CN105759717A - Cutter path overcut prevention method used for five-axis numerical control processing - Google Patents

Abstract

The invention discloses a cutter path overcut prevention method used for five-axis numerical control processing. The method comprises the following steps of (1) projecting a cutter to a curved surface along a cutter shaft direction and acquiring a new cutter location point and a new cutter contact point; (2) detecting a position of the new cutter contact point on the cutter; (3) adjusting the cutter shaft direction and then executing the step (1); and (4) outputting a cutter shaft direction T as the cutter shaft direction of cutter so that a cutter path possesses overcut prevention performance. In the invention, through a key overcut kind determination mode, an adjusting mode of the cutter and the cutter shaft and the like, improvement is performed; and according to a predetermined specific overcut position, corresponding adjusting means are used to prevent the cutter path of the five-axis numerical control processing from generating overcut.

Description

A kind of method cut for the anti-mistake of cutter path of five-shaft numerical control processing

Technical field

The invention belongs to Computerized Numerical Control processing technology field, more particularly, to a kind of method cut for the anti-mistake of cutter path of five-shaft numerical control processing, the method that this anti-mistake is cut is first rapidly, accurately, to detect the particular location cut, it is adjusted correspondingly according to crossing the position cut, thus realizing preventing from cutting.

Background technology

Five-shaft numerical control processing can obtain the working (machining) efficiency higher than processing three-axis numerical control processing and better machined surface quality due to it, is widely used in the fields such as Aeronautics and Astronautics, automobile, shipbuilding, mould.

Deng parameter line method using processed curved surface wait parameter line generate cutter path track as the tool contact locus of points.When generating five-axis robot track processed complex free form surface with parameter line method such as grade, maximum difficulty processes collision (Collision) exactly and excessively cuts (Gouging).Collision refers to collide adding knife bar in man-hour, main tapping and workpiece；Cross to cut and refer to adding the part that the incision of the marginal portion bottom cutter in man-hour should retain.Crossing to cut and can accelerate tool wear, reduce cutter life, and cause precision to impact part, even result in part rejection, therefore anti-blanking method is extremely important for five axle cutter path tracks excessively.

Cross to cut and can be divided into two kinds of situations: front cut (LocalGouging), root cuts (RearGouging).As it is shown in figure 1, in the course of processing, along cutter direction of advance, the mistake that cutter occurs near the region of cutter-contact point is cut before being called and is cut；The mistake occurred away from the region of cutter-contact point on cutter is cut and is called that root is cut.

In non-patent literature " Fixed-AxisToolPositioningwithBuilt-inGlobalInterferenceC heckingforNCPathGeneration ", " in a kind of NC processing the generating algorithm of interference-free tool path ", sciagraphy is all utilized to generate without the cutter path interfered.Its basic thought is, it is assumed that the initial position that certain above curved surface of cutter is not interfered, and is moved along projection vector curved surface by cutter, until tool surface and surface to be machined contact position, contact point is cutter-contact point.The cutter location that the cutter-contact point that obtains after projection is corresponding can interfere with surface to be machined scarcely.The method is cut before not distinguishing and is cut with root, and cutter-contact point is likely to the Gen Qie district at cutter, accelerates the abrasion of cutter, reduce cutting-tool's used life, the surface quality making processing part declines, part region to be processed do not have processed completely, cause that part also needs to be polished the processing technique such as polishing.

In non-patent literature " Onlocalgouginginfive-axissculpturedsurfacemachiningusing flat-endtools ", relatively determine the need for adjusting cutter by the ratio of curvature of effectively cutting curvature and the curved surface of cutter.The method is only limit and is used in flat-bottomed cutter, and is not suitable for composite surface.

In non-patent literature " Admissibletoolorientationcontrolofgougingavoidancefor5-a xiscomplexsurfacemachining ", cutter and curved surface is intercepted with two orthogonal planes, analyse whether to interfere by the local set feature of effectively cutting curvature and the curved surface of cutter, then adjust the purpose that cutter shaft reaches to avoid cutting.The method which employs discrete test point and detected and cut, and detection can not be completely secured accurately.The method only consider cutter-contact point trace can circular approximation, do not possess versatility.

