measure the part error after machining.The global error in type face 2 has relative to type face 1
It is obvious to decline, the feasibility of the compensation method is demonstrated, as shown in Figure 7.
It will be appreciated by those skilled in the art that accompanying drawing is a schematic diagram for preferred embodiment, the embodiments of the present invention
Sequence number is for illustration only, and the quality of embodiment is not represented.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all it is of the invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (2)
1. a kind of Five-axis NC Machining Center cutter distortion error compensation method, it is characterised in that the error compensating method include with
Lower step：
The Conversion Relations set up between tool coordinate system, workpiece coordinate system and lathe coordinate system three, obtain five-axis robot
During lathe kinematic parameter；
Under tool coordinate system, the deflection of cutter is obtained；Read the theoretical cutter location data text automatically generated by CAM softwares
Part；
Milling Force size is calculated according to the five-axis robot Milling Force Model set up；Using theoretical cutter location and generating tool axis vector as mirror image
The benchmark of reversible deformation compensation；
Calculated according to cutter distortion and obtain the cutter distortion error that current tool position is caused by Milling Force；
Mirror image reversible deformation compensation is carried out to current cutter location and generating tool axis vector, is calculated according to cutter distortion error and is obtained new cutter spacing
Point and generating tool axis vector；
New cutter distortion error is calculated according to the cutter spacing point data after compensation, judges whether new error is set up；If met
It is required that, then stop computing, preserve cutter location information.
2. a kind of Five-axis NC Machining Center cutter distortion error compensation method according to claim 1, it is characterised in that described
Error compensating method also includes：
Cutter path position is arranged from 1 to N, corresponding compensation cutter location data message, and then the cutter spacing rail after being compensated
Mark, the nc program after postpositive disposal Software Create is compensated, N is cutter location number.
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| KR102583003B1 (en) * | 2016-05-24 | 2023-09-27 | 주식회사 디엔솔루션즈 | Machining center |
| JP6599836B2 (en) * | 2016-09-28 | 2019-10-30 | ファナック株式会社 | Numerical controller |
| CN106529045B (en) * | 2016-11-15 | 2019-03-29 | 西北工业大学 | Multi-axis milling process tool axis modeling method based on spinor |
| CN108372428B (en) * | 2016-12-21 | 2021-08-13 | 中国航空制造技术研究院 | Method for automatically measuring and compensating structural errors of five-axis machine tool and correcting device |
| CN106959664B (en) * | 2017-04-24 | 2019-04-09 | 湘潭大学 | Based on the online nonlinear error compensation method of the double turntables of five axis |
| CN107942936B (en) * | 2017-11-28 | 2021-02-23 | 清华大学 | Deformation error compensation method for five-axis side milling cutter and workpiece |
| CN108614520B (en) * | 2018-03-28 | 2019-06-14 | 中国航空制造技术研究院 | Five axle construction error measurement methods, system and the device of mirror image milling system |
| CN108563186B (en) * | 2018-04-02 | 2020-09-15 | 西南交通大学 | Five-axis ball head milling geometric error compensation method |
| CN108544880B (en) * | 2018-04-04 | 2019-10-11 | 华侨大学 | A kind of method and system of robot Carving Machining solid irregular stone |
| CN109693145B (en) * | 2019-01-13 | 2020-10-30 | 深圳大学 | Tool setting device for improving rotation deviation of tool and alignment method thereof |
| EP3685969A1 (en) * | 2019-01-28 | 2020-07-29 | Siemens Aktiengesellschaft | Computer-aided optimization of a numerically controlled machining of a workpiece |
| CN111857038A (en) * | 2020-06-28 | 2020-10-30 | 上海中船三井造船柴油机有限公司 | Parameterized machining method of machine frame on numerical control planer type milling machine |
| CN111913438B (en) * | 2020-08-04 | 2022-03-04 | 天津大学 | Control method for nonlinear error of tool nose point and tool shaft direction in five-axis machining |
| CN113419488B (en) * | 2021-06-08 | 2022-07-08 | 湖北工业大学 | Method for eliminating variable-displacement modification over-cutting of non-circular fan |
| JP7278507B1 (en) | 2022-07-14 | 2023-05-19 | 三菱電機株式会社 | Numerical controller, numerically controlled machine tool, machining program generation device and machining program generation method |
| CN115599043A (en) * | 2022-12-12 | 2023-01-13 | 北京精雕科技集团有限公司（Cn） | Method and device for improving machining precision of five-axis machine tool |
| CN117518985B (en) * | 2024-01-04 | 2024-03-22 | 江苏古田自动化股份有限公司 | Rotary cutter center compensation system and compensation method based on five-axis numerical control machine tool |
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| US6582166B1 (en) * | 1999-10-22 | 2003-06-24 | Gerber Scientific Products, Inc. | Method of compensating for cutter deflection |
| JP4837115B2 (en) * | 2010-03-29 | 2011-12-14 | ファナック株式会社 | Numerical control device for controlling a 5-axis machine |
| CN102681483B (en) * | 2012-04-16 | 2017-02-15 | 科德数控股份有限公司 | Coordinate system for automatically compensating temperature deformation and tool shape offset |
| CN104460516B (en) * | 2013-09-25 | 2018-01-02 | 山东理工大学 | One kind is based on the axle Cutter Radius Compensation Method of postpositive disposal five |
| CN104615083B (en) * | 2015-01-23 | 2017-05-03 | 大连理工大学 | Curved surface tool path contour error compensation method based tool location point correction |
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Address after: 300350 District, Jinnan District, Tianjin Haihe Education Park, 135 beautiful road, Beiyang campus of Tianjin University Patentee after: Tianjin University Address before: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Patentee before: Tianjin University |
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