CN105759717B - A kind of method that anti-mistake of cutter path for five-shaft numerical control processing is cut - Google Patents
A kind of method that anti-mistake of cutter path for five-shaft numerical control processing is cut Download PDFInfo
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- CN105759717B CN105759717B CN201610259336.9A CN201610259336A CN105759717B CN 105759717 B CN105759717 B CN 105759717B CN 201610259336 A CN201610259336 A CN 201610259336A CN 105759717 B CN105759717 B CN 105759717B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35349—Display part, programmed locus and tool path, traject, dynamic locus
Abstract
The invention discloses a kind of method that anti-mistake of cutter path for five-shaft numerical control processing is cut, comprise the following steps：(1) by cutter along cutter axis orientation to curved surface projection, and new cutter location, new cutter-contact point are drawn；(2) position of the new cutter-contact point on the cutter is detected；(3) cutter axis orientation is adjusted, then performs the step (1)；(4) cutter axis orientations of the cutter axis orientation T as the cutter is exported, cuts the anti-mistake in track of the cutter.The present invention is improved by cutting species decision procedure, adjustment mode of cutter cutter shaft etc. to the mistake of key, the particular location that effectively can be cut according to the mistake judged in advance, prevents the cutter path that five-shaft numerical control is processed from occurring to cut using corresponding adjustment means.
Description
Technical Field
The invention belongs to the technical field of numerical control machining, and particularly relates to a tool path over-cutting prevention method for five-axis numerical control machining.
Background
The five-axis numerical control machining can obtain higher machining efficiency and better machining surface quality than the three-axis numerical control machining, and is widely applied to the fields of aviation, aerospace, automobiles, shipbuilding, molds and the like.
The isoparametric line method generates a tool path trajectory by using isoparametric lines of a curved surface to be processed as a tool contact point trajectory. When a five-axis machining track is generated by an isoparametric line method to machine a complex free curved surface, the biggest difficulty is to process Collision (Collision) and overcutting (Gouging). The collision means that the cutter bar, the spindle head and the workpiece collide during processing; overcutting refers to the cutting of the edge portion of the bottom of the tool into what would otherwise remain during machining. The over-cutting can accelerate the abrasion of the cutter, reduce the service life of the cutter, influence the precision of parts and even cause the scrapping of the parts, so that the over-cutting prevention method is very important for the path track of the five-axis cutter.
The over-cutting can be divided into two cases, anterior cutting (Local healing) and root cutting (real healing). As shown in fig. 1, during the machining process, the over-cut occurring in the region of the tool near the tool contact point along the tool advance direction is called a forward cut; an overcut occurring in the region of the tool remote from the tool contact is called an undercut.
Non-patent documents "Fixed-Axis Tool Positioning with build-in Global Interference Checking for NC Path Generation" and "an algorithm for generating a Tool Path without Interference in NC machining" both disclose generating a Tool Path without Interference by a projection method. The basic idea is that the cutter is moved along the projection vector curved surface to the contact position of the cutter surface and the surface to be processed, namely the contact point is the cutter contact point, assuming that the cutter is at a certain non-interference initial position above the curved surface. The tool position point corresponding to the tool contact obtained after projection cannot interfere with the surface to be processed. The method does not distinguish between pre-cutting and undercut, a cutter contact point is possibly in an undercut area of the cutter, the abrasion of the cutter is accelerated, the service life of the cutter is shortened, the surface quality of a machined part is reduced, a part of an area to be machined is not completely machined, and the part is required to be subjected to machining processes such as polishing and grinding.
In non-patent document "On local healing in five-axis sliced surface machining flat-end tools", whether the tool needs to be adjusted is determined by comparing the effective cutting curvature of the tool with the curvature of the curved surface. This method is only applicable to flat bed knives and is not applicable to compound curved surfaces.