Summary of the invention

Disadvantages described above or Improvement requirement for prior art, it is an object of the invention to provide a kind of method cut for the anti-mistake of cutter path of five-shaft numerical control processing, wherein by the mistake of its key is cut kind decision procedure, the adjustment mode etc. of cutter cutter shaft improves, the classification that compared with prior art realized cutting by cutter zonal quantization (namely cross cut root cut through or before cut through cut), and the particular location cut according to the mistake judged in advance (namely cross cut root cut through or before cut through cut), the cutter path that corresponding adjustment means prevent five-shaft numerical control from processing is adopted to occur to cut, and, the method is not by the restriction of tool category, it is applicable to various tool type.

For achieving the above object, it is proposed, according to the invention, provide a kind of method cut for the anti-mistake of cutter path of five-shaft numerical control processing, it is characterised in that comprise the following steps:

(1) by cutter along cutter axis orientation to curved surface projection, and the cutter location that must make new advances, new cutter-contact point:

As a reference point with the central point of tool base, remember that space coordinates point corresponding to this reference point is former cutter location；The impact point remembering the initial contact of described cutter and described curved surface is former cutter-contact point；Then, by make described cutter along cutter axis orientation mobile projector distance by this cutter along cutter axis orientation to curved surface projection；When this cutter is tangent with described curved surface in projection process, remember that the tangent point of contact of this cutter and described curved surface is new cutter-contact point, and remember that space coordinates point corresponding to described reference point now is new cutter location；

Described curved surface is the surface of workpiece to be processed；

(2) described new cutter-contact point position on described cutter is detected:

(2-1) cutter axis orientation according to the direction of advance of cutter, cutter, calculates partition vector X:

Remembering that the unit vector along the cutter axis orientation of described cutter is T, the unit vector of the direction of advance of described cutter is F；The direction of definition unit vector Y, Y is identical with the direction of T × F；Then, definition partition vector X, X=Y × T；

(2-2) position detection vector V is calculated:

Definition position detection vector V, remembers that the vector formed by the new cutter-contact point in the new cutter location described step of sensing (1) in described step (1) is V_cc, then V meets:

$V=\frac{V_{cc}-(T\·V_{cc})T}{|V_{cc}-(T\·V_{cc})T|};$

(2-3) location index P is calculated:

Definition location index P, then P meets P=X V；

(2-4) described new cutter-contact point affiliated area is judged according to described location index P:

If described location index P meets P >=cos (α), then described new cutter-contact point is positioned at the Qian Qie district of this cutter, performs step (4)；

If described location index P meets P < cos (α), then described new cutter-contact point is positioned at the Gen Qie district of this cutter, performs step (3)；

Wherein, α meets 0 < α < 180 °；

(3) adjust described cutter axis orientation, then perform described step (1)；

(4) export the described cutter axis orientation T cutter axis orientation as described cutter, and export described new cutter location and described new cutter-contact point replaces described former cutter location and described former cutter-contact point respectively, make the anti-mistake of track of this cutter cut.

As present invention further optimization, described step (3) comprises the following steps:

(3-1) remember that the unit vector in the direction of advance of described cutter is X_L, the normal direction unit vector for curved surface described in described former cutter-contact point is Z_L, define Y_LMake Y_LMeet Y_L=Z_L×X_L, then the unit vector T of the cutter axis orientation of the described cutter in described step (2-1) is by described Z_LAround described Y_LRotate θ, then further around described X_LRotate what φ obtained；

Define new cutter axis orientation T ', T ' to meet:

$T^{\&prime;}=\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \mathrm{\&phi;}& \sin \mathrm{\&phi;}\\ 0& -\sin \mathrm{\&phi;}& \cos \mathrm{\&phi;}\end{array}\right]\&CenterDot;\left[\begin{array}{ccc}\cos (\mathrm{\&theta;}+\mathrm{\&Delta;}\mathrm{\&theta;})& 0& -\sin (\mathrm{\&theta;}+\mathrm{\&Delta;}\mathrm{\&theta;})\\ 0& 1& 0\\ \sin (\mathrm{\&theta;}+\mathrm{\&Delta;}\mathrm{\&theta;})& 0& \cos (\mathrm{\&theta;}+\mathrm{\&Delta;}\mathrm{\&theta;})\end{array}\right]\&CenterDot;\left[\begin{array}{c}0\\ 0\\ 1\end{array}\right];$

Wherein, described Δ θ less than

(3-2) update described cutter axis orientation, make T=T ', and perform described step (1).

