CN105643030B - A kind of feed speed preprocessor design method for multi-shaft interlocked electrical discharge machining - Google Patents
A kind of feed speed preprocessor design method for multi-shaft interlocked electrical discharge machining Download PDFInfo
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- CN105643030B CN105643030B CN201610116373.4A CN201610116373A CN105643030B CN 105643030 B CN105643030 B CN 105643030B CN 201610116373 A CN201610116373 A CN 201610116373A CN 105643030 B CN105643030 B CN 105643030B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23H—WORKING OF METAL BY THE ACTION OF A HIGH CONCENTRATION OF ELECTRIC CURRENT ON A WORKPIECE USING AN ELECTRODE WHICH TAKES THE PLACE OF A TOOL; SUCH WORKING COMBINED WITH OTHER FORMS OF WORKING OF METAL
- B23H7/00—Processes or apparatus applicable to both electrical discharge machining and electrochemical machining
- B23H7/14—Electric circuits specially adapted therefor, e.g. power supply
- B23H7/20—Electric circuits specially adapted therefor, e.g. power supply for programme-control, e.g. adaptive
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- Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
Abstract
The present invention relates to a kind of feed speed preprocessor design method for multi-shaft interlocked electrical discharge machining, for having the multi-shaft interlocked electrical discharge machining that rotary shaft is participated in, the object of control is the relative distance between electrode and workpiece.Not notifying for rotary shaft radius causes process velocity to fluctuate.The present invention defines the kinematic coefficient of every kinematic axis by radius of turn from electrode and the model of workpiece.On this basis, motion-scaling factor is obtained to the synthesis of every row G code kinematic coefficient using weighted mean method, the often row G code feed speed originally planned is multiplied by the motion-scaling factor of the row, procedure is updated.The present invention can be greatly decreased dimension and mismatch the velocity perturbation caused, it is to avoid the motion discharge condition that rotary shaft is participated in is unstable, reduce open circuit and the generation of short-circuit condition, lift the efficiency of electrical discharge machining.
Description
Technical field
The present invention relates to electric spark process control, belong to technical field, it is specifically a kind of for multi-shaft interlocked
Electric spark feed speed controller design method.
Background technology
Modern numerical control machining includes CAD (CAD), CAM (computer-aided manufacturing), post-processes, number
The several typical links of control processing, as shown in Figure 1.Processing workpiece is designed by CAD, the generation of CAM simulating cuttings process adds
Work trace information, and last handling process is optimized for equipment or technical process to machining code, obtains preferably processing effect
Really.
Electrical discharge machining is one be removed to workpiece material using a series of spark discharges between workpiece and electrode
The process of kind.Electrical discharge machining is commonly used for the fields such as mould, Aero-Space, medicine equipment.Electrical discharge machining and traditional milling
Processing is compared, and has many different places.Such as electrical discharge machining is noncontact procession, and multi-shaft interlocked electrical discharge machining can be with
Extremely complex die cavity is processed, the surface configuration of machining tool electrode is copied on workpiece.Such as enclosed blisk is adopted
Be processed with six-axis linkage electric spark machine tool as shown in Figure 2, using three linear axis X, Y, Z and three rotary shaft A,
Machining tool electrode, can be fed into inside enclosed blisk, the surface configuration of electrode is copied to by B, C resultant motion
On enclosed blisk, the processing of leaf dish is completed, as shown in Figure 3.In the case of multi-shaft interlocked, on electrode point of discharge relative to
Amount of relative motion on workpiece between corresponding points is the result of resultant motion, in spark-erosion machine tool digital control system, using extension
The mode of displacement of the lines is synthesized to rectilinear axis speed and rotation axis angular rate, i.e., carry out the respective velocity amplitude of N number of axle just
Join into.Due to linear velocity and the difference of angular speed dimension, not considering the synthesis of rotary shaft radius of turn directly will certainly make
Into the mismatch of speed, so as to have influence on processing effect.In electrical discharge machining, enter with the given speed of basis in Milling Process
To difference, be according to the interpolar Determines machine direction of measurement forward or backward, and according to the interpolar electricity currently measured
Pressure and the difference of setting servo voltage determine speed forward or backward, according to the difference of discharge condition between electrode and workpiece,
Open circuit can be divided into, regular picture is short-circuit, four kinds of states such as electric arc.Servo-control system passes through the information such as collection voltages, electric current
Estimate discharge condition, then the rule of thumb feed speed of formula determining electrode.In empirical equation, feed speed is to use linear speed
What degree was indicated.In the SERVO CONTROL for having rotary shaft to participate in, digital control system is not aware that the rotary shaft rotation of electrode and workpiece
Turn the size of radius, this has resulted in the gap between the actual amount of feeding and the amount of feeding required by empirical equation.In this feelings
Under condition, same angular speed, it is extremely irrational to carry out same processing in the case where the radius of turn of processing stand is different.