In the non-patent document "acceptable tool orientation control of cutting effect for 5-axis complex surface machining", a tool and a curved surface are cut out by two orthogonal planes, whether interference exists is analyzed through effective cutting curvature of the tool and local set characteristics of the curved surface, and then a tool shaft is adjusted to achieve the purpose of avoiding over-cutting. The method adopts discrete detection points to detect the overcutting, and the detection accuracy cannot be completely ensured. The method only considers that the contact track of the knife can approach an arc, and has no universality.
Disclosure of Invention
In view of the above drawbacks and needs of the prior art, an object of the present invention is to provide a method for preventing over-cutting of a tool path for five-axis nc machining, in which a determination manner of a critical over-cutting type and an adjustment manner of a tool arbor are improved, so as to classify the over-cutting (i.e., whether the over-cutting is an undercut or a forward-cut over-cutting) through tool partition quantization, and prevent the tool path for five-axis nc machining from being over-cut by using a corresponding adjustment means according to a specific position of the over-cutting (i.e., whether the over-cutting is an undercut or a forward-cut over-cutting) determined in advance, and the method is not limited by the tool type and is applicable to various tool types.
In order to achieve the above object, according to the present invention, there is provided a tool path over-cutting prevention method for five-axis numerical control machining, comprising the steps of:
(1) Projecting the cutter to the curved surface along the cutter shaft direction, and obtaining a new cutter point and a new cutter contact:
taking the central point of the bottom surface of the cutter as a reference point, and recording a space coordinate point corresponding to the reference point as an original cutter location point; recording a target point of the initial contact between the cutter and the curved surface as an original cutter contact; then, the cutter is moved by a projection distance along the cutter shaft direction to project the cutter to a curved surface along the cutter shaft direction; when the cutter is tangent to the curved surface in the projection process, recording a tangent point of the cutter tangent to the curved surface as a new cutter contact point, and recording a space coordinate point corresponding to the reference point at the moment as a new cutter position point;
the curved surface is the surface of a workpiece to be processed;
(2) Detecting the position of the new tool contact on the tool:
(2-1) calculating a partition vector X according to the advancing direction of the cutter and the cutter shaft direction of the cutter:
recording a unit vector along the cutter shaft direction of the cutter as T, and recording a unit vector along the advancing direction of the cutter as F; defining a unit vector Y, wherein the direction of Y is the same as the direction of T multiplied by F; then, defining a partition vector X, X = Y × T;
(2-2) calculating a position detection vector V:
defining a position detection vector V, and recording a vector formed by the new knife position point in the step (1) pointing to the new knife contact point in the step (1) as V cc Then V satisfies:
(2-3) calculating a position index P:
defining a position index P, P satisfying P = X · V;
(2-4) judging the area to which the new tool contact belongs according to the position index P:
if the position index P meets the condition that P is larger than or equal to cos (alpha), the new cutter contact is located in a front cutting area of the cutter, and the step (4) is executed;
if the position index P meets the condition that P is smaller than cos (alpha), the new cutter contact point is located in an undercut area of the cutter, and the step (3) is executed;
wherein alpha is more than 0 and less than 180 degrees;
(3) Adjusting the cutter shaft direction, and executing the step (1) in turn;
(4) And outputting the cutter shaft direction T as the cutter shaft direction of the cutter, and outputting the new cutter point and the new cutter contact to respectively replace the original cutter point and the original cutter contact, so that the track of the cutter is prevented from being over-cut.
As a further preferable aspect of the present invention, the step (3) includes the steps of:
(3-1) recording a unit vector in the advancing direction of the tool as X L For the original knife contact point, the normal unit vector of the curved surface is Z L Definition of Y L Make Y be L Satisfy Y L ＝Z L ×X L If the unit vector T of the cutter axis direction of the cutter in the step (2-1) is the unit vector T of the Z L Around said Y L Rotate theta, then rewind said X L Rotating phi to obtain;
defining a new cutter shaft direction T ', wherein T' satisfies the following conditions:
wherein the Δ θ does not exceed
(3-2) updating the arbor direction with T = T', and executing the step (1).
