CN105458372B - A kind of side milling error tool path scheduling method based on non-extended straight-line surface - Google Patents
A kind of side milling error tool path scheduling method based on non-extended straight-line surface Download PDFInfo
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- CN105458372B CN105458372B CN201511016335.3A CN201511016335A CN105458372B CN 105458372 B CN105458372 B CN 105458372B CN 201511016335 A CN201511016335 A CN 201511016335A CN 105458372 B CN105458372 B CN 105458372B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C3/00—Milling particular work; Special milling operations; Machines therefor
- B23C3/16—Working surfaces curved in two directions
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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
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Abstract
The present invention relates to field of machining, more particularly to a kind of side milling error-compensating apparatus and its tool path scheduling method based on non-extended straight-line surface, including clamping disk, workpiece and milling cutter of the workpiece top for Flank machining is arranged on, the workpiece setting is on clamping disk, it is characterised in that:Also include spatial digitizer, microcomputer, column and cutter spacing compensation mechanism, the cutter spacing compensation mechanism is arranged on below clamping disk, the present invention is planned the non-axle side milling cutter path of extended straight-line surface five by the way of 4 points of biasings, and whether there is interference to carry out online real-time judge to it, on-line tuning is carried out according to the result of judgement, collision in avoiding process while mismachining tolerance is reduced, realize the quick, purpose of highly-efficient processing；The present invention further optimizes to the cutter spacing of generation, and is completed with error-compensating apparatus, reduce further error.
Description
Technical field
The present invention relates to field of machining, and in particular to a kind of side milling error tool path scheduling based on non-extended straight-line surface
Method.
Background technology
Non- extended straight-line surface is scanned by straight edge line along wire to be formed, what right and wrong can open up, and Surface tessellation can be obtained into curved surface
The different straight line in upper a plurality of direction.Because the direction of normal of each point on its straight edge line is different, as long as actionradius is not zero
Cutter side milling, inherently produced and cut and owe to cut error, and in process due to the technique system of lathe-workpiece composition
System produces vibration, driving-chain has gap and executing agency's abrasion, and tool motion can be made to deviate ideal trajectory, cause processing to miss
Difference, for non-extended straight-line surface, these errors are fatefulue, can not only reach final processing request, or even meeting
Make processing part rejection.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of on-line monitoring, in real time adjustment, reduce error, improve processing
Efficiency and a kind of side milling error tool path scheduling method based on non-extended straight-line surface that can effectively lift crudy.
To solve above technical problem, the present invention adopts the following technical scheme that：
Technical scheme one：
A kind of side milling error-compensating apparatus based on non-extended straight-line surface, including clamping disk, workpiece and it is arranged on workpiece
Top be used for Flank machining milling cutter, the workpiece setting on clamping disk, in addition to spatial digitizer, microcomputer, column and
Cutter spacing compensation mechanism, the cutter spacing compensation mechanism are arranged on below clamping disk；The cutter spacing compensation mechanism includes：First translation
Platform, the second translation stage, the first pair of nut, the first leading screw, the second pair of nut, the second leading screw, the first servomotor and second are watched
Take motor；First pair of nut is arranged on below the first translation stage, and first leading screw passes through ball and the first nut parafacies
Coordinating, first leading screw is connected with the first servomotor output end, and second pair of nut is arranged on below the second translation stage,
Second leading screw is engaged by ball with the second pair of nut, and second leading screw is connected with the second servomotor output end；
The spatial digitizer is arranged on column, and the column is arranged on the first translation stage, the spatial digitizer and microcomputer phase
Even, first servomotor is connected with the second servomotor by logic control panel with microcomputer, and the microcomputer is driven by servo
Dynamic device is connected with the main shaft of milling cutter.The number of first leading screw and the first pair of nut is 2, and is set in parallel in the first translation
Below platform；The number of second leading screw and the second pair of nut is 2, and is set in parallel in below the second translation stage.Described
The axis of one leading screw and the second leading screw is mutually perpendicular to.