As present invention further optimization, the Δ θ in described step (3-1) is preferably

As present invention further optimization, the α in described step (2-4) is preferably

By the above technical scheme that the present invention is contemplated, compared with prior art, it is possible to rapidly, accurately, predicted the particular location cut, it is adjusted correspondingly according to the position excessively cut, it is achieved prevent from occurring to cut for the cutter path of five-shaft numerical control processing.First the present invention obtains new cutter-contact point, new cutter location along cutter axis orientation to curved surface projection according to cutter, secondly judge that new cutter location is in Gen Qie district or Qian Qie district according to new cutter location, new cutter-contact point, former cutter-contact point, former cutter location, cutter axis orientation etc., thus judging the type cut, and according to judged result, cutter is adjusted correspondingly (especially adjusting the cutter axis orientation of cutter), ultimately form the cutter path not having to cut.

The present invention cuts, by crossing, the region that region division is different, and the position of the new cutter-contact point after detection projection adjusts cutter further according to testing result, it is possible to obtain following beneficial effect:

1, adopting cutter along cutter axis orientation to curved surface projection, it is adaptable to ball head knife, flat-bottomed cutter, endless knife etc., and accuracy is higher, the new cutter-contact point after simultaneously griffing was for judging that cutting type provided foundation；

2, cutter being divided into Qian Qie district, Gen Qie district, Qian Qie district is desired cut region, and the position detection for cutter-contact point provides foundation；

3, the angle between partition vector and detection vector detects the position of cutter-contact point, improves detection efficiency and precision；

4, according to projecting the cutter-contact point obtained position on cutter, being adjusted correspondingly so that the cutter-contact point after adjustment cuts region front, thus ensureing precision and the quality of processing work, and ensure that the ride comfort of track.

In cutter shaft adjustment process, it is by setting up local coordinate system (namely with X_L、Y_L、Z_LAs the coordinate system that coordinate axes unit vector is set up), former cutter axis orientation T top rake θ and angle of heel φ is represented, adjust is set up new cutter axis orientation T ' by the value of change top rake θ every time, and recalculate new cutter location, new cutter-contact point with new cutter axis orientation T ', finally give and meet anti-mistake and cut the cutter axis orientation of effect.In adjusting, the increment Delta θ of top rake is preferably every timeBoth ensure that computational accuracy, cutter axis orientation adjustment can be made again to realize higher efficiency.In the present invention, being realized the classification cut by zonal quantization, partition angle is preferablyCut, before being realized by this subregion angle, the classification cut with root, it is possible to the mistake met in the processing of general five-shaft numerical control cuts situation.The present invention compared with prior art, realizes, by the method for cutter subregion, the quantitative differentiation that root is cut and front cut, and matches with sciagraphy so that the testing result drawn by the inventive method is more accurate, and is applicable to ball head knife, flat-bottomed cutter, endless knife.It addition, avoid root to cut by adjusting cutter shaft gradually, it is ensured that the ride comfort of former cutter path, it is adaptable to various types of curved surfaces to be processed.

The anti-blanking method of crossing of the present invention is while avoiding root to cut, it is also possible to cut before being prevented effectively from.Cutter is along cutter axis orientation to curved surface projection, and the new cutter-contact point obtained is the point of contact of cutter and curved surface, therefore, the tool position that projection obtains, cut before not having and cut with root；But, when new cutter-contact point can affect crudy and cutter life when Gen Qie district, and the present invention makes the new cutter-contact point after projection in Qian Qie district by swivel knife shaft, now, new cutter-contact point is cutter location in Qian Qie district after projection, and such cutter and curved surface did not have to cut.

Accompanying drawing explanation

Fig. 1 was the schematic diagram of cutting class；

Fig. 2 is the anti-flow chart crossing blanking method of five-axis robot cutter path of the present invention；

Fig. 3 is cutter along cutter axis orientation to the schematic diagram of curved surface projection；

Fig. 4 is the flow chart of new cutter-contact point position detection；

Fig. 5 is cutter subregion schematic diagram；

Fig. 6 is anti-flow chart cut of swivel knife shaft gradually；

Fig. 7 is cutter shaft top rake schematic diagram.

Detailed description of the invention

In order to make the purpose of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein is only in order to explain the present invention, is not intended to limit the present invention.As long as just can be mutually combined additionally, technical characteristic involved in each embodiment of invention described below does not constitute conflict each other.