As a further preferred aspect of the present invention, the value of Δ θ in the step (3-1) is preferably
As a further preferred aspect of the present invention, α in the step (2-4) is preferably α
Through the technical scheme, compared with the prior art, the method and the device can quickly and accurately predict the specific over-cutting position, and perform corresponding adjustment according to the over-cutting position, so that the over-cutting of the tool path for five-axis numerical control machining is prevented. The method comprises the steps of firstly obtaining a new cutter contact point and a new cutter position point according to the projection of a cutter to a curved surface along the cutter shaft direction, secondly judging whether the new cutter position point is in an undercut area or a forward undercut area according to the new cutter position point, the new cutter contact point, the original cutter position point, the cutter shaft direction and the like, so as to judge the type of over-cut, and correspondingly adjusting the cutter (particularly adjusting the cutter shaft direction of the cutter) according to the judgment result, thereby finally forming a cutter track without over-cut.
The invention divides the over-cutting area into different areas, detects the position of the new cutter contact after projection, and then adjusts the cutter according to the detection result, thereby obtaining the following beneficial effects:
1. the cutter is projected to the curved surface along the cutter shaft direction, so that the cutter is suitable for a ball-end cutter, a flat-bed cutter, an annular cutter and the like, the accuracy is higher, and meanwhile, a new cutter contact after the cutter is lifted provides a basis for judging the over-cutting type;
2. the cutter is divided into a front cutting area and an undercut area, wherein the front cutting area is an ideal cutting area and provides a basis for detecting the position of a cutter contact;
3. the position of the knife contact is detected by the included angle between the partition vector and the detection vector, so that the detection efficiency and precision are improved;
4. and correspondingly adjusting the position of the tool contact on the tool according to the projection to ensure that the adjusted tool contact is in a forward cutting area, thereby ensuring the precision and quality of the machined workpiece and the smoothness of the track.
During the adjustment of the cutter shaft, a local coordinate system (namely X is used for establishing the local coordinate system) L 、Y L 、Z L As coordinate system established by coordinate axis unit vector), the original cutter shaft direction T is expressed by a forward inclination angle theta and a side inclination angle phi, each adjustment is to establish a new cutter shaft direction T 'by changing the value of the forward inclination angle theta, and a new cutter position point and a new cutter contact point are recalculated by the new cutter shaft direction T', and finally the cutter shaft direction meeting the anti-over-cutting effect is obtained. The increment of the anteversion angle Δ θ in each adjustment is preferablyNot only ensures the calculation precision, but also can realize higher efficiency for the cutter shaft direction adjustment. In the invention, the classification of the overcutting is realized by partition quantization, and the partition angle alpha is preferablyThe classification of front cutting and undercut is realized through the partition angle, and the over-cutting condition in general five-axis numerical control machining can be met. Compared with the prior art, the invention realizes the quantitative distinction of the undercut and the front undercut by using a cutter partitioning method, and compares the quantitative distinction with the prior artThe projection methods are matched, so that the detection result obtained by the method is more accurate, and the method is suitable for ball-end cutters, flat-bottom cutters and annular cutters. In addition, undercut is avoided by gradually adjusting the cutter shaft, smoothness of the original cutter path can be guaranteed, and the method is suitable for various types of curved surfaces to be machined.
The over-cutting prevention method can effectively avoid front cutting while avoiding undercut. The cutter projects to the curved surface along the cutter shaft direction, and the obtained new cutter contact is a tangent point of the cutter and the curved surface, so that the cutter position obtained by projection is free of forward cutting and undercut; however, when the new knife contact is in the undercut area, the processing quality and the service life of the knife are affected, and the new knife contact after projection is in the forward cutting area by rotating the knife shaft, at this time, the new knife contact is the knife point in the forward cutting area after projection, so that the knife and the curved surface are not over-cut.