Technical scheme two：
The tool path scheduling method and step of the present invention is following (utilizing the side milling error-compensating apparatus based on non-extended straight-line surface)：
1. the data of processing on real-time three-dimensional part model figure are measured by spatial digitizer；
2. model data will be measured to be compared with design curved surface, initial cutter spacing is generated using 4 offsettings：
201 pairs of design curved surfaces and equidistant surface are defined, and design surface equation is S (u, v)=(1-v) B0(u)+vB1(u),
U, v ∈ [0,1], wherein u, v are the curvilinear coordinate of curved surface, and its equidistant surface is defined as S ˊ (u, v)=S (u, v)+Rn (u, v),
Wherein R is post knife tool radius, B0And B (u)1(u) it is the radius vector of two curves, n (u, v) swears for curved surface per unit system, with equidistant surface
Extreme difference between cutter shaft track plane represents Machining of Curved Surface error；
202 choose the design straight edge line two-end-point of curved surface one, extract corresponding point P on its equidistant surface0、P3, offset or dish is knife
Has radius；203 introduce λ, respectively with the selected middle two point P of v=λ and v=1- λ1、P2Position, wherein v ∈ [0,1], its numerical value
Represent to put in the position of cutter shaft, use E respectively1And E2Represent the extreme difference between and design Surface Offset face at 2 points；
204 fix P0Point, makes P3Point is in B1" slide on (u), family P can be obtained0P3, each cutter spacing P3Point sliding scale is set
It is set to [u0- 0.5h, u0+ 0.5h], wherein u0For the initial coordinate values of u in 201, h is cutting step length and directrix length ratio, if
Determine standard value ε, calculate E=E in each step respectively1 2+E2 2, when meeting E<During ε, P0P3It is defined as initial cutter spacing；
205 choose and 2 points and are repeated the above steps on design next straight edge lines of curved surface, calculate all initial cutter spacing；
3. utilize least square method generation optimal tool position：
Initial cutter spacing is fitted to curved surface by 301, and initial cutter shaft track plane is expressed as：
Wherein v is straight edge line direction
Parameter, Ni,k(u) it is B-spline basic function, biAnd diFor two directrix control vertexs；
302 take M data point P on the equidistant surface of design curved surfaces(s=0,1 ..., M-1), by it in cutter shaft track plane
On corresponding points (us,vs), the expression formula of substitution step 301,
303 by biAnd diAs unknown quantity, the formula of step 302 is calculated using least square method, after obtaining optimization
Cutter spacing information；
4. being detected for the optimal tool position of generation, if there is interference, deflection angle θ is calculated, by Microcomputerized
Servo-driver is completed to adjust the cutter shaft of milling cutter；If there is no interference, it is processed using optimal tool position.
The step 4. in when being adjusted to the cutter shaft of milling cutter, microcomputer passes through logic control panel and controls the first servo electricity
Machine, the second servomotor drive the first translation stage, the second translation stage to complete auxiliary positioning.
4. the step determines the cutter spacing most greater than point of contact by binary search method；Then along the cutter spacing most greater than node analysis
Line direction deflection angle θ.
It is described most to be utilized greater than node analysis line direction deflection angle θWithIt is determined that pass through x, y tangent ratioDetermine θ.
The positive effect of the present invention is as follows：Three-dimensional mould of the present invention by spatial digitizer to the non-extended straight-line surface of processing
Type data are acquired, and this guarantees on-line real time monitoring in process, greatly reduce mismachining tolerance；The present invention uses four
The mode of point biasing is planned the non-axle side milling cutter path of extended straight-line surface five, and whether have interference to carry out to it online real
When judge, according to the result of judgement carry out on-line tuning, the collision in avoiding process while mismachining tolerance is reduced,
Realize the quick, purpose of highly-efficient processing；The present invention further optimizes to the cutter spacing of generation, and complete with error-compensating apparatus
Into reduce further error；The present invention controls cutter shaft, the first translation stage to be cooperateed with the second translation stage and completes cutter spacing by microcomputer
Generation adjusts with cutter shaft, more presses close to the surface profile of non-extended straight-line surface, makes process more steady, has been effectively ensured and has added
Work precision.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is curved surface relation schematic diagram of the present invention；
Fig. 3 is the flow chart of the inventive method；
Fig. 4 is 4 offsetting model schematics of the invention；
Fig. 5 is generating tool axis vector Deflection Model schematic diagram of the present invention；
Fig. 6 is cutter shaft deflection angle schematic diagram of the present invention；
Fig. 7 is crossed for cutter of the present invention and is cut error schematic diagram；
Fig. 8 is the flow chart of the non-axle Flank machining method of extended straight-line surface five of the present invention；
Fig. 9 is present invention design surface forming equidistant surface schematic diagram；
Figure 10 is the initial cutter spacing mismachining tolerance distribution schematic diagram of the present invention；
Figure 11 is cutter spacing mismachining tolerance distribution schematic diagram after present invention optimization.