Embodiment 1

As in figure 2 it is shown, five axles of the present invention are anti-crosses blanking method, comprise the following steps:

(1) by cutter along cutter axis orientation to curved surface projection, and the cutter location that must make new advances, new cutter-contact point:

Use sciagraphy, by cutter along cutter axis orientation to curved surface projection, obtain new cutter-contact point and new cutter location；Wherein, curved surface is the (surface namely to be processed, surface contacted with cutter on part to be processed, such as upper surface), when part to be processed is blade (part to be processed can also be mould), this curved surface can be composite surface, the curved surface being namely spliced by multiple subsurfaces；Cutter axis orientation is the centerline direction (initial cutter axis orientation can be generated according to practical situation by CAM software) along cutter shaft, and new cutter-contact point is the point of contact that the cutter drawn by sciagraphy is tangent with curved surface.

As it is shown on figure 3, T is the unit vector along cutter axis orientation, T both can adopt the direction pointing to curved surface, it would however also be possible to employ away from the direction of curved surface, both differ 180 °, and in the present invention, the unit vector T along cutter axis orientation is defined as the direction away from curved surface by unification；V_clBeing former cutter location and the vector of new cutter location 2 composition, new cutter location is pointed to by former cutter location in direction, and (former cutter location refers to the former cutter location before projection, and its coordinate is known quantity, for labelling tool position；New cutter location is the new cutter location that former cutter location reversely translates that along cutter shaft projector distance obtains, and projector distance can be negative)；V_ccBeing new cutter location and the vector of new cutter-contact point 2 composition, new cutter-contact point is pointed to by new cutter location in direction.If V_clWith T is in the same direction (when namely the angle between the two vector is 0 °), then cutter and curved surface there occurs and cut, and crosses and cuts value namely | V_cl|, | V_cl| for V_cl(V is worked as with the dot product of T_clReverse with T, when namely the angle between the two vector is 180 °, | V_cl| for negative value, now correspond to and owe to cut；|V_cl| namely projector distance).V_ccThe cutter-contact point new after judgement projects position on cutter will be used to, and then judged the position cutting place.

(2) new cutter-contact point position on cutter is detected, including:

(2-1) according to direction of advance, cutter axis orientation, partition vector is calculated:

As shown in Fig. 5 (a), note F is the unit vector of cutter direction of advance, then definition Y is the unit vector on the apposition direction of T and F,

$Y=\frac{T\&times;F}{|T\&times;F|};$

Re-defining X is partition vector, for detecting new cutter-contact point position on cutter；As shown in Fig. 5 (b), according to crossing the two kinds of situations cut, the position of new cutter-contact point can be divided into two regions, Ji Genqie district and Qian Qie district；X is the apposition of Y and T, i.e.

X=Y × T；

(2-2) position detection vector is calculated:

As shown in Fig. 5 (b), definition V is position detection vector, is namely unit vector in the XOY plane (X-axis of this XOY plane and Y-axis corresponding partition vector X respectively and vectorial Y with new cutter location for zero O, V, XOY plane is perpendicular to T), it is V_ccThe unit vector on projecting direction in XOY plane, i.e.

$V=\frac{V_{cc}-(T\&CenterDot;V_{cc})T}{|V_{cc}-(T\&CenterDot;V_{cc})T|};$

(2-3) location index is calculated:

Qian Qie district is desired cut region.In order to ensure crudy, ensure that new cutter-contact point is in Qian Qie district as far as possible.Definition P is location index (for scalar), may determine that the position of cutter-contact point according to the value of P, and definition P is the dot product of X and V, i.e.

P=X V；

(2-4) new cutter-contact point affiliated area is judged according to the size of location index:

In XOY plane, definition and X angle are the region of [0, α] is Qian Qie district, with X angle be (α, 180 °] region be Gen Qie district, note α is subregion angle；If

P≥cos(α)；

Then new cutter-contact point cuts region before cutter；

P < cos (α)；

Then new cutter-contact point is in the undercut region of cutter；

Partition angle is preferably

(3) if new cutter-contact point is in the Qian Qie district of cutter, then perform step (5), otherwise perform step (4)；

(4) cutter shaft rotates gradually, until the new cutter-contact point after projection is in Qian Qie district:

This step (4) is to realize swivel knife shaft by the top rake of increase cutter shaft, and then makes cutter-contact point transfer to Qian Qie district from Gen Qie district, specifically can be divided into following four step:

(4-1) cutter top rake increases Δ θ, obtains new cutter axis orientation:

As it is shown in fig. 7, X_LUnit vector (X for direction of advance_LIt is F), Z_LUnit vector (Z for the normal direction of curved surface_LNormal direction unit vector for cutter-contact point position former on curved surface), Y_LIt is Z_LAnd X_LApposition.