Drawings
FIGS. 1 (a) and 1 (b) are schematic diagrams of overcut classification;
FIG. 2 is a flow chart of a five-axis machining tool path over-cut prevention method of the present invention;
FIGS. 3 (a) and 3 (b) are schematic views of the cutter projected to a curved surface along the cutter axis direction;
FIG. 4 is a flow chart of new blade contact position detection;
FIGS. 5 (a), 5 (b) are schematic views of the tool division;
FIG. 6 is a flow chart of the gradual rotation of the arbor to prevent undercut;
fig. 7 is a schematic view of the arbor forward rake.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Example 1
As shown in fig. 2, the five-axis over-cutting prevention method of the present invention comprises the following steps:
(1) Projecting the cutter to the curved surface along the cutter shaft direction, and obtaining a new cutter point and a new cutter contact:
projecting the cutter to the curved surface along the cutter shaft direction by using a projection method to obtain a new cutter contact and a new cutter location point; the curved surface is a surface (i.e. a surface to be processed, such as an upper surface) of the part to be processed, which is in contact with the tool, and when the part to be processed is a blade (the part to be processed can also be a die), the curved surface can be a combined curved surface, i.e. a curved surface formed by splicing a plurality of sub-curved surfaces; the cutter shaft direction is along the central line direction of the cutter shaft (the initial cutter shaft direction can be generated by CAM software according to actual conditions), and the new cutter contact point is a tangent point of the cutter which is obtained by a projection method and is tangent to the curved surface.
As shown in fig. 3, T is a unit vector along the cutter axis direction, T can adopt a direction pointing to the curved surface or a direction away from the curved surface, and the difference between T and T is 180 degrees, in the present invention, the unit vector T along the cutter axis direction is defined as a direction away from the curved surface; v cl The new tool position point is a new tool position point obtained by the original tool position point translating the projection distance along the tool axis in the reverse direction, and the projection distance can be a negative number; v cc The vector is formed by the new knife location point and the new knife contact point, and the direction of the vector points to the new knife contact point from the new knife location point. If V cl In the same direction as T (i.e. when the included angle between the two vectors is 0 deg.), the cutter and the curved surface are over-cut, and the over-cut value is | V cl |，|V cl L is V cl Dot product of T and (when V) cl And T is reversed, i.e. the angle between the two vectors is 180 | V cl If | is a negative value, the result is under-cut; | V cl I.e., the projection distance). V cc The position of the new knife contact on the knife after projection is judged, and the position of the over-cut is further judged.
(2) Detecting the position of the new tool contact on the tool, comprising:
(2-1) calculating a partition vector according to the advancing direction and the cutter shaft direction:
as shown in FIG. 5 (a), if F is a unit vector in the tool advancing direction, Y is defined as a unit vector in the direction of the outer product of T and F,
defining X as a partition vector for detecting the position of a new cutter contact on a cutter; as shown in fig. 5 (b), the position of the new knife contact can be divided into two regions, i.e., an undercut region and a forward cut region, according to two cases of overcutting; x is the outer product of Y and T, i.e.,
X＝Y×T；
(2-2) calculating a position detection vector:
as shown in FIG. 5 (b), V is defined as a position detection vector, i.e., a coordinate origin O of the new tool position, V is a unit vector in the XOY plane (the X axis and the Y axis of the XOY plane correspond to the partition vector X and the vector Y, respectively, and the XOY plane is perpendicular to T), and V is defined as a unit vector cc The unit vector in the projection direction in the XOY plane, that is,
(2-3) calculating a position index:
the forward cutting area is the ideal cutting area. In order to ensure the processing quality, the contact point of the new cutter is ensured to be in the forward cutting area as far as possible. P is defined as a position index (as a scalar quantity), the position of the knife contact can be judged from the value of P, P is defined as the dot product of X and V, that is,
P＝X·V；
(2-4) judging the area of the new knife contact according to the position index:
in the XOY plane, the area with an angle [0, alpha ] to X is defined as the anterior cutting area, the area with an angle (alpha, 180 DEG) to X is defined as the root cutting area, and if alpha is the division angle, the division angle is defined as
P≥cos(α)；
The new knife contact is in the front cutting area of the knife;
P＜cos(α)；
the new tool contact is in the undercut region of the tool;
the partition angle α is preferably
(3) If the new cutter contact is in the front cutting area of the cutter, executing the step (5), otherwise, executing the step (4);
(4) The cutter shaft rotates gradually until the projected new cutter contact is in the front cutting area:
the step (4) is to rotate the cutter shaft by increasing the front rake of the cutter shaft, so that the cutter contact is transferred from the undercut area to the front cutting area, and the method specifically comprises the following four steps:
(4-1) increasing the rake angle of the cutter by delta theta to obtain a new cutter shaft direction:
as shown in FIG. 7, X L Unit vector (X) in the forward direction L I.e. F), Z L Unit vector (Z) being normal to the curved surface L Normal unit vector at the original knife contact position on the curved surface), Y L Is Z L And X L The outer product of (c).