In figure：1 workpiece, 2 milling cutters, 3 spatial digitizers, 4 clamping disks, 5 first translation stages, 6 second translation stages, 7 nuts
Pair, 8 leading screws, 9 second servomotors, 10 first servomotors, 11 microcomputers, S1 are design curved surface, and S2 is cutter enveloping surface, and S3 is
The equidistant surface of curved surface is designed, S4 is cutter shaft track plane, and R is tool radius, and O is cutter heart point, and O' is postrotational cutter heart point.
Embodiment
The present invention is described in detail with instantiation below in conjunction with the accompanying drawings.
Embodiment 1
As shown in figure 1, a kind of side milling error-compensating apparatus based on non-extended straight-line surface, including clamping disk 4, workpiece 1 with
And the milling cutter 2 that the top of workpiece 1 is used for Flank machining is arranged on, the workpiece 1 is arranged on clamping disk 4, in addition to 3-D scanning
Instrument 3, microcomputer 11, column 12 and cutter spacing compensation mechanism, the cutter spacing compensation mechanism are arranged on the lower section of clamping disk 4；
The cutter spacing compensation mechanism includes：First translation stage 5, the second translation stage 6, the first pair of nut 7-1, the first leading screw 8-
1st, the second pair of nut 7-2, the second leading screw 8-2, the first servomotor 10 and the second servomotor 9；The first pair of nut 7-1
The lower section of the first translation stage 5 is arranged on, the first leading screw 8-1 is engaged by ball with the first pair of nut 7-1, described first
Thick stick 8-1 is connected with the output end of the first servomotor 10, and the second pair of nut 7-2 is arranged on the lower section of the second translation stage 6, and described the
Two leading screw 8-2 are engaged by ball with the second pair of nut 7-2, and the second leading screw 8-2 and the second servomotor 9 output end connects
Connect；
The spatial digitizer 3 is arranged on column 12, and the column 12 is arranged on the first translation stage 5, the three-dimensional
Scanner 3 is connected with microcomputer 11, and first servomotor 10 is connected with the second servomotor 9 by logic control panel and microcomputer 11
Connect, the microcomputer 11 is connected by servo-driver with the main shaft of milling cutter 2.
The first leading screw 8-1 and the first pair of nut 7-1 number are 2, and are set in parallel under the first translation stage (5)
Side；Second leading screw (8-2) and the second pair of nut 7-2 number are 2, and are set in parallel in the lower section of the second translation stage 6.Institute
The axis for stating the first leading screw 8-1 and the second leading screw 8-2 is mutually perpendicular to.Microcomputer 11 is PC or notebook computer in the present invention.
Embodiment 2：
Because the characteristics of non-extended straight-line surface be each point on straight edge line direction of normal it is different, the cutter that any radius is not zero
Side milling is carried out to it and theoretical error all be present, cutter enveloping surface can not be completely tangent with design curved surface, for the side of this curved surface
Milling Machining is processed using surface approach, as shown in Fig. 2 mainly having in the non-extended straight-line surface tool path scheduling of side milling：Curved surface S1 is designed,
Cutter enveloping surface S2, the equidistant surface S3 of curved surface is designed, cutter shaft track plane S4, milling cutter enveloping surface and cutter shaft track plane are equidistant a pair
Face, from the extreme difference consistency under Isometric Maps in Differential Geometry, cutter enveloping surface and the extreme difference and cutter shaft rail for designing curved surface
Extreme difference between mark face and design Surface Offset face is equal, therefore can be changed into the optimization problem of cutter spacing and subtract how as far as possible
Little cutter shaft track plane and the error in design Surface Offset face.Cutter shaft track plane contains the full detail of tool space motion, because
This tool path scheduling is substantially to construct a cutter shaft track plane, cutter enveloping surface is approached design curved surface as far as possible, so as to subtract
Small mismachining tolerance.4 offsettings are to enter line slip to cutter shaft on the basis of 2 offsettings, with 4 points on cutter shaft and design
Error between Surface Offset face is the method that qualifications determine cutter spacing.Cutter shaft two-end-point is by the point direct method on design curved surface
To biasing, therefore mismachining tolerance is zero, and 2 points of position represents that between equidistant surface with the λ introduced at this 2 points in addition
When extreme difference meets agreed terms, initial cutter spacing determines.The essence of 4 offsettings is to seek four on design four curves of curved surface
Point, allow it to offset a tool radius R along surface normal vector and obtain corresponding at 4 points, be allowed to accurately approach straight line, this is straight
The direction of line is cutter axis orientation.