Note θ is the top rake of cutter, and φ is the angle of heel of cutter.In local coordinate system, the cutter axis orientation of cutter is determined by θ and φ.Z_LAround Y_LRotate top rake θ, further around X_LRotary side declination angle, obtains cutter axis orientation T.Cutter top rake obtains new cutter axis orientation T ', namely after increasing Δ θ

$T^{\&prime;}=\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \mathrm{\&phi;}& \sin \mathrm{\&phi;}\\ 0& -\sin \mathrm{\&phi;}& \cos \mathrm{\&phi;}\end{array}\right]\&CenterDot;\left[\begin{array}{ccc}\cos (\mathrm{\&theta;}+\mathrm{\&Delta;}\mathrm{\&theta;})& 0& -\sin (\mathrm{\&theta;}+\mathrm{\&Delta;}\mathrm{\&theta;})\\ 0& 1& 0\\ \sin (\mathrm{\&theta;}+\mathrm{\&Delta;}\mathrm{\&theta;})& 0& \cos (\mathrm{\&theta;}+\mathrm{\&Delta;}\mathrm{\&theta;})\end{array}\right]\&CenterDot;\left[\begin{array}{c}0\\ 0\\ 1\end{array}\right];$

Δ θ is preferably(when Δ θ is 0, above formula is cutter axis orientation T).

Cutter axis orientation can be adjusted so that the new cutter-contact point according to obtaining after new cutter axis orientation T ' projection is gradually moved into Qian Qie district by being gradually increased the top rake of cutter shaft.

(4-2) by cutter along new cutter axis orientation to curved surface projection, new cutter-contact point, new cutter location are obtained；Concrete grammar is similar to step (1)；

(4-3) region at new cutter-contact point place is detected；Concrete grammar is similar to step (2)；

If (4-4) new cutter-contact point is in Qian Qie district, then using new cutter axis orientation T ' as cutter axis orientation T (namely updating cutter axis orientation), and perform subsequent step (5)；Otherwise, using new cutter axis orientation T ' as cutter axis orientation T, and then perform step (4-1)；

(5) exporting new cutter location, new cutter-contact point and cutter axis orientation T, this cutter axis orientation T is able to ensure that the anti-mistake of track of five-axis robot cutter is cut.

Above-mentioned steps (4-2), step (4-3), step (4-4) are equivalent to new cutter axis orientation T ' as cutter axis orientation T (even T=T '), repeating step (1) and subsequent step, circulation is until new cutter-contact point is in Qian Qie district.

Owing to Qian Qie district is desired cut region, the new cutter-contact point that above-mentioned steps (2) draws, in the Qian Qie district of cutter, has met good machining condition, then directly perform step (5) and export new cutter location, cutter axis orientation；Otherwise adjusting cutter shaft gradually by execution step (4) makes new cutter-contact point in Qian Qie district.

In the five-shaft numerical control course of processing, the track of cutter is determined by cutter location, cutter-contact point and cutter axis orientation, and initial cutter location, cutter-contact point and cutter axis orientation all can preset, and input as input quantity.Method in the present invention is before the new cutter location of output, new cutter-contact point replace former cutter location, former cutter-contact point respectively, and former cutter-contact point does not change (that is, the spatial value of the former cutter-contact point being positioned on curved surface is constant), and former cutter location does not also change；The present invention is the cutter axis orientation by adjusting cutter, makes the anti-mistake of track of cutter cut.Former cutter-contact point is usually the point that cutter is tangent with the curved surface of workpiece to be processed, is the target initial manufacture position (this former cutter-contact point can preset, and inputs as initial input amount) of curved surface to be processed.

The upper surface that curved surface is part to be processed in step (1), by the new cutter location drawn to curved surface projection, new cutter-contact point, unrelated with the particular type of cutter, therefore, said method is applicable to all kinds of cutters (ball head knife, flat-bottomed cutter, endless knife etc.).