Let θ be the rake angle of the tool and φ be the roll angle of the tool. In the local coordinate system, the cutter shaft direction of the cutter is determined by theta and phi. Z is a linear or branched member L Around Y L Rotating by a forward angle theta and then by an angle X L And rotating the side inclination angle phi to obtain the cutter shaft direction T. After the rake angle of the cutter is increased by delta theta, a new cutter shaft direction T' is obtained, namely
Delta theta is preferably(when Δ θ is 0, the above formula is the cutter axis direction T).
The cutter shaft direction can be adjusted by gradually increasing the front rake of the cutter shaft, so that the new cutter contact obtained after projection according to the new cutter shaft direction T' gradually moves to the front cutting area.
(4-2) projecting the cutter to the curved surface along the direction of the new cutter shaft to obtain a new cutter contact point and a new cutter position point; the specific method is similar to the step (1);
(4-3) detecting the area where the new knife contact is located; the specific method is similar to the step (2);
(4-4) if the new cutter contact point is in the front cutting area, taking the new cutter shaft direction T' as the cutter shaft direction T (namely updating the cutter shaft direction), and executing the subsequent step (5); otherwise, taking the new cutter shaft direction T' as the cutter shaft direction T, and executing the step (4-1);
(5) And outputting a new tool location point, a new tool contact point and a tool axis direction T, wherein the tool axis direction T can ensure that the track of the five-axis machining tool is prevented from being over-cut.
The step (4-2), the step (4-3) and the step (4-4) are equivalent to taking the new cutter shaft direction T 'as the cutter shaft direction T (namely, making T = T'), and the step (1) and the subsequent steps are repeated until the new cutter contact points are in the forward cutting area.
Because the front cutting area is an ideal cutting area, if the new cutter contact obtained in the step (2) is in the front cutting area of the cutter and meets good cutting conditions, the step (5) is directly executed to output a new cutter position point and a cutter shaft direction; otherwise, gradually adjusting the cutter shaft by executing the step (4) to enable the new cutter contact point to be in the front cutting area.
In the five-axis numerical control machining process, the track of the cutter is determined by a cutter point, a cutter contact and a cutter shaft direction, and the initial cutter point, the cutter contact and the cutter shaft direction can be preset and input as input quantity. Before outputting a new knife location point and a new knife contact to respectively replace an original knife location point and an original knife contact, the original knife contact is not changed (namely, the space coordinate value of the original knife contact on the curved surface is not changed), and the original knife location point is not changed; the invention prevents the track of the cutter from over-cutting by adjusting the cutter shaft direction of the cutter. The original tool contact is generally a point at which the tool is tangent to the curved surface of the workpiece to be machined, and is a target initial machining position of the curved surface to be machined (the original tool contact may be preset and input as an initial input quantity).
The curved surface in the step (1) is the upper surface of the part to be processed, and a new tool position point and a new tool contact point obtained by projection to the curved surface are irrelevant to the specific type of the tool, so that the method is suitable for various tools (a ball-end tool, a flat-bottom tool, an annular tool and the like).