Because rotary shaft is that complex-shaped surface mould processing must be used, in this case, the correct motion of processing rotary shaft and rotation
The resultant motion that rotating shaft is participated in is necessary.Rotary shaft and straight line axle speed are uniformly needed to know the rotation half of rotary shaft
Footpath, before processing, the radius of turn information for having electrode and workpiece can just carry out post processing planning.
The content of the invention
To overcome above-mentioned the deficiencies in the prior art, the present invention provides a kind of feeding speed for multi-shaft interlocked electrical discharge machining
Preprocessor design method is spent, dimension can be greatly decreased and mismatches the velocity perturbation caused, it is to avoid the motion that rotary shaft is participated in
Discharge condition is unstable, reduces open circuit and the generation of short-circuit condition, lifts the efficiency of electrical discharge machining.
The technical solution of the present invention is as follows：
A kind of feed speed preprocessor design method for multi-shaft interlocked electrical discharge machining, this method includes following step
Suddenly：
Step one：The selection of machining tool electrode and work piece reference point and the measurement of radius of turn, with each axle later
The calculating of motion ratio；
Step 2：The motion ratio of each rotary shaft is obtained according to the radius of turn of each rotary shaft；
Step 3：Processing G code is read line by line since the first row G code, according to each kinematic axis of every a line G code
Amount of exercise, the motion-scaling factor of the row G code is obtained by weighted mean method, until all row G codes calculate terminate；
Step 4：The feed speed originally planned is multiplied by the motion ratio of the row G code line by line since the first row G code
Example coefficient, and original feed speed is substituted with good result, terminate until all row G codes are calculated；
Step 5：The G code changed after feed speed passes to digital control system, so as to reduce rotary shaft participation
Motion discharge condition is unstable, reduces open circuit and the generation of short-circuit condition, lifts effective discharge rate.
The principle of the invention is as follows：
For having the multi-shaft interlocked electrical discharge machining that rotary shaft is participated in, the object of control is between electrode and workpiece
Relative distance.But from the perspective of digital control system SERVO CONTROL, if rotary shaft is moved, then the linear velocity of workpiece is
On angular speed and workpiece between point of discharge and rotary shaft radius product.The displacement that rotary shaft moves a unit will be equal to directly
The displacement of one unit of spool motion.So that three linear axis, three rotary shafts participate in the six-axis linkage of motion as an example, three straight lines
Axle is defined as X, Y, Z, and three rotary shafts are defined as A, B, C.So we introduce a motion ratio, this ratio to each axle
It can be expressed as：
If the kinematic coefficient of linear axis is 1, formula (1) can be reduced to：
The radius of turn selection of machining tool electrode and workpiece is the CAD model based on them.In general, participate in putting
The maximum position of electric partial radius is to be easiest to produce the position that electric discharge is concentrated, so edge should on machining tool electrode and workpiece
The maximum radius of turn of kinematic axis elects the reference radius of the axle as.After the reference radius of each axle is obtained, according to formula (2) just
The kinematic coefficient of each rotary shaft can be obtained, such as axle n kinematic coefficient is：
After the kinematic coefficient of every axle is obtained, the motion ratio system of the multi-shaft interlocked track of certain row is calculated using weighting algorithm
Number.Such as, the displacement of each axle is Δ x, Δ y, Δ z, Δ a, Δ b in a line G code, and Δ c, Weighted Average Algorithm is exactly each
The speed multiplying power factor of individual axle is weighted average according to the weight shared by each axis of motion amount in a line G code.It is i axles
Weight.Δ x, Δ y, Δ z synthesize the straight line in a 3-dimensional space, so their amount of exercise first should be synthesized to enter again
Row weighted average.