As shown in figure 3, carry out tool path scheduling method using the device described in embodiment 1, it is characterised in that step is as follows：
1. the data of processing on real-time three-dimensional part model figure are measured by spatial digitizer 3；
2. model data will be measured to be compared with design curved surface, as shown in figure 4, generating initial knife using 4 offsettings
Position,：
201 pairs of design curved surfaces and equidistant surface are defined, and design surface equation is S (u, v)=(1-v) B0(u)+vB1(u),
U, v ∈ [0,1], wherein u, v are the curvilinear coordinate of curved surface, and its equidistant surface is defined as S ˊ (u, v)=S (u, v)+Rn (u, v),
Wherein R is post knife tool radius, B0And B (u)1(u) it is the radius vector of two curves, n (u, v) swears for curved surface per unit system, with equidistant surface
Extreme difference between cutter shaft track plane represents Machining of Curved Surface error；
202 choose the design straight edge line two-end-point of curved surface one, extract corresponding point P on its equidistant surface0、P3, offset or dish is knife
Has radius；
203 introduce λ, respectively with the selected middle two point P of v=λ and v=1- λ1、P2Position, wherein v ∈ [0,1], its numerical value
Represent to put in the position of cutter shaft, use E respectively1And E2Represent the extreme difference between and design Surface Offset face at 2 points；
204 fix P0Point, makes P3Point is in B1" slide on (u), family P can be obtained0P3, each cutter spacing P3Point sliding scale is set
It is set to [u0- 0.5h, u0+ 0.5h], wherein u0For the initial coordinate values of u in 201, h is cutting step length and directrix length ratio, if
Determine standard value ε, calculate E=E in each step respectively1 2+E2 2, when meeting E<During ε, P0P3It is defined as initial cutter spacing, it calculates stream
Journey figure is as shown in Figure 8；
205 choose and 2 points and are repeated the above steps on design next straight edge lines of curved surface, calculate all initial cutter spacing；
3. utilize least square method generation optimal tool position：
301 by initial cutter spacing as shown in figure 9, be fitted to curved surface, and initial cutter shaft track plane is expressed as：
Wherein v is straight edge line direction
Parameter, is B-spline basic function, biAnd diFor two directrix control vertexs；
302 take M data point P on the equidistant surface of design curved surfaces(s=0,1 ..., M-1), by it on cutter shaft track plane
Corresponding points (us,vs), the expression formula of substitution step 301,
303 by biAnd diAs unknown quantity, the formula of step 302 is calculated using least square method, the cutter spacing letter after being optimized
Breath；
4. being detected for the optimal tool position of generation, as shown in Fig. 5,6,7, if there is interference, deflection angle is calculated
θ, servo-driver is regulated and controled by microcomputer 11 and completes to adjust the cutter shaft of milling cutter 2；If there is no interference, entered using optimal tool position
Row processing.
The step 4. in when being adjusted to the cutter shaft of milling cutter 2, microcomputer 11 passes through logic control panel and controls the first servo
Motor 10, the second servomotor 9 drive the first translation stage 5, the second translation stage 6 to complete auxiliary positioning.
4. the step determines the cutter spacing most greater than point of contact by binary search method；Then along the cutter spacing most greater than node analysis
Line direction deflection angle θ.It is described most to be utilized greater than node analysis line direction deflection angle θ
WithIt is determined that pass through x, y tangent ratioDetermine θ.