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (4)
1. A cutter track over-cutting prevention method for five-axis numerical control machining is characterized by comprising the following steps:
(1) Projecting the cutter to the curved surface along the cutter shaft direction, and obtaining a new cutter point and a new cutter contact:
taking the central point of the bottom surface of the cutter as a reference point, and recording a space coordinate point corresponding to the reference point as an original cutter location point; recording a target point of the initial contact between the cutter and the curved surface as an original cutter contact; then, the cutter is moved by a projection distance along the cutter shaft direction, and the cutter is projected to a curved surface along the cutter shaft direction; when the cutter is tangent to the curved surface in the projection process, recording a tangent point of the cutter tangent to the curved surface as a new cutter contact point, and recording a space coordinate point corresponding to the reference point at the moment as a new cutter position point;
the curved surface is the surface of a workpiece to be processed;
(2) Detecting the position of the new tool contact on the tool:
(2-1) calculating a partition vector X according to the advancing direction of the cutter and the cutter shaft direction of the cutter:
recording a unit vector along the cutter shaft direction of the cutter as T, and recording a unit vector of the advancing direction of the cutter as F; defining a unit vector Y, wherein the direction of Y is the same as the direction of T multiplied by F; then, defining a partition vector X, X = Y × T;
(2-2) calculating a position detection vector V:
defining a position detection vector V, and recording a vector formed by the new knife position point in the step (1) pointing to the new knife contact point in the step (1) as V cc Then V satisfies:
(2-3) calculating a position index P:
defining a position index P, P satisfying P = X · V;
(2-4) judging the area to which the new knife contact belongs according to the position index P:
if the position index P meets the condition that P is larger than or equal to cos (alpha), the new cutter contact is located in a front cutting area of the cutter, and the step (4) is executed;
if the position index P meets the condition that P is less than cos (alpha), the new cutter contact point is located in the undercut area of the cutter, and the step (3) is executed;
wherein alpha is a partition angle, and alpha satisfies 0< alpha <180 °;
(3) Adjusting the cutter shaft direction, and executing the step (1) in turn;
(4) And outputting the cutter shaft direction T as the cutter shaft direction of the cutter, and outputting the new cutter point and the new cutter contact to respectively replace the original cutter point and the original cutter contact, so that the track of the cutter is prevented from being over-cut.
2. The method for preventing overcutting of a tool path for five-axis numerical control machining according to claim 1, wherein the step (3) comprises the steps of:
(3-1) recording the unit vector in the advancing direction of the tool as X L For the original knife contact, the normal unit vector of the curved surface is Z L Definition of Y L Make Y be L Satisfy Y L ＝Z L ×X L If the unit vector T of the cutter axis direction of the cutter in the step (2-1) is the unit vector T of the Z L Around said Y L Rotate theta, then rewind said X L Rotating phi to obtain;
defining a new cutter shaft direction T', increasing the front rake angle of the cutter by delta theta, and satisfying the following conditions:
wherein the Δ θ does not exceed
(3-2) updating the arbor direction with T = T', and executing the step (1).
3. The method for preventing tool path overcutting for five-axis numerical control machining according to claim 2, wherein Δ θ in the step (3-1) is preferably Δ θ
4. Method for preventing overcutting of tool paths for five-axis numerical control machining according to any one of claims 1 to 3, characterized in that α in step (2-4) is preferably α
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| CN106774145A (en) * | 2016-12-23 | 2017-05-31 | 华中科技大学 | A kind of projection algorithm for generating the five-axis robot track without interference |
| CN106873529B (en) * | 2017-03-17 | 2018-12-28 | 华中科技大学 | The algorithm that cutter rings body is projected to the side of triangular plate in a kind of five-axis robot track |
| CN109343468B (en) * | 2018-10-25 | 2020-07-14 | 华中科技大学 | Projection offset-based blade multi-axis track generation method |
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