Wherein
The motion-scaling factor of the multi-shaft interlocked track of weighted average is summation of the coefficient with weight product of each axle.Multiaxis
The motion-scaling factor of linkage track can be expressed as：
After the motion-scaling factor of the row G code is obtained, the feed speed that the row G code was originally planned is multiplied by the row
Coefficient k, and the result obtained with calculating substitutes the feed speed set originally.G code after change is passed into digital control system,
Spark discharge processing is carried out according to amended G code.
Compared with prior art, untreated machining code has larger velocity perturbation, in this case, it is impossible to protect
Hold continual and steady spark discharge processing.Be possible to because rotary shaft participate in feeding because radius of turn is excessive, produce compared with
Big linear velocity, causes frequently short circuit and arcing, not only reduces processing efficiency, and also create that short-circuit arcing causes is bad
Process consequence such as ablated surface, metal-modified.By using the feed speed for multi-shaft interlocked electrical discharge machining of the present invention
Preprocessor, the kinematic coefficient of the larger axle of amount of exercise occupies larger weight, can effectively reduce velocity perturbation, realizes more
For stable electrical discharge machining state, the bad machining state probability such as reduction short circuit, open circuit, arcing lifts electrical spark working work efficiency
Rate.
Brief description of the drawings
Fig. 1 is the several typical link schematic diagrames of implementation system digital control processing of the present invention.
Fig. 2 is that the present invention is used for the feed speed preprocessor design method flow chart of multi-shaft interlocked electrical discharge machining.
Fig. 3 is the implementing platform six-axis linkage electric spark machine tool schematic diagram of the present invention.
Fig. 4 is the multi-shaft interlocked feeding track schematic diagram of the present invention.
Embodiment
The specific embodiment of the present invention is implemented and in Shanghai in the electrode machining enclosed blisk G code shown in Fig. 3
Carried out on the spark-erosion sinking machines of HE 70 of the electromechanical Co., Ltd's production of Chinese despot.The reference radius of turn of the workpiece of selection is
120mm, the reference radius of turn of machining tool electrode is 27.5714mm.
Embodiment：
According to measurement, the reference radius of turn of the workpiece of selection is 120mm, and the reference radius of turn of machining tool electrode is
27.5714mm。
A velocity rate is introduced to each axle, because A axles are not moved, so X, Y, Z and A motion ratio are set to 1.
The motion ratio of two rotary shafts, wherein k are obtained by formula (3)B=0.4774648, kC=2.0780874.
Then with the rotary shaft coefficient based on result above, read G code line by line since the first row, obtain every a line G
The amount of exercise of each kinematic axis of code, the motion-scaling factor k of the row G code is obtained by weighted mean method, taking for k is computed
Value scope is (0.4775,1.6185).
By original process velocity, empirically formula is calculated as F10 line by line since the first row G code, is being multiplied by motion
After proportionality coefficient k, the value of feed speed is changed into F4.775 to 16.185.
Then digital control system is passed to the above-mentioned G code changed after feed speed, carries out adding for enclosed blisk
Work is tested, and contrast experiment is carried out with the whole code using Constant feeding rate F10.Test the machining tool electrode material used
For POCOEDM-C3, enclosed blisk workpiece material is C45E4 steel.Processing conditions is as shown in table 1 below：
The enclosed blisk machining experiment parameter of table 1
| Workpiece polarity | Open-circuit voltage | Peak point current | Pulse width | Pulse spacing | Cutter lifting height | The cutter lifting cycle |
| Negative pole | 120V | 36A | 80μs | 8μs | 1mm | 5s |
1 machining tool electrode machining is respectively adopted 3 times in each method, shown in the table 2 of specific processing result：
2 two kinds of feed speed control method processing results of table compare
As can be seen from Table 2, either on process time or in the loss of tool-electrode, using flat based on weighting
The result that equal multi-shaft interlocked electric spark feed speed control method is obtained is better than Constant feeding rate.