As shown in Figure 10,11 (wherein negative value represented to cut, and owed to cut on the occasion of expression), the above method and error compensation are utilized
Device, and the mistake carried out after tool position optimization is cut error amount and substantially diminished, owing to cut error can be reduced by cutting next time, compared to
Optimization, which takes a step forward, improves machining accuracy.
Embodiment described above is only the preferred embodiments of the present invention, and the simultaneously exhaustion of the feasible implementation of non-invention.It is right
For persons skilled in the art, on the premise of without departing substantially from the principle of the invention and spirit to any aobvious made by it and
The change being clear to, it should all be contemplated as falling with the claims of the present invention.
Claims (6)
- A kind of 1. side milling error tool path scheduling method based on non-extended straight-line surface, it is characterised in that step is as follows:1. measure the data of processing on real-time three-dimensional part model figure；The data of the three-dimensional model diagram by compensation device obtain, the compensation device include clamping disk (4), workpiece (1) with And the milling cutter (2) for being used for Flank machining above workpiece (1) is arranged on, the workpiece (1) is arranged on clamping disk (4)；Also include Spatial digitizer (3), microcomputer (11), column (12) and cutter spacing compensation mechanism, the cutter spacing compensation mechanism are arranged on clamping disk (4) lower section；The cutter spacing compensation mechanism includes：First translation stage (5), the second translation stage (6), the first pair of nut (7-1), first Leading screw (8-1), the second pair of nut (7-2), the second leading screw (8-2), the first servomotor (10) and the second servomotor (9)； First pair of nut (7-1) is arranged on below the first translation stage (5), and first leading screw (8-1) passes through ball and the first spiral shell Female pair (7-1) is engaged, and first leading screw (8-1) is connected with the first servomotor (10) output end, second pair of nut (7-2) is arranged on below the second translation stage (6), and second leading screw (8-2) is matched by ball and the second pair of nut (7-2) Close, second leading screw (8-2) is connected with the second servomotor (9) output end；The spatial digitizer (3) is arranged on column (12) on, the column (12) is arranged on the first translation stage (5), and the spatial digitizer (3) is connected with microcomputer (11), described First servomotor (10) is connected with the second servomotor (9) by logic control panel with microcomputer (11), and the microcomputer (11) is logical The main shaft that servo-driver is crossed with milling cutter (2) is connected；Processing on real-time three-dimensional part model figure is measured by spatial digitizer (3) Data；2. model data will be measured to be compared with design curved surface, initial cutter spacing is generated using 4 offsettings：201 pairs of design curved surfaces and equidistant surface are defined, and design surface equation is S (u, v)=(1-v) B0(u)+vB1(u), u, v ∈ [0,1], wherein u, v are the curvilinear coordinate of curved surface, and its equidistant surface is defined as S ˊ (u, v)=S (u, v)+Rn (u, v), its Middle R is post knife tool radius, B0And B (u)1(u) be the radius vector of two curves, n (u, v) is that curved surface per unit system is sweared, with equidistant surface with Extreme difference between cutter shaft track plane represents Machining of Curved Surface error；202 choose the design straight edge line two-end-point of curved surface one, extract corresponding point P on its equidistant surface0、P3, offset or dish is cutter half Footpath；203 introduce λ, respectively with the selected middle two point P of v=λ and v=1- λ1、P2Position, wherein v ∈ [0,1], its numerical value represent Put in the position of cutter shaft, use E respectively1And E2Represent the extreme difference between and design Surface Offset face at 2 points；204 fix P0Point, makes P3Point is in B1" slide on (u), family P can be obtained0P3, each cutter spacing P3Point sliding scale is set as [u0- 0.5h, u0+ 0.5h], wherein u0For the initial coordinate values of u in 201, h is cutting step length and directrix length ratio, setting mark Quasi- value ε, calculates E=E in each step respectively1 2+E2 2, when meeting E<During ε, P0P3It is defined as initial cutter spacing；205 choose and 2 points and are repeated the above steps on design next straight edge lines of curved surface, calculate all initial cutter spacing；3. utilize least square method generation optimal tool position：Initial cutter spacing is fitted to curved surface by 301, and initial cutter shaft track plane is expressed as：U ∈ [0,1], v ∈ [0,1], wherein v join for straight edge line direction Number, Ni,k(u) it is B-spline basic function, biAnd diFor two directrix control vertexs；302 take M data point P on the equidistant surface of design curved surfaces(s=0,1 ..., M-1), by it on cutter shaft track plane Corresponding points (us,vs), the expression formula of substitution step 301,S=0, 1,...,M-1；303 by biAnd diAs unknown quantity, the formula of step 302 is calculated using least square method, the knife after being optimized Position information；4. being detected for the optimal tool position of generation, if there is interference, deflection angle θ is calculated, is regulated and controled by microcomputer (11) Servo-driver is completed to adjust the cutter shaft of milling cutter (2)；If there is no interference, it is processed using optimal tool position.