Those skilled in the art will readily understand; the foregoing is only presently preferred embodiments of the present invention; not in order to limit the present invention, all any amendment, equivalent replacement and improvement etc. made within the spirit and principles in the present invention, should be included within protection scope of the present invention.

Claims (4)

1. the method cut for the anti-mistake of cutter path of five-shaft numerical control processing, it is characterised in that comprise the following steps:

(1) by cutter along cutter axis orientation to curved surface projection, and the cutter location that must make new advances, new cutter-contact point:

As a reference point with the central point of tool base, remember that space coordinates point corresponding to this reference point is former cutter location；The impact point remembering the initial contact of described cutter and described curved surface is former cutter-contact point；Then, by make described cutter along cutter axis orientation mobile projector distance by this cutter along cutter axis orientation to curved surface projection；When this cutter is tangent with described curved surface in projection process, remember that the tangent point of contact of this cutter and described curved surface is new cutter-contact point, and remember that space coordinates point corresponding to described reference point now is new cutter location；

Described curved surface is the surface of workpiece to be processed；

(2) described new cutter-contact point position on described cutter is detected:

(2-1) cutter axis orientation according to the direction of advance of cutter, cutter, calculates partition vector X:

Remembering that the unit vector along the cutter axis orientation of described cutter is T, the unit vector of the direction of advance of described cutter is F；The direction of definition unit vector Y, Y is identical with the direction of T × F；Then, definition partition vector X, X=Y × T；

(2-2) position detection vector V is calculated:

Definition position detection vector V, remembers that the vector formed by the new cutter-contact point in the new cutter location described step of sensing (1) in described step (1) is V_cc, then V meets:

$V=\frac{V_{cc}-(T\&CenterDot;V_{cc})T}{|V_{cc}-(T\&CenterDot;V_{cc})T|};$

(2-3) location index P is calculated:

Definition location index P, then P meets P=X V；

(2-4) described new cutter-contact point affiliated area is judged according to described location index P:

If described location index P meets P >=cos (α), then described new cutter-contact point is positioned at the Qian Qie district of this cutter, performs step (4)；

If described location index P meets P < cos (α), then described new cutter-contact point is positioned at the Gen Qie district of this cutter, performs step (3)；

Wherein, α meets 0 < α < 180 °；

(3) adjust described cutter axis orientation, then perform described step (1)；

(4) export the described cutter axis orientation T cutter axis orientation as described cutter, and export described new cutter location and described new cutter-contact point replaces described former cutter location and described former cutter-contact point respectively, make the anti-mistake of track of this cutter cut.

2. the method cut for the anti-mistake of cutter path of five-shaft numerical control processing as claimed in claim 1, it is characterised in that described step (3) comprises the following steps:

(3-1) remember that the unit vector in the direction of advance of described cutter is X_L, the normal direction unit vector for curved surface described in described former cutter-contact point is Z_L, define Y_LMake Y_LMeet Y_L=Z_L×X_L, then the unit vector T of the cutter axis orientation of the described cutter in described step (2-1) is by described Z_LAround described Y_LRotate θ, then further around described X_LRotate what φ obtained；

Define new cutter axis orientation T ', T ' to meet:

$T^{\&prime;}=\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \mathrm{\&phi;}& \sin \mathrm{\&phi;}\\ 0& -\sin \mathrm{\&phi;}& \cos \mathrm{\&phi;}\end{array}\right]\&CenterDot;\left[\begin{array}{ccc}\cos (\mathrm{\&theta;}+\mathrm{\&Delta;}\mathrm{\&theta;})& 0& -\sin (\mathrm{\&theta;}+\mathrm{\&Delta;}\mathrm{\&theta;})\\ 0& 1& 0\\ \sin (\mathrm{\&theta;}+\mathrm{\&Delta;}\mathrm{\&theta;})& 0& \cos (\mathrm{\&theta;}+\mathrm{\&Delta;}\mathrm{\&theta;})\end{array}\right]\&CenterDot;\left[\begin{array}{c}0\\ 0\\ 1\end{array}\right];$

Wherein, described Δ θ less than

(3-2) update described cutter axis orientation, make T=T ', and perform described step (1).

3. the method cut for the anti-mistake of cutter path of five-shaft numerical control processing as claimed in claim 2, it is characterised in that the Δ θ in described step (3-1) is preferably

4. the method cut for the anti-mistake of cutter path of five-shaft numerical control processing as described in claim 1-3, it is characterised in that the α in described step (2-4) is preferably