Preferred embodiment of the invention described in detail above.It should be apparent to a person skilled in the art that not taking off
In the case of from the scope of the invention, many modifications and variations can be made according to the design of the present invention.Therefore, all the art
Middle technical staff can be obtained by changing material either feature situation on the basis of existing technology under this invention's idea
Technical scheme, all should be in the protection domain being defined in the patent claims.
Claims (2)
1. a kind of feed speed preprocessor design method for multi-shaft interlocked electrical discharge machining, it is characterised in that this method
Comprise the steps of：
Step one：The point for easily occurring to discharge concentration on electrode and workpiece is chosen as a reference point, respectively in measuring electrode and workpiece
Radius of turn when reference point is moved with rotary shaft, defines the radius of turn for the rotary shaft radius of turn；
Step 2：Obtain the motion ratio of each rotary shaft according to the radius of turn of each rotary shaft, the fortune of described rotary shaft
Dynamic relation between ratio and radius of turn is expressed as：
<mrow>
<msub>
<mi>k</mi>
<mi>n</mi>
</msub>
<mo>=</mo>
<mfrac>
<mn>180</mn>
<mrow>
<msub>
<mi>&pi;r</mi>
<mi>n</mi>
</msub>
</mrow>
</mfrac>
</mrow>
In formula, rnFor the rotary shaft radius of turn, knFor motion ratio；
Step 3：Processing G code is read line by line since the first row G code, according to the final position of every a line G code and upper one
The difference of the position of the terminal of row G code, calculates the amount of exercise of each kinematic axis of the row G code, is obtained by weighted mean method
The motion-scaling factor of the row G code, terminates until all row G codes are calculated, the motion-scaling factor of the described row G code
Calculated by the motion ratio of each rotary shaft according to amount of exercise weighted average；
Step 4：The feed speed originally planned is multiplied by the motion ratio system of the row G code line by line since the first row G code
Number, and original feed speed is substituted with good result, terminate until all row G codes are calculated；
Step 5：The G code changed after feed speed passes to digital control system.
2. a kind of feed speed preprocessor design method for multi-shaft interlocked electrical discharge machining as claimed in claim 1,
Characterized in that, the radius of turn described in step one is the electrode and workpiece for being easiest to occur corresponding to electric discharge centrostigma in processing
Radius of turn.
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| CN106363258B (en) * | 2016-08-31 | 2018-03-06 | 上海交通大学 | Rarefaction feeds the electric discharge machining method of node |
| JP6347335B2 (en) * | 2016-12-07 | 2018-06-27 | 株式会社計数技研 | Robot system, positional relationship acquisition device, positional relationship acquisition method, and program |
| CN107876912B (en) * | 2017-11-29 | 2019-08-16 | 中山市榄商置业发展有限公司 | A kind of large-size multi-axis-linkage electrolytic machine tool |
| CN112276263A (en) * | 2020-10-14 | 2021-01-29 | 宁波市博虹机械制造开发有限公司 | G code-based special motion control method for electric spark forming machine |
| CN113218307A (en) * | 2021-04-29 | 2021-08-06 | 无锡地心科技有限公司 | High-precision optical fiber six-axis positioning platform |
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Patent Citations (8)
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| JPH03264215A (en) * | 1990-02-13 | 1991-11-25 | Mitsubishi Electric Corp | Numerical control unit for electric discharge machine |
| CN1765555A (en) * | 2004-10-28 | 2006-05-03 | 发那科株式会社 | Controller for wire electric discharge machine |
| CN101284322A (en) * | 2007-04-10 | 2008-10-15 | 发那科株式会社 | Controller for wire-cut electrical discharge machines |
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