- 2. a kind of side milling error tool path scheduling method based on non-extended straight-line surface according to claim 1, its feature exist In：The number of first leading screw (8-1) and the first pair of nut (7-1) is 2, and is set in parallel under the first translation stage (5) Side；The number of second leading screw (8-2) and the second pair of nut (7-2) is 2, and is set in parallel under the second translation stage (6) Side.
- 3. a kind of side milling error tool path scheduling method based on non-extended straight-line surface according to claim 2, its feature exist In：First leading screw (8-1) and the axis of the second leading screw (8-2) are mutually perpendicular to.
- 4. a kind of side milling error tool path scheduling method based on non-extended straight-line surface according to claim 1, its feature exist In：The step 4. in when being adjusted to the cutter shaft of milling cutter (2), microcomputer (11) passes through logic control panel and controls the first servo electricity Machine (10), the second servomotor (9) drive the first translation stage (5), the second translation stage (6) to complete auxiliary positioning.
- 5. a kind of side milling error tool path scheduling method based on non-extended straight-line surface according to claim 1, its feature exist In：4. the step determines the cutter spacing most greater than point of contact by binary search method；Then along the cutter spacing most greater than node analysis line side To deflection angle θ.
- 6. a kind of side milling error tool path scheduling method based on non-extended straight-line surface according to claim 5, its It is characterised by：It is described most to be utilized greater than node analysis line direction deflection angle θWithIt is determined that pass through x, y tangent ratioDetermine θ.
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| CN106227153B (en) * | 2016-09-30 | 2019-01-04 | 清华大学 | A kind of cutter positioning method suitable for the non-extended straight-line surface of Flank machining |
| CN106424877A (en) * | 2016-10-15 | 2017-02-22 | 中国计量大学 | Generating method for milling tool path of novel robot |
| CN108067939B (en) * | 2016-11-18 | 2021-08-03 | 成都飞机工业（集团）有限责任公司 | Space point location measurement reference error compensation method |
| KR102202250B1 (en) * | 2017-03-31 | 2021-01-12 | 가부시키가이샤 마키노 후라이스 세이사쿠쇼 | Tool path generation method and device |
| CN109213083B (en) | 2017-07-05 | 2020-05-08 | 上海狮迈科技有限公司 | Ruled surface processing path generation method, device and equipment |
| CN111736526B (en) * | 2020-07-02 | 2021-12-14 | 无锡航亚科技股份有限公司 | Compensation method for over-cutting of straight-grained impeller blade |
| CN114535672B (en) * | 2022-03-25 | 2023-03-28 | 北京精雕科技集团有限公司 | Method for generating non-developable ruled surface impeller side milling machining path |
| CN114995281B (en) * | 2022-05-10 | 2024-07-09 | 清华大学 | Optimal tool position planning method and device for non-expandable straight line curved surface |
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| JPS6144522A (en) * | 1984-08-03 | 1986-03-04 | Mitsubishi Heavy Ind Ltd | Method of manufacturing propeller |
| CN103084637A (en) * | 2013-02-04 | 2013-05-08 | 西北工业大学 | Blisk composite numerical-control milling folded-structured machine tool |
| CN103100744A (en) * | 2013-02-04 | 2013-05-15 | 西北工业大学 | Composite numerical control milling composite-structure machine tool for blisk |
| CN103111674A (en) * | 2013-02-04 | 2013-05-22 | 西北工业大学 | Composite numerical control milling parallel-structure machine tool for blisk machining |
| CN103878425A (en) * | 2014-03-04 | 2014-06-25 | 深圳西龙同辉技术股份有限公司 | Precise milling method and structure thereof